English(EN) FALCON: FPGA-Accelerated Latency-Certifiable Occupancy Networks for Camera-Based Autonomous Driving

基于FPGA的FALCON系统确保自动驾驶的延迟保证

作者 PulseAugur 编辑部 · [1 个来源] · 2026-10-16 04:00

研究人员开发了FALCON，一种用于摄像头式自动驾驶的新型系统，它优先考虑可延迟认证的占用网络。该系统在AMD Kria KR260 FPGA上实现，确保每一帧都满足延迟保证，这与优化平均延迟的商品加速器不同。FALCON通过分层方法实现这一点，其中可编程逻辑计算在分析上是周期有界的，并且推理延迟在广泛的跟踪中进行测量，并由看门狗强制执行。虽然完整的流水线目前每帧大约需要1.3秒，但该系统在Occ3D-nuScenes验证集上实现了具有竞争力的准确性，并且与NVIDIA Jetson Orin Nano和数据中心GPU相比，表现出明显更稳定的延迟性能。 AI

影响这项研究通过保证延迟（自动驾驶安全的关键因素）可能带来更可靠的自动驾驶汽车感知系统。

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arXiv cs.CV TIER_1 English(EN) · Haohua Que, Mingkai Liu, Handong Yao · 2026-10-16 04:00

FALCON：基于FPGA加速的可延迟认证的基于摄像头的自动驾驶占用网络

arXiv:2610.22143v1 Announce Type: new Abstract: A perception system that must brake for a pedestrian does not need a low average latency. It must deliver an answer before the deadline on every frame, the worst case included. Commodity edge accelerators optimize the mean through d…

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FALCON：基于FPGA加速的可延迟认证的基于摄像头的自动驾驶占用网络

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