An Implementation of a Vehicle Path Planner C/GMRES to Accelerate Processing in Multi-core ECU

This paper proposes a parallel implementation technique using multi-core CPUs. The authors focus on model predictive control that’s an important part of the path planning for autonomous driving. From the results of analyzing the C/GMRES’s computational bottleneck, it was found that Gram-Schmitt process is the most time-consuming task. Hence, the authors propose a multi-thread technique to execute the Gram-Schmitt process with less computing time. In particular, they design a switching method to keep the calculation efficiency for small tasks. It’s demonstrated that the calculation speed was increased to 1.46 times by the proposed method when it was implemented to a typical device.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.51.497
• Record URL:
  https://www.jstage.jst.go.jp/article/jsaeronbun/51/3/51_20204215/_pdf
• 
• Record URL:
  https://scholar.google.com/scholar_lookup?title=An%20Implementation%20of%20a%20Vehicle%20Path%20Planner%20C%2FGMRES%20to%20Accelerate%20Processing%20in%20Multi-core%20ECU&author=K.%20Sakata&author=T.%20Yuno&author=T.%20Ono&author=T.%20Kawabe&publication_year=2020
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Sakata, Kosuke
  • Yuno, Tsuyoshi
  • Ono, Takatsugu
  • Kawabe, Taketoshi
• Publication Date: 2020-5

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 497-502
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 51
  • Issue Number: 3
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Automotive computers; Autonomous vehicles; Data processing operations; Mathematical models; Mathematical prediction; Trajectory control
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01737976
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Apr 27 2020 9:10AM