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Challenges
“Correct” Decisions
“Real-Time” Decisions
Power Budgets
!2
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Challenges
“Correct” Decisions
“Real-Time” Decisions
Power Budgets
!3
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Computational Pipeline
!4
Camera
LIDAR
Radar
GPS
Sensing
Object Detection
Lane Detection
Traffic Light Detection
Traffic Sign Detection
Localization
Perception
Route Planning
Motion Prediction
Behavior Planning
Trajectory Planning
Planning
Control
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Computational Pipeline
!5
Camera
LIDAR
Radar
GPS
Sensing
Object Detection
Lane Detection
Traffic Light Detection
Traffic Sign Detection
Localization
Perception
Route Planning
Motion Prediction
Behavior Planning
Trajectory Planning
Planning
Control
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Computational Pipeline
!6
Camera
LIDAR
Radar
GPS
Sensing
Object Detection
Lane Detection
Traffic Light Detection
Traffic Sign Detection
Localization
Perception
Route Planning
Motion Prediction
Behavior Planning
Trajectory Planning
Planning
Control
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Computational Pipeline
!7
Camera
LIDAR
Radar
GPS
Sensing
Object Detection
Lane Detection
Traffic Light Detection
Traffic Sign Detection
Localization
Perception
Route Planning
Motion Prediction
Behavior Planning
Trajectory Planning
Planning
Control
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Design Constraint: Performance
!8
Camera
LIDAR
Radar
GPS
Sensing
Sensors generate 1-2GB of data per second. Autonomous vehicle system should provide:
High Throughput Low Latency
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!9
Camera
LIDAR
Radar
GPS
Sensing
Object Detection
Lane Detection
Traffic Light Detection
Traffic Sign Detection
Localization
Perception
Route Planning
Motion Prediction
Behavior Planning
Trajectory Planning
Planning
Control
Tail latency <= 100ms
Design Constraint: Predictability
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!10
Localization
Design Constraint: Storage
41 TB!
4TB of logging data generated by a car each day.
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!11
Design Constraint: Thermal and Power
“Datacenter on wheels.”
Power requirements of up to 3kW.
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!12
Key Idea
FPGAsGPUs ASICs
Exploit different accelerator platforms to achieve predictability and performance while reducing the power requirements.
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!13
Implementation
Detector Tracker
Localization
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!14
Metrics of Success
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!15
DiscussionAre DNNs the major computational part of the perception pipeline?
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!16
DiscussionWhat is the reason for zero variability in both ASICs and FPGAs?
Mean Latency 99.99th Percentile Latency
What is the source of runtime variability for the GPU?
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!17
DiscussionWhat about the cost of inter-component communication across the devices?