Soar: Design and Deployment of A Smart Roadside Infrastructure System for Autonomous Driving

TL;DR

This paper introduces Soar, a comprehensive smart roadside infrastructure system designed to support autonomous driving, demonstrating its deployment, communication architecture, and real-time performance through real-world evaluation on campus.

Contribution

The paper presents the first end-to-end SRI system tailored for autonomous driving, integrating hardware, software, and novel communication architecture, and validates it through a two-year campus deployment.

Findings

Supports diverse autonomous driving applications

Achieves real-time performance and high reliability

Operates effectively over two years in real-world conditions

Abstract

Recently,smart roadside infrastructure (SRI) has demonstrated the potential of achieving fully autonomous driving systems. To explore the potential of infrastructure-assisted autonomous driving, this paper presents the design and deployment of Soar, the first end-to-end SRI system specifically designed to support autonomous driving systems. Soar consists of both software and hardware components carefully designed to overcome various system and physical challenges. Soar can leverage the existing operational infrastructure like street lampposts for a lower barrier of adoption. Soar adopts a new communication architecture that comprises a bi-directional multi-hop I2I network and a downlink I2V broadcast service, which are designed based on off-the-shelf 802.11ac interfaces in an integrated manner. Soar also features a hierarchical DL task management framework to achieve desirable load balancing among nodes and enable them to collaborate efficiently to run multiple data-intensive autonomous driving applications. We deployed a total of 18 Soar nodes on existing lampposts on campus, which have been operational for over two years. Our real-world evaluation shows that Soar can support a diverse set of autonomous driving applications and achieve desirable real-time performance and high communication reliability. Our findings and experiences in this work offer key insights into the development and deployment of next-generation smart roadside infrastructure and autonomous driving systems.