Search for: All records

Path planning is a critical task for autonomous driving, aiming to generate smooth, collision-free, and feasible paths based on input perception and localization information. The planning task is both highly time-sensitive and computationally intensive, posing significant challenges to resource-constrained autonomous driving hardware. In this article, we propose an end-to-end framework for accelerating path planning on FPGA platforms. This framework focuses on accelerating quadratic programming (QP) solving, which is the core of optimization-based path planning and has the most computationally-intensive workloads. Our method leverages a hardware-friendly alternating direction method of multipliers (ADMM) to solve QP problems while employing a highly parallelizable preconditioned conjugate gradient (PCG) method for solving the associated linear systems. We analyze the sparse patterns of matrix operations in QP and design customized storage schemes along with efficient sparse matrix multiplication and sparse matrix-vector multiplication units. Our customized design significantly reduces resource consumption for data storage and computation while dramatically speeding up matrix operations. Additionally, we propose a multi-level dataflow optimization strategy. Within individual operators, we achieve acceleration through parallelization and pipelining. For different operators in an algorithm, we analyze inter-operator data dependencies to enable fine-grained pipelining. At the system level, we map different steps of the planning process to the CPU and FPGA and pipeline these steps to enhance end-to-end throughput. We implement and validate our design on the AMD ZCU102 platform. Our implementation achieves state-of-the-art performance in both latency and energy efficiency compared with existing works, including an average 1.48× speedup over the best FPGA-based design, a 2.89× speedup compared with the state-of-the-art QP solver on an Intel i7-11800H CPU, a 5.62× speedup over an ARM Cortex-A57 embedded CPU, and a 1.56× speedup over state-of-the-art GPU-based work. Furthermore, our design delivers a 2.05× improvement in throughput compared with the state-of-the-art FPGA-based design. 

The end of Moore’s Law and Dennard scaling has driven the proliferation of heterogeneous systems with accelerators, including CPUs, GPUs, and FPGAs, each with distinct architectures, compilers, and programming environments. GPUs excel at massively parallel processing for tasks like deep learning training and graphics rendering, while FPGAs offer hardware-level flexibility and energy efficiency for low-latency, high-throughput applications. In contrast, CPUs, while general-purpose, often fall short in high-parallelism or power-constrained applications. This architectural diversity makes it challenging to compare these accelerators effectively, leading to uncertainty in selecting optimal hardware and software tools for specific applications. To address this challenge, we introduce HeteroBench, a versatile benchmark suite for heterogeneous systems. HeteroBench allows users to evaluate multi-compute kernel applications across various accelerators, including CPUs, GPUs (from NVIDIA, AMD, Intel), and FPGAs (AMD), supporting programming environments of Python, Numba-accelerated Python, serial C++, OpenMP (both CPUs and GPUs), OpenACC and CUDA for GPUs, and Vitis HLS for FPGAs. This setup enables users to assign kernels to suitable hardware platforms, ensuring comprehensive device comparisons. What makes HeteroBench unique is its vendor-agnostic, cross-platform approach, spanning diverse domains such as image processing, machine learning, numerical computation, and physical simulation, ensuring deeper insights for HPC optimization. Extensive testing across multiple systems provides practical reference points for HPC practitioners, simplifying hardware selection and performance tuning for both developers and end-users alike. This suite may assist to make more informed decision on AI/ML deployment and HPC development, making it an invaluable resource for advancing academic research and industrial applications.