Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer

Nicholas E. Brown; Farhang Motallebiaraghi; Johan Fanas Rojas; Sherif Ayantayo; Richard Meyer; Zachary D. Asher; Ali Riza Ekti; Chieh Ross Wang; Nicholas A. Goberville; Ben Feinberg

doi:10.1109/ITSC57777.2023.10422013

Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer

Nicholas E. Brown
, Farhang Motallebiaraghi
, Johan Fanas Rojas
, Sherif Ayantayo
, Richard Meyer
, Zachary D. Asher
, Ali Riza Ekti
, Chieh Ross Wang
, Nicholas A. Goberville
, Ben Feinberg

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

The sensing and compute load auxiliary energy consumption in autonomous vehicles may be significant due to the large number of sensors and the high compute load from sensor processing and route planning. To understand this issue, this study investigates the top-down energy usage of an electric 2015 Kia Soul fully instrumented with state sensors and a state-specific computer for path planning and sensor processing. A chassis dynamometer was then used to evaluate the cases of (1) no sensors or computation, (2) only sensors operating, and (3) sensors plus compute load. The vehicle was operated autonomously on the dynamometer using a PolySync drive-kit with drive-by-wire longitudinal control. The DynoJet model 224xLC was used to adapt the eddy current dynamometer's road load parameters to comply with an Environmental Protection Agency drive schedule and to evaluate performance against the Argonne National Laboratory Digital Dynamometer Dataset. On the UDDS-HWFET combined driving cycle, the stock battery's range was reduced by 5.6% for sensors alone and 12.2% for sensors and compute load. These results show that the added sensing and compute auxiliary load from automated and autonomous systems is significant and that research efforts need to be spent investigating new energy efficient systems.

Original language	English
Title of host publication	2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1989-1995
Number of pages	7
ISBN (Electronic)	9798350399462
DOIs	https://doi.org/10.1109/ITSC57777.2023.10422013
State	Published - 2023
Event	26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 - Bilbao, Spain Duration: Sep 24 2023 → Sep 28 2023

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
Country/Territory	Spain
City	Bilbao
Period	09/24/23 → 09/28/23

Funding

This manuscript has been authored in part by UT-Battelle, LLC and The National Technology & Engineering Solutions of Sandia, LLC, under contract DE-AC05-00OR22725 and DE-NA0003525 with the US Department of Energy (DOE). The US government retains and the publisher, by accepting the article for publication, acknowledges that the US government retains a nonexclusive, paid-up, irrevocable, worldwide license to publish or reproduce the published form of this manuscript, or allow others to do so, for US government purposes. DOE will provide public access to these results of federally sponsored research in accordance with the DOE Public Access Plan (http://energy.gov/downloads/doe-public-access-plan). ACKNOWLEDGMENT This material is based upon work supported by the U.S. Department of Energys Office of Energy Efficiency and Renewable Energy (EERE) under the Vehicles Technology Office Award Number DE-EE0009657.

Keywords

Autonomous Electric Vehicle
Connected Autonomous Vehicle
Sensors
Vehicle Battery Performance

Access to Document

10.1109/ITSC57777.2023.10422013

Cite this

Brown, N. E., Motallebiaraghi, F., Rojas, J. F., Ayantayo, S., Meyer, R., Asher, Z. D., Ekti, A. R., Wang, C. R., Goberville, N. A., & Feinberg, B. (2023). Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer. In 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 (pp. 1989-1995). (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC57777.2023.10422013

Brown, Nicholas E. ; Motallebiaraghi, Farhang ; Rojas, Johan Fanas et al. / Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer. 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 1989-1995 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

@inproceedings{34d5986a743a4bf5b8da146dfa90b76a,

title = "Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer",

abstract = "The sensing and compute load auxiliary energy consumption in autonomous vehicles may be significant due to the large number of sensors and the high compute load from sensor processing and route planning. To understand this issue, this study investigates the top-down energy usage of an electric 2015 Kia Soul fully instrumented with state sensors and a state-specific computer for path planning and sensor processing. A chassis dynamometer was then used to evaluate the cases of (1) no sensors or computation, (2) only sensors operating, and (3) sensors plus compute load. The vehicle was operated autonomously on the dynamometer using a PolySync drive-kit with drive-by-wire longitudinal control. The DynoJet model 224xLC was used to adapt the eddy current dynamometer's road load parameters to comply with an Environmental Protection Agency drive schedule and to evaluate performance against the Argonne National Laboratory Digital Dynamometer Dataset. On the UDDS-HWFET combined driving cycle, the stock battery's range was reduced by 5.6\% for sensors alone and 12.2\% for sensors and compute load. These results show that the added sensing and compute auxiliary load from automated and autonomous systems is significant and that research efforts need to be spent investigating new energy efficient systems.",

