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Proceedings Paper

Parallel digital signal processing (DSP) vehicle controller for automated vehicles
Author(s): Fabio Perelli; Ramesh Rajagopalan
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Paper Abstract

This paper presents the design and implementation of a high performance vehicle controller based on parallel digital processing systems for automated vehicles. From the literature it has been observed that one of the main limiting factors of most automated vehicles rests on the available computing power. Most systems employ camera vision for guidance purposes. In some cases other sensors are used in combination with camera vision. The amount of information that has to be processed can overwhelm many processors. Solutions so far involved distributed processing, massively parallel processors, dedicated processors and mini computers. In most cases, these systems use specially designed processors, lacking standard interfacing, and as a result proprietary interface cards have to be built. This paper takes the alternate approach of designing a high performance controller using the parallel DSP systems, namely, the TMS320C40 processors with 275 MIPS and 50 MFLOPS. This controller processes data from a CCD camera which is focused onto a road segment containing a line that has suitable contrast with the road surface. The DSP based controller in a PC environment. Carries out the task of high level control while the low level servo control is assigned to dedicated motion controllers communicating with the DSP based controller through the PC bus. Results of image processing and timing requirements for various topologies are detailed.

Paper Details

Date Published: 23 January 1997
PDF: 10 pages
Proc. SPIE 2903, Mobile Robots XI and Automated Vehicle Control Systems, (23 January 1997); doi: 10.1117/12.265342
Show Author Affiliations
Fabio Perelli, Matrox (Canada)
Ramesh Rajagopalan, Concordia Univ. (Canada)

Published in SPIE Proceedings Vol. 2903:
Mobile Robots XI and Automated Vehicle Control Systems
Chase H. Kenyon; Pushkin Kachroo, Editor(s)

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