Adaptive Communications in Collaborative Perception for Autonomous Driving Framework

Centrala begrepp

Proposing ACC-DA for collaborative perception in autonomous driving to minimize transmission delay, enhance data reconstruction, and align data distribution.

Sammanfattning

The article introduces ACC-DA, a framework for collaborative perception in autonomous driving. It addresses challenges like channel variations and data heterogeneity among connected vehicles. The framework dynamically adjusts the communication graph to reduce transmission delay, optimizes the rate-distortion trade-off for efficient data sharing, and aligns data distribution to mitigate domain gaps. Experimental results show the effectiveness of ACC-DA compared to existing methods. Key components include transmission delay minimization, adaptive data reconstruction, and domain alignment.

Statistik

Let G ∈ RN×N represent the link matrix of a V2V topology communication network of participating CAVs in collaboration.
The total bandwidth W is equally shared among c orthogonal sub-channels for V2V communication.
The transmission capacity of each sub-channel Cij can be obtained from the Shannon capacity theorem: Cij = W/c log2(1 + Pthij/N0).
Let T = {trij} ∈ Rm×m represent the matrix of transmission rates, where trij is the amount of data transmitted from vehicle ni to vehicle nj per second.
The adaptive compression ratio γij can be adjusted based on distance between vehicles using Eq. (4).

Citat

"Our method aims to align the distribution information across CAVs to ego vehicle to reduce the domain shift."
"ACC-DA achieves the best performance in all categories with an overall IoU of 55.06%."
"Our scheme excels at almost perfectly segmenting vehicles, road surfaces, and lanes."

Viktiga insikter från

Adaptive Communications in Collaborative Perception with Domain Alignment for Autonomous Driving

by Senkang Hu,Z... på arxiv.org 03-19-2024

https://arxiv.org/pdf/2310.00013.pdf

Djupare frågor

How can ACC-DA adapt to different environmental conditions during collaborative perception

ACC-DA can adapt to different environmental conditions during collaborative perception by incorporating dynamic channel state information (CSI) to minimize transmission delay. By adjusting the communication graph based on real-time CSI, ACC-DA can optimize data exchange between connected and autonomous vehicles (CAVs) under varying channel conditions. This adaptive approach allows for efficient data sharing and collaboration even in challenging environments such as occlusions, extreme weather conditions, or changes in perception range.

What are potential drawbacks or limitations of minimizing transmission delay in collaborative perception

Minimizing transmission delay in collaborative perception may have potential drawbacks or limitations. One drawback could be the increased complexity of the system due to the need for real-time adjustments based on dynamic network capacity. This complexity might lead to higher computational requirements and potentially introduce points of failure within the system. Additionally, focusing solely on minimizing transmission delay may overlook other important factors such as data integrity, security, or scalability. Over-optimization for reducing delay could compromise these essential aspects of collaborative perception systems.

How might domain alignment techniques used in autonomous driving be applied to other fields or industries

Domain alignment techniques used in autonomous driving can be applied to other fields or industries where domain gap reduction is crucial for improving performance. For instance:

Healthcare: Domain alignment methods can help align medical imaging datasets from various sources to improve diagnostic accuracy across different hospitals or imaging devices.

Finance: In financial services, aligning diverse financial datasets from multiple institutions can enhance fraud detection algorithms by reducing domain gaps and inconsistencies.

Retail: Domain alignment techniques can be utilized in retail settings to harmonize customer behavior data collected through various channels like online platforms and physical stores for more accurate sales forecasting and personalized marketing strategies.

By applying domain alignment principles outside of autonomous driving, organizations can bridge discrepancies between disparate datasets leading to more robust machine learning models and improved decision-making processes across a wide range of industries.