How Lightweight Deep Learning Enhances Performance in DPU-Accelerated Autonomous Driving on Zynq SoC

Engineering notes

Key topics: autonomous driving, self-driving vehicle, self-driving, deployment, control. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

This study presents a lightweight deep learning model developed for DPU-accelerated systems. It aims to provide real-time autonomous driving on resource-constrained systems such as the Ultra96v2. A customized kids electric car served as the platform. Custom power supply and steering control systems were set up in the car to enable real-world testing. To enhance inference performance, various methods were used. These included input size reduction, channel-pruning, and quantization. As a consequence, the pruned and quantized YOLOv3-Tiny model produced a frame rate of 67.592 FPS. This is roughly a 25x increase over the original YOLOv3's 2.715 FPS on Ultra96v2's PL domain. These results show that real-time deployment is feasible on FPGA-based platforms. The work offers insights for creating efficient and scalable embedded systems for self-driving vehicle system.

Links and sources

• Official / arXiv page

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