# Zhuyi: Perception Processing Rate Estimation for Safety in Autonomous Vehicles

arXiv: https://arxiv.org/abs/2205.03347 · HTML: https://mlsanity.com/paper/2205.03347/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 15 references that are in the map.
- First posted on arXiv 6 May 2022.

## Builds on (most cited first, 7 of 7)

- [MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction](https://mlsanity.com/paper/1910.05449/) (2019)
- [MLPerf Inference Benchmark](https://mlsanity.com/paper/1911.02549/) (2019)
- [Multiple Futures Prediction](https://mlsanity.com/paper/1911.00997/) (2019)
- [On a Formal Model of Safe and Scalable Self-driving Cars](https://mlsanity.com/paper/1708.06374/) (2017)
- [PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation](https://mlsanity.com/paper/2109.11094/) (2021)
- [RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity](https://mlsanity.com/paper/2108.13354/) (2021)
- [Domain Specific Approximation for Object Detection](https://mlsanity.com/paper/1810.02010/) (2018)

## Built on by (most cited first, 3 of 3)

- [Shared Memory-contention-aware Concurrent DNN Execution for Diversely Heterogeneous System-on-Chips](https://mlsanity.com/paper/2308.05869/) (2023)
- [Active Visual Perception: Opportunities and Challenges](https://mlsanity.com/paper/2512.03687/) (2025)
- [TAPAS: Throughput-adaptive Perception for Autonomous Systems](https://mlsanity.com/paper/2607.17317/) (2026)

## Abstract (arXiv)

The processing requirement of autonomous vehicles (AVs) for high-accuracy perception in complex scenarios can exceed the resources offered by the in-vehicle computer, degrading safety and comfort. This paper proposes a sensor frame processing rate (FPR) estimation model, Zhuyi, that quantifies the minimum safe FPR continuously in a driving scenario. Zhuyi can be employed post-deployment as an online safety check and to prioritize work. Experiments conducted using a multi-camera state-of-the-art industry AV system show that Zhuyi's estimated FPRs are conservative, yet the system can maintain safety by processing only 36% or fewer frames compared to a default 30-FPR system in the tested scenarios.