University of Oulu

N. Jayaweera, N. Rajatheva and M. Latva-aho, "Autonomous Driving without a Burden: View from Outside with Elevated LiDAR," 2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring), Kuala Lumpur, Malaysia, 2019, pp. 1-7, https://doi.org/10.1109/VTCSpring.2019.8746507

Autonomous driving without a burden : view from outside with elevated LiDAR

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Author: Jayaweera, Nalin1; Rajatheva, Nandana1; Latva-aho, Matti1
Organizations: 1Centre for Wireless Communications, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 2 MB)
Persistent link: http://urn.fi/urn:nbn:fi-fe2020041719066
Language: English
Published: Institute of Electrical and Electronics Engineers, 2019
Publish Date: 2020-04-17
Description:

Abstract

The current autonomous driving architecture places a heavy burden in signal processing for the graphics processing units (GPUs) in the car. This directly translates into battery drain and lower energy efficiency, crucial factors in electric vehicles. This is due to the high bit rate of the captured video and other sensing inputs, mainly due to Light Detection and Ranging (LiDAR) sensor at the top of the car which is an essential feature in autonomous vehicles. LiDAR is needed to obtain a high precision map for the vehicle AI to make relevant decisions. However, this is still a quite restricted view from the car. This is the same even in the case of cars without a LiDAR such as Tesla. The existing LiDARs and the cameras have limited horizontal and vertical fields of visions. In all cases it can be argued that precision is lower, given the smaller map generated. This also results in the accumulation of a large amount of data in the order of several TBs in a day, the storage of which becomes challenging. If we are to reduce the effort for the processing units inside the car, we need to uplink the data to edge or an appropriately placed cloud. However, the required data rates in the order of several Gbps are difficult to be met even with the advent of 5G. Therefore, we propose to have a coordinated set of LiDAR’s outside at an elevation which can provide an integrated view with a much larger field of vision (FoV) to a centralized decision making body which then sends the required control actions to the vehicles with a lower bit rate in the downlink and with the required latency. The calculations we have based on industry standard equipment from several manufacturers show that this is not just a concept but a feasible system which can be implemented. The proposed system can play a supportive role with existing autonomous vehicle architecture and it is easily applicable in an urban area.

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Series: IEEE Vehicular Technology Conference
ISSN: 1090-3038
ISSN-L: 1090-3038
ISBN: 978-1-7281-1217-6
ISBN Print: 978-1-7281-1218-3
Pages: 1 - 7
DOI: 10.1109/VTCSpring.2019.8746507
OADOI: https://oadoi.org/10.1109/VTCSpring.2019.8746507
Host publication: 2019 IEEE 89th Vehicular Technology Conference (VTC Spring). 28 April – 1 May 2019, Kuala Lumpur, Malaysia
Conference: IEEE Vehicular Technology Conference
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Subjects:
Funding: Discussions with colleagues working in a leading automobile manufacturer in the US greatly helped in obtaining relevant references and identifying problems faced by AVs. Project 5G-Viima was submitted to Finnish Technology Agency proposing the use of ELiDs in factory floors. This work has been financially supported in part by the 6Genesis (6G) Flagship project (grant 318927).
Academy of Finland Grant Number: 318927
Detailed Information: 318927 (Academy of Finland Funding decision)
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