keywords = "Autonomous Electric Vehicle, Connected Autonomous Vehicle, Sensors, Vehicle Battery Performance",

author = "Brown, \{Nicholas E.\} and Farhang Motallebiaraghi and Rojas, \{Johan Fanas\} and Sherif Ayantayo and Richard Meyer and Asher, \{Zachary D.\} and Ekti, \{Ali Riza\} and Wang, \{Chieh Ross\} and Goberville, \{Nicholas A.\} and Ben Feinberg",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 ; Conference date: 24-09-2023 Through 28-09-2023",

year = "2023",

doi = "10.1109/ITSC57777.2023.10422013",

language = "English",

series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1989--1995",

booktitle = "2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023",

}

Brown, NE, Motallebiaraghi, F, Rojas, JF, Ayantayo, S, Meyer, R, Asher, ZD, Ekti, AR , Wang, CR, Goberville, NA & Feinberg, B 2023, Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer. in 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc., pp. 1989-1995, 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, Bilbao, Spain, 09/24/23. https://doi.org/10.1109/ITSC57777.2023.10422013

Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer. / Brown, Nicholas E.; Motallebiaraghi, Farhang; Rojas, Johan Fanas et al.
2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 1989-1995 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer

AU - Brown, Nicholas E.

AU - Motallebiaraghi, Farhang

AU - Rojas, Johan Fanas

AU - Ayantayo, Sherif

AU - Meyer, Richard

AU - Asher, Zachary D.

AU - Ekti, Ali Riza

AU - Wang, Chieh Ross

AU - Goberville, Nicholas A.

AU - Feinberg, Ben

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N2 - The sensing and compute load auxiliary energy consumption in autonomous vehicles may be significant due to the large number of sensors and the high compute load from sensor processing and route planning. To understand this issue, this study investigates the top-down energy usage of an electric 2015 Kia Soul fully instrumented with state sensors and a state-specific computer for path planning and sensor processing. A chassis dynamometer was then used to evaluate the cases of (1) no sensors or computation, (2) only sensors operating, and (3) sensors plus compute load. The vehicle was operated autonomously on the dynamometer using a PolySync drive-kit with drive-by-wire longitudinal control. The DynoJet model 224xLC was used to adapt the eddy current dynamometer's road load parameters to comply with an Environmental Protection Agency drive schedule and to evaluate performance against the Argonne National Laboratory Digital Dynamometer Dataset. On the UDDS-HWFET combined driving cycle, the stock battery's range was reduced by 5.6% for sensors alone and 12.2% for sensors and compute load. These results show that the added sensing and compute auxiliary load from automated and autonomous systems is significant and that research efforts need to be spent investigating new energy efficient systems.

AB - The sensing and compute load auxiliary energy consumption in autonomous vehicles may be significant due to the large number of sensors and the high compute load from sensor processing and route planning. To understand this issue, this study investigates the top-down energy usage of an electric 2015 Kia Soul fully instrumented with state sensors and a state-specific computer for path planning and sensor processing. A chassis dynamometer was then used to evaluate the cases of (1) no sensors or computation, (2) only sensors operating, and (3) sensors plus compute load. The vehicle was operated autonomously on the dynamometer using a PolySync drive-kit with drive-by-wire longitudinal control. The DynoJet model 224xLC was used to adapt the eddy current dynamometer's road load parameters to comply with an Environmental Protection Agency drive schedule and to evaluate performance against the Argonne National Laboratory Digital Dynamometer Dataset. On the UDDS-HWFET combined driving cycle, the stock battery's range was reduced by 5.6% for sensors alone and 12.2% for sensors and compute load. These results show that the added sensing and compute auxiliary load from automated and autonomous systems is significant and that research efforts need to be spent investigating new energy efficient systems.

KW - Autonomous Electric Vehicle

KW - Connected Autonomous Vehicle

KW - Sensors

KW - Vehicle Battery Performance

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U2 - 10.1109/ITSC57777.2023.10422013

DO - 10.1109/ITSC57777.2023.10422013

M3 - Conference contribution

AN - SCOPUS:85186530248

T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

SP - 1989

EP - 1995

BT - 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023

Y2 - 24 September 2023 through 28 September 2023

ER -

Brown NE, Motallebiaraghi F, Rojas JF, Ayantayo S, Meyer R, Asher ZD et al. Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer. In 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 1989-1995. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC57777.2023.10422013

Evaluation of Autonomous Vehicle Sensing and Compute Load on a Chassis Dynamometer

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