Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 13

The planning and control algorithms and the object recognition and tracking algorithms have very different behavioral characteristics which call for different kinds of processors. HD maps, on the other hand, stress the memory [9]. Therefore, it is imperative to design a computing hardware system which addresses these demands, all within limited computing resources and power budget. For instance, as indicated in [9], an early design of an autonomous driving computing system was equipped with an Intel^® Xeon E5 processor and four to eight Nvidia^® K80 graphics processing unit (GPU) accelerators, connected with a Peripheral Component Interconnect-E (PCI-E) bus. At its peak, the whole system, while capable of delivering 64.5 Tera Operations Per Second (TOPS), consumed about 3000 W, consequently generating an enormous amount of heat. Also, at a cost of $30 000, the whole solution would be unaffordable (and unacceptable) to the average consumer.