Edge AIBench 2.0: A scalable autonomous vehicle benchmark for IoT–Edge–Cloud systems

Many emerging IoT–Edge–Cloud computing systems are not yet implemented or are too confidential to share the code or even tricky to replicate its execution environment, and hence their benchmarking is very challenging. This paper uses autonomous vehicles as a typical scenario to build the first benchmark for IoT–Edge–Cloud systems. We propose a set of distilling rules for replicating autonomous vehicle scenarios to extract critical tasks with intertwined interactions. The essential system-level and component-level characteristics are captured while the system complexity is reduced significantly so that users can quickly evaluate and pinpoint the system and component bottlenecks. Also, we implement a scalable architecture through which users can assess the systems with different sizes of workloads.

We conduct several experiments to measure the performance. After testing two thousand autonomous vehicle task requests, we identify the bottleneck modules in autonomous vehicle scenarios and analyze their hotspot functions. The experiment results show that the lane-keeping task is the slowest execution module, with a tail latency of 77.49 ms for the 99th percentile latency. We hope this scenario benchmark will be helpful for Autonomous Vehicles and even IoT–edge–Cloud research. Now the open-source code is available from the official website https://www.benchcouncil.org/scenariobench/edgeaibench.html.