Perception Computer Unit Dev Board v2.0 -- Designed by AutoCore
PCU (Perception computer unit) Dev Board v2.0, designed by AutoCore under 96Boards open standard, is a development board for automotive applications as high-performance domain controller designed by AutoCore. PCU board integrates a lock-step MCU and an high performance MPU with it. Based on the MCU-MPU architecture, different ADAS / AD or relevant functions can be integrated with different functional safety levels up to ASIL D after ISO 26262. A wide variety of interfaces are provided to support vehicle networks connection, sensors and peripherals. Additional hardware accelerator could be connected via PCIe with additional computing power.
| Item | Description |
|---|---|
| MCU | TI TMS570LC4357 (32-bit ARM Dual-Core Cortex-R5F) Automotive Microcontroller |
| MPU | NXP LS1046A (64-bit ARM Quad-Core Cortex-A72 CPU) |
| Main Frequency | 1.8GHz |
| Memory | 8GB DDR4 |
| Storage | 64MB QSPI NOR, 64GB eMMC flash, Micro SD |
| Ethernet switch | NXP SJA1105s Automotive Ethernet Switch(5 1000M ports) |
| Power management | NXP advanced automotive power management IC |
| Input Voltage | 9-30V |
| Environmental | Operating temperature: -40°C ~ +75°C ; Storage temperature: -55°C ~ +105°C |
| Power Source: | DC power: +9V to +30V, typical: 12V,5A |
| Item | Description |
|---|---|
| Ethernet RJ45 jack | x4：100BASE-T1/ 1000BASE-T1 |
| USB3.0 Host connector | x2 |
| Micro SD card slot | x1 |
| Mini PCIe slot | x1: PCIe Gen2; USB2.0 |
| M.2 NGFF slot | x1: PCIe Gen2 |
| Micro USB Connector | x1 |
| Vehicle ECU Interface | 64Pins automotive connector (3.3V I/O level) |
| PPS input: x1 | |
| PPS outputs: x4 | |
| CAN 2.0 ports: x4 | |
| ADC input: x1 | |
| Vehicle DC input: 9-36V | |
| Ethernet ports: x3 100BASE-T1 | |
| UART ports: x4 RS232 | |
| Digital IO input: x1 (optional) | |
| Digital IO output: x3 (optional) | |
| 5V DC output: x1 (optional) | |
| JTAG debug connector | x2 |
| FAN connector | x1 |
| DC Jack | 9-36V |
| RF Antenna Interface | 4G-LTE: x4; C-V2X: x2; WiFi 2.4G/5G: x4 (optional) |
| Item | Description | System image | Open Source | AutoCore SDK |
|---|---|---|---|---|
| Operation System | FreeRTOS 9.0 | x | x | |
| Time service | Time service (PTP client) | x | ||
| CAN-Eth router | 4 x CAN-Ethernet router service | x | x | |
| Vehicle info | Vehicle information from CAN | x | ||
| Vehicle DBW | Vehicle drive-by-wire CAN interface | x | ||
| Runtime framework | AutoCore runtime framework | x |
| Item | Description | System image | Open Source | AutoCore SDK |
|---|---|---|---|---|
| Operation System | Ubuntu 20.04 | x | x | |
| Kernel | LTS kernel 4.14 | x | x | |
| MiddleWare | ROS / ROS2 | x | x | |
| Eth-CAN client | Ethernet-CAN router client | x | x | x |
| PCI-E Driver | PCI-E driver to support Accelerators (edgeTPU, Movidius) