{"id":"https://openalex.org/W3190755447","doi":"https://doi.org/10.1109/lra.2021.3097439","title":"Oops! It's Too Late. Your Autonomous Driving System Needs a <i>Faster</i> Middleware","display_name":"Oops! It's Too Late. Your Autonomous Driving System Needs a <i>Faster</i> Middleware","publication_year":2021,"publication_date":"2021-08-02","ids":{"openalex":"https://openalex.org/W3190755447","doi":"https://doi.org/10.1109/lra.2021.3097439","mag":"3190755447"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3097439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097439","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103137050","display_name":"Tianze Wu","orcid":"https://orcid.org/0000-0001-6902-7955"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianze Wu","raw_affiliation_strings":["State Key Laboratory of Computer Architecture, Institute of Computing Technology, Chinese Acedemy of Sciences, and University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer Architecture, Institute of Computing Technology, Chinese Acedemy of Sciences, and University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012394991","display_name":"Baofu Wu","orcid":"https://orcid.org/0000-0003-0259-9427"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]},{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Baofu Wu","raw_affiliation_strings":["School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou 310018, China, and Wayne State University, Detroit, MI, United States"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou 310018, China, and Wayne State University, Detroit, MI, United States","institution_ids":["https://openalex.org/I50760025","https://openalex.org/I185443292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101664399","display_name":"Sa Wang","orcid":"https://orcid.org/0000-0003-0451-7181"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sa Wang","raw_affiliation_strings":["State Key Laboratory of Computer Architecture, Institute of Computing Technology, University of Chinese Academy of Sciences, and Institute of Computing Technology(Nanjing), Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer Architecture, Institute of Computing Technology, University of Chinese Academy of Sciences, and Institute of Computing Technology(Nanjing), Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039156669","display_name":"Liangkai Liu","orcid":"https://orcid.org/0000-0002-6149-9859"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liangkai Liu","raw_affiliation_strings":["Wayne State University, Detroit, MI, United States"],"affiliations":[{"raw_affiliation_string":"Wayne State University, Detroit, MI, United States","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050739558","display_name":"Shaoshan Liu","orcid":"https://orcid.org/0000-0002-5132-8351"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaoshan Liu","raw_affiliation_strings":["PerceptIn, Santa Clara, California, USA"],"affiliations":[{"raw_affiliation_string":"PerceptIn, Santa Clara, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807410","display_name":"Yungang Bao","orcid":"https://orcid.org/0000-0001-6565-5276"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yungang Bao","raw_affiliation_strings":["State Key Laboratory of Computer Architecture, Institute of Computing Technology, University of Chinese Academy of Sciences, and Peng Cheng Laboratory, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer Architecture, Institute of Computing Technology, University of Chinese Academy of Sciences, and Peng Cheng Laboratory, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038","https://openalex.org/I4210136793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100651611","display_name":"Weisong Shi","orcid":"https://orcid.org/0000-0001-5864-4675"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weisong Shi","raw_affiliation_strings":["Wayne State University, Detroit, MI, United States"],"affiliations":[{"raw_affiliation_string":"Wayne State University, Detroit, MI, United States","institution_ids":["https://openalex.org/I185443292"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5103137050"],"corresponding_institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.9299,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.74255739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"7301","last_page":"7308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.8482369184494019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7625518441200256},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6769605875015259},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5549710392951965},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5508242249488831},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43397068977355957},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4304129481315613},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.18021425604820251}],"concepts":[{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.8482369184494019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7625518441200256},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6769605875015259},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5549710392951965},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5508242249488831},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43397068977355957},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4304129481315613},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.18021425604820251},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3097439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097439","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G2004552589","display_name":null,"funder_award_id":"62090020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2321806822","display_name":null,"funder_award_id":"2020B010164003","funder_id":"https://openalex.org/F4320336405","funder_display_name":"Special Project for Research and Development in Key areas of Guangdong Province"},{"id":"https://openalex.org/G5651881193","display_name":null,"funder_award_id":"2020105","funder_id":"https://openalex.org/F4320322847","funder_display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences"},{"id":"https://openalex.org/G7242375235","display_name":null,"funder_award_id":"2013073","funder_id":"https://openalex.org/F4320322847","funder_display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"},{"id":"https://openalex.org/F4320336405","display_name":"Special Project for Research and Development in Key areas of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1964846093","https://openalex.org/W1969640700","https://openalex.org/W2055207897","https://openalex.org/W2075174112","https://openalex.org/W2094430142","https://openalex.org/W2114168752","https://openalex.org/W2167224731","https://openalex.org/W2206222117","https://openalex.org/W2530771494","https://openalex.org/W2582148258","https://openalex.org/W2791175987","https://openalex.org/W2891899936","https://openalex.org/W2909451584","https://openalex.org/W2940612399","https://openalex.org/W2953901595","https://openalex.org/W2965712325","https://openalex.org/W3003604113","https://openalex.org/W3011463348","https://openalex.org/W3011613664","https://openalex.org/W3018757597","https://openalex.org/W3081787019","https://openalex.org/W3090387620","https://openalex.org/W3094453511","https://openalex.org/W3101263752","https://openalex.org/W3103776734","https://openalex.org/W3110923198","https://openalex.org/W3119508123","https://openalex.org/W4233043298","https://openalex.org/W4293682399","https://openalex.org/W6684338915","https://openalex.org/W6757836580","https://openalex.org/W6762255807","https://openalex.org/W6766509760","https://openalex.org/W6777046832","https://openalex.org/W6782089991","https://openalex.org/W6785356708","https://openalex.org/W6788359280"],"related_works":["https://openalex.org/W2366107444","https://openalex.org/W2378211422","https://openalex.org/W4388145910","https://openalex.org/W2381570729","https://openalex.org/W1976205134","https://openalex.org/W4321353415","https://openalex.org/W1680720215","https://openalex.org/W2031558046","https://openalex.org/W2092189923","https://openalex.org/W2169667823"],"abstract_inverted_index":{"Autonomous":[0,52],"Driving":[1,53],"(AD)":[2],"has":[3],"entered":[4],"a":[5,27,81,89,94],"period":[6],"of":[7,16,46,49,65,72,88,96],"rapid":[8],"development":[9],"in":[10,51],"recent":[11],"years.":[12],"With":[13],"the":[14,36,39,47],"amount":[15],"sensors":[17],"and":[18,38,67,93,113],"control":[19],"logics":[20],"installed":[21],"increasing":[22],"tremendously":[23],"to":[24,102],"guarantee":[25],"robustness,":[26],"big":[28],"challenge":[29],"is":[30],"posed":[31],"for":[32,43,100,111,117],"AD":[33,98],"middleware.":[34],"Both":[35],"academia":[37],"industry":[40],"are":[41],"eager":[42],"an":[44],"investigation":[45],"performance":[48],"middlewares":[50,76],"Vehicles":[54],"(AVs).":[55],"To":[56],"fill":[57],"this":[58],"gap,":[59],"we":[60,79],"summarize":[61],"typical":[62],"communication":[63,70,91],"scenarios":[64],"AVs":[66],"evaluate":[68],"different":[69],"mechanisms":[71],"three":[73],"popular":[74],"open-source":[75],"comprehensively.":[77],"Besides,":[78],"construct":[80],"benchmark":[82],"pack":[83],"named":[84],"ComP":[85],"which":[86],"consists":[87],"perception":[90],"scenario":[92],"group":[95],"real":[97],"applications":[99],"researchers":[101,112],"assess":[103],"middleware":[104],"performance.":[105],"Our":[106],"findings":[107],"provide":[108],"useful":[109],"guidelines":[110],"insightful":[114],"optimization":[115],"advice":[116],"designing":[118],"middlewares.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
