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.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
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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
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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
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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