An effective auto-scaling framework is essential for microservices to ensure performance stability and resource efficiency under dynamic workloads. As revealed by many prior studies, the key to efficient auto-scaling lies in accurately learning performance patterns, i.e., the relationship between performance metrics and workloads in data-driven schemes. However, we notice that there are two significant challenges in characterizing performance patterns for large-scale microservices. Firstly, diverse microservices demonstrate varying sensitivities to heterogeneous machines, causing difficulty in quantifying the performance difference in a fixed manner. Secondly, frequent version upgrades of microservices result in uncertain changes in performance patterns, known as pattern drifts, leading to imprecise resource capacity estimation issues. To address these challenges, we propose Humas, a heterogeneity- and upgrade-aware auto-scaling framework for large-scale microservices. Firstly, Humas quantifies the difference in resource efficiency among heterogeneous machines for various microservices online and normalizes their resources in standard units. Additionally, Humas develops a least-squares density-difference (LSDD) based algorithm to identify pattern drifts caused by upgrades. Lastly, Humas generates capacity adjustment plans for microservices based on the latest performance patterns and predicted workloads. The experiment results conducted on 50 real microservices with over 11,000 containers demonstrate that Humas improves resource efficiency and performance stability by approximately 30.4% and 48.0%, respectively, compared to state-of-the-art approaches.

Accurately forecasting workloads in terms of throughput that is quantified as queries per second (QPS) is essential for microservices to elastically adjust their resource allocations. However, long-term QPS prediction is challenging in two aspects: 1) generality across various services with different temporal patterns, 2) characterization of intricate QPS sequences which are entangled by multiple components. In this paper, we propose a knowledge auto-embedding Informer network (KAE-Informer) for forecasting the long-term QPS sequences of microservices. By analyzing a large number of microservice traces, we discover that there are two main decomposable and predictable components in QPS sequences, namely global trend & dominant periodicity (TP) and low-frequency residual patterns with long-range dependencies. These two components are important for accurately forecasting long-term QPS. First, KAE-Informer embeds the knowledge of TP components through mathematical modeling. Second, KAE-Informer designs a convolution ProbSparse self-attention mechanism and a multi-layer event discrimination scheme to extract and embed the knowledge of local context awareness and event regression effect implied in residual components, respectively. We conduct experiments based on three real datasets including a QPS dataset collected from 40 microservices. The experiment results show that KAE-Informer achieves a reduction of MAPE, MAE and RMSE by about 16.6%, 17.6% and 23.1% respectively, compared to the state-of-the-art models.

In the field of autonomous land vehicles (ALVs), environmental perception serves as the gateway for ALVs to acquire external information, directly determining the capabilities and intelligence level of autonomous driving. In the research of environmental perception technology for ALVs in field environments, achieving real-time, accurate, and robust obstacle detection is fundamental to realizing autonomous navigation. However, existing research often ignores the detection of negative obstacles, making the detection of positive and negative obstacles crucial for the safe navigation of ALVs. Therefore, we propose a method for ALV to use dual-LiDAR for positive and negative obstacles detection. The ground segmentation suffers from issues such as scene-specificity and threshold dependence. This method employs a horizontally mounted LiDAR to achieve ground segmentation and positive obstacle detection utilizing an adaptive threshold ground point cloud segmentation method with an improved ray method. Subsequently, a vertically mounted LiDAR is used to detect negative obstacles through local analysis of point clouds and clustering of feature point pairs to achieve local obstacle avoidance. A series of experiments were conducted in multiple field environments, and the results demonstrate that the proposed method achieves a successful detection rate of 98.5% for positive obstacles and 98.7% for negative obstacles in different field environments.