arXiv:2608.29000cs.RO2026-08

给自动驾驶感知的内存接口做智能压缩,重点保护行人等脆弱道路使用者。

Coding What Matters: A Semantic-Aware Memory Interface for Energy-Efficient Perception in Autonomous Vehicles

论文配图:Coding What Matters: A Semantic-Aware Memory Interface for Energy-Efficient Perception in Autonomous Vehicles
图 1 · 摘自论文原文
  • 根据语义重要性动态调整图像块精度,关键区域保留高保真度。
  • 在多个数据集上保持90%以上检测准确率,内存位1密度降低52%。
  • 适合需要低功耗感知的自动驾驶系统,尤其关注交通安全场景。

自动驾驶车辆将高分辨率环视相机帧流式传输至内存以进行感知处理。该传感器到内存路径的能耗取决于位1密度和数据总线翻转活动,而非像素语义。本文提出MotiMem-Omega,一种语义感知的内存接口编码器,在保持感知预测性能的同时降低能耗。其语义重要性场优先保护交通参与者,尤其是脆弱道路使用者,而对天空和空背景分配较低保真度。通过跨数据集的比特敏感性分析确定类别权重,并为行人、骑车人和摩托车手设置安全下限。每个图像块根据最小化联合能损代价选择精度层级。当具备自车姿态信息时,运动补偿先验可跨帧传递保护区域。基于系数扫描的内存能耗模型,估算出接口能耗降低近36%,最低可达27%。在12个驾驶数据集、29个检测器、5个占用预测模型及5个分割网络上,该方法保持约90%的检测平均精度、91%的脆弱道路使用者召回率、超过98%的占用准确性,且在节能方法中段落保留表现最强。相比基线与等能耗截断,其在相同或更低的位1密度下表现更优,而传统图像编解码器虽保精度却无法降低内存接口能耗。

原文摘要 · Abstract (English)

Autonomous vehicles stream high-resolution surround-camera frames into memory before perception runs. This sensor-to-memory path consumes energy when cells store ones and adjacent bytes toggle on the data bus, so its cost follows bit-1 density and switching activity rather than pixel semantics. We present MotiMem-Omega, a semantic-aware memory-interface coder that lowers this cost while preserving perception predictions. Its semantic importance field protects traffic participants, especially vulnerable road users, while assigning lower fidelity to sky and empty background. Cross-dataset bit-sensitivity sweeps determine class weights, with a safety floor for pedestrians, cyclists, and motorcyclists. Each image block then selects a precision tier by minimizing a joint energy-distortion cost. When ego pose is available, a motion-compensated prior carries protected regions between frames. We estimate interface-energy reduction from the two measured proxies using a coefficient-swept memory-energy model. Across 29 detectors on 12 driving datasets, 5 occupancy models, and 5 segmentation networks, MotiMem-Omega retains about 90% of detection mean average precision, 91% of vulnerable-road-user recall, over 98% of occupancy accuracy, and the strongest segmentation retention among energy-reducing methods. It reduces front-camera bit-1 density by 52%, corresponding to a modeled memory-interface energy reduction near 36%, with a lower end of 27% under the literature coefficient sweep. It also gives higher retention than the baseline and energy-matched truncation at the same or lower bit-1 density, whereas image codecs preserve accuracy without reducing memory-interface energy.

自动驾驶内存优化语义压缩能效

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