Optimal VLSI Design for a Highly-Safe Intelligent Vehicle Based on a System Integration Theory

研究了智能算法、先进的VLSI体系结构和系统集成理论，以开发高度安全的智能汽车。(1)系统-应用层设计理论真实世界的智能集成系统由环境识别、预测或估计和行为规划三个基本模块组成。研究了系统集成理论，包括性能指标的推导，以弥合各个设计层次之间的差距以及面向VLSI的智能算法。(2)高安全智能车辆处理模块开发了面向VLSI的利用三维图像信息进行道路提取、车辆提取和人体提取的算法。此外，车辆的运动估计是基于贝叶斯网络的，这个问题等价于对驾驶员意图的估计。驾驶员的意图是分层定义的，因此设计的贝叶斯网络变得尽可能简单。智能集成系统中VLSI处理器的优化设计理论为了在时间/面积约束下实现功耗最小化，研究了基于调度和分配的高层综合技术。可重构VLSI计算基于控制数据流图直接分配、位串联算术运算、动态功耗控制和使用非易失性器件的逻辑内存结构等新体系结构，设计并实现了优于传统现场可编程门阵列的细粒度可重构VLSI。

Intelligent algorithms, advanced VLSI architectures and a system integration theory are studied to develop a highly-safe intelligent vehicle.(1) System-Application-Level Design TheoryA real-world intelligent integrated system consists of three basic modules of environment recognition, prediction or estimation, and behavior planning. A system integration theory including derivation of performance specification is studied to bridge the gap between the various design levels as well as their VLSI-oriented intelligent algorithms.(2) Processing Module for Highly-Safe Intelligent VehiclesVLSI-oriented algorithms for road extraction, vehicle extraction and human extraction using 3-dimensional image information are developed. Moreover, motion estimation of a vehicle is done based on Bayesian Network The problem is equivalent to estimation of a driver's intention. The driver's intentions are hierarchically defined, so that the designed Bayesian Network becomes as simple as possible. Then, causal relation between the intentions is discussed to reflect the real-world motion process.(3) Optimal Design Theory of VLSI Processors for Intelligent Integrated SystemsTo achieve power minimization under a time/area constraint, high-level synthesis techniques are investigated based on scheduling and allocation. One typical example is a parallel VLSI for 3-dimensional image processing with optimal memory allocation which solves the data transfer bottleneck between processing elements and memory modules.(4) Reconfigurable VLSI ComputingFine-grained reconfigurable VLSIs for real-world applications superior to the conventional FPGAs are designed and implemented based on new architectures such as direct allocation of a control-data-flow graph, a bit-serial arithmetic operation, a dynamic control of power dissipation, and a logic-in-memory architecture utilizing nonvolatile devices.