Accelerating GPU Message Communication for Autonomous Navigation Systems

Autonomous navigation systems consist of multiple software modules, such as sensing, object detection, and planning, to achieve traffic perception and fast decision making. Such a system generates a large amount of data and requires data processing and communication in real-time. Although accelerators, such as GPUs, have been exploited to speed up data processing, communicating GPU messages between modules is still lacking support, leading to high communication latency and resource contention. For such a latency-sensitive and resource-limited autonomous navigation system, high performance and lightweight message communication are crucial and demanding. To obtain both high performance and low resource usages, we first propose a novel pub-centric memory pool and an on-the-fly offset conversion algorithm to avoid unnecessary data movement. Secondly, we combine these two techniques and propose an efficient message communication on a single GPU. Finally, we extend this approach to multi-GPU and design a framework that natively supports GPU message communication for Inter-Process Communication. With comprehensive evaluation, results show our approach is able to reduce communication latency by 53.7% for PointCloud and Image messages compared to the state-of-the-art approach. Moreover, in the real autonomous navigation scenario, our approach reduces the end-to-end latency by 29.2% and decreases resource usage up to 58.9%.