IEICE TRANSACTIONS on Electronics
Collision Detection VLSI Processor for Intelligent Vehicles Using a Hierarchically-Content-Addressable Memory
Summary :
High-speed collision detection is important to realize a highly-safe intelligent vehicle. In collision detection, high-computational power is required to perform matching operation between discrete points on surfaces of a vehicle and obstacles in real-world environment. To achieve the highest performance, a hierarchical matching scheme is proposed based on two representations: the coarse representation and the fine representation. A vehicle is represented as a set of rectangular solids in the fine representation (fine rectangular solids), and the coarse representation, which is also a set of rectangular solids, is produced by enlarging the fine representation. If collision occurs between an obstacle discrete point and a rectangular solid in the coarse representation (coarse rectangular solid), then it is sufficient to check the only fine rectangular solids contained in the coarse one. Consequently, checks for the other fine rectangular solids can be omitted. To perform the hierarchical matching operation in parallel, a hierarchically-content-addressable memory (HCAM) is proposed. Since there is no need to perform matching operation in parallel with fine rectangular solids contained in different coarse ones, the fine ones are mapped onto a matching unit. As a result, the number of matching units can be reduced without decreasing the performance. Under the condition of the same execution time, the area of the HCAM is reduced to 46.4% in comparison with that of the conventional CAM in which the hierarchical matching scheme is not used.
- Publication
- IEICE TRANSACTIONS on Electronics Vol.E82-C No.9 pp.1722-1729
- Publication Date
- 1999/09/25
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- Special Section PAPER (Special Issue on Integrated Electronics and New System Paradigms)
- Category
- Processors
Authors
Keyword
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Masanori HARIYAMA, Kazuhiro SASAKI, Michitaka KAMEYAMA, "Collision Detection VLSI Processor for Intelligent Vehicles Using a Hierarchically-Content-Addressable Memory" in IEICE TRANSACTIONS on Electronics,
vol. E82-C, no. 9, pp. 1722-1729, September 1999, doi: .
Abstract: High-speed collision detection is important to realize a highly-safe intelligent vehicle. In collision detection, high-computational power is required to perform matching operation between discrete points on surfaces of a vehicle and obstacles in real-world environment. To achieve the highest performance, a hierarchical matching scheme is proposed based on two representations: the coarse representation and the fine representation. A vehicle is represented as a set of rectangular solids in the fine representation (fine rectangular solids), and the coarse representation, which is also a set of rectangular solids, is produced by enlarging the fine representation. If collision occurs between an obstacle discrete point and a rectangular solid in the coarse representation (coarse rectangular solid), then it is sufficient to check the only fine rectangular solids contained in the coarse one. Consequently, checks for the other fine rectangular solids can be omitted. To perform the hierarchical matching operation in parallel, a hierarchically-content-addressable memory (HCAM) is proposed. Since there is no need to perform matching operation in parallel with fine rectangular solids contained in different coarse ones, the fine ones are mapped onto a matching unit. As a result, the number of matching units can be reduced without decreasing the performance. Under the condition of the same execution time, the area of the HCAM is reduced to 46.4% in comparison with that of the conventional CAM in which the hierarchical matching scheme is not used.
URL: https://global.ieice.org/en_transactions/electronics/10.1587/e82-c_9_1722/_p
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@ARTICLE{e82-c_9_1722,
author={Masanori HARIYAMA, Kazuhiro SASAKI, Michitaka KAMEYAMA, },
journal={IEICE TRANSACTIONS on Electronics},
title={Collision Detection VLSI Processor for Intelligent Vehicles Using a Hierarchically-Content-Addressable Memory},
year={1999},
volume={E82-C},
number={9},
pages={1722-1729},
abstract={High-speed collision detection is important to realize a highly-safe intelligent vehicle. In collision detection, high-computational power is required to perform matching operation between discrete points on surfaces of a vehicle and obstacles in real-world environment. To achieve the highest performance, a hierarchical matching scheme is proposed based on two representations: the coarse representation and the fine representation. A vehicle is represented as a set of rectangular solids in the fine representation (fine rectangular solids), and the coarse representation, which is also a set of rectangular solids, is produced by enlarging the fine representation. If collision occurs between an obstacle discrete point and a rectangular solid in the coarse representation (coarse rectangular solid), then it is sufficient to check the only fine rectangular solids contained in the coarse one. Consequently, checks for the other fine rectangular solids can be omitted. To perform the hierarchical matching operation in parallel, a hierarchically-content-addressable memory (HCAM) is proposed. Since there is no need to perform matching operation in parallel with fine rectangular solids contained in different coarse ones, the fine ones are mapped onto a matching unit. As a result, the number of matching units can be reduced without decreasing the performance. Under the condition of the same execution time, the area of the HCAM is reduced to 46.4% in comparison with that of the conventional CAM in which the hierarchical matching scheme is not used.},
keywords={},
doi={},
ISSN={},
month={September},}
Copy
TY - JOUR
TI - Collision Detection VLSI Processor for Intelligent Vehicles Using a Hierarchically-Content-Addressable Memory
T2 - IEICE TRANSACTIONS on Electronics
SP - 1722
EP - 1729
AU - Masanori HARIYAMA
AU - Kazuhiro SASAKI
AU - Michitaka KAMEYAMA
PY - 1999
DO -
JO - IEICE TRANSACTIONS on Electronics
SN -
VL - E82-C
IS - 9
JA - IEICE TRANSACTIONS on Electronics
Y1 - September 1999
AB - High-speed collision detection is important to realize a highly-safe intelligent vehicle. In collision detection, high-computational power is required to perform matching operation between discrete points on surfaces of a vehicle and obstacles in real-world environment. To achieve the highest performance, a hierarchical matching scheme is proposed based on two representations: the coarse representation and the fine representation. A vehicle is represented as a set of rectangular solids in the fine representation (fine rectangular solids), and the coarse representation, which is also a set of rectangular solids, is produced by enlarging the fine representation. If collision occurs between an obstacle discrete point and a rectangular solid in the coarse representation (coarse rectangular solid), then it is sufficient to check the only fine rectangular solids contained in the coarse one. Consequently, checks for the other fine rectangular solids can be omitted. To perform the hierarchical matching operation in parallel, a hierarchically-content-addressable memory (HCAM) is proposed. Since there is no need to perform matching operation in parallel with fine rectangular solids contained in different coarse ones, the fine ones are mapped onto a matching unit. As a result, the number of matching units can be reduced without decreasing the performance. Under the condition of the same execution time, the area of the HCAM is reduced to 46.4% in comparison with that of the conventional CAM in which the hierarchical matching scheme is not used.
ER -
English
