Optimization-based Robust Architecture Design for Autonomous Driving System 2019-01-0473
With the recent advancement in sensing and controller technologies architecture design of an autonomous driving system becomes an important issue. Researchers have been developing different sensors and data processing technologies to solve the issues associated with fast processing, diverse weather, reliability, long distance recognition performance, etc. Necessary considerations of diverse traffic situations and safety factors of autonomous driving also increased the complexity of embedded software as well as architecture of autonomous driving. In these circumstances, there are almost countless numbers of possible architecture designs. However, these design considerations have significant impacts on cost, controllability, and system reliability. Thus, it is crucial for the designers to make challenging and critical design decision under several uncertainties during the conceptual design phase. This paper proposes an optimization-based robust architecture design process for an autonomous driving system. The proposed architecture design process focused mainly on two design issues. The first one deals with hardware integration issue. In this process, processors and buses need to be selected from available hardware list and connected to realize the hardware system. The second one addresses the issues of proper allocation of software to the integrated components. In this process, computational tasks allocated to the selected processors. Similarly, message transmission between different processors is also assigned through the selected buses. These architecture design issues are formulated as a Mixed-Integer Linear Programming (MILP) problem to manage them simultaneously. Since the architecture design involves multiple objectives, the design issues are solved as a multi-objective optimization problem in order to identify the set of compromise optimal solutions, which ultimately minimize hardware cost as well as end-to-end latency under constrains of feasibility and safety.
Yuto Imanishi, Anne Collin, Afreen Siddiqi, Eric Rebentisch, Taisetsu Tanimichi, Yukti Matta
Hitachi America, Ltd., Massachusetts Institute of Technology, Hitachi Automotive Systems Americas Inc.