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Syst."],"published-print":{"date-parts":[[2021,10,31]]},"abstract":"<jats:p>Self-driving systems execute an ensemble of different self-driving workloads on embedded systems in an end-to-end manner, subject to functional and performance requirements. To enable exploration, optimization, and end-to-end evaluation on different embedded platforms, system designers critically need a benchmark suite that enables flexible and seamless configuration of self-driving scenarios, which realistically reflects real-world self-driving workloads\u2019 unique characteristics. Existing CPU and GPU embedded benchmark suites typically (1) consider isolated applications, (2) are not sensor-driven, and (3) are unable to support emerging self-driving applications that simultaneously utilize CPUs and GPUs with stringent timing requirements. On the other hand, full-system self-driving simulators (e.g., AUTOWARE, APOLLO) focus on functional simulation, but lack the ability to evaluate the self-driving software stack on various embedded platforms. To address design needs, we present Chauffeur, the first open-source end-to-end benchmark suite for self-driving vehicles with configurable representative workloads. Chauffeur is easy to configure and run, enabling researchers to evaluate different platform configurations and explore alternative instantiations of the self-driving software pipeline. Chauffeur runs on diverse emerging platforms and exploits heterogeneous onboard resources. Our initial characterization of Chauffeur on different embedded platforms \u2013 NVIDIA Jetson TX2 and Drive PX2 \u2013 enables comparative evaluation of these GPU platforms in executing an end-to-end self-driving computational pipeline to assess the end-to-end response times on these emerging embedded platforms while also creating opportunities to create application gangs for better response times. Chauffeur enables researchers to benchmark representative self-driving workloads and flexibly compose them for different self-driving scenarios to explore end-to-end tradeoffs between design constraints, power budget, real-time performance requirements, and accuracy of applications.<\/jats:p>","DOI":"10.1145\/3477005","type":"journal-article","created":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T18:36:51Z","timestamp":1631903811000},"page":"1-22","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":13,"title":["Chauffeur: Benchmark Suite for Design and End-to-End Analysis of Self-Driving Vehicles on Embedded Systems"],"prefix":"10.1145","volume":"20","author":[{"given":"Biswadip","family":"Maity","sequence":"first","affiliation":[{"name":"University of California, Irvine, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saehanseul","family":"Yi","sequence":"additional","affiliation":[{"name":"University of California, Irvine, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dongjoo","family":"Seo","sequence":"additional","affiliation":[{"name":"University of California, Irvine, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leming","family":"Cheng","sequence":"additional","affiliation":[{"name":"University of California, Irvine, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sung-Soo","family":"Lim","sequence":"additional","affiliation":[{"name":"Kookmin University, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jong-Chan","family":"Kim","sequence":"additional","affiliation":[{"name":"Kookmin University, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bryan","family":"Donyanavard","sequence":"additional","affiliation":[{"name":"San Diego State University, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikil","family":"Dutt","sequence":"additional","affiliation":[{"name":"University of California, Irvine, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,9,17]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"crossref","unstructured":"H. 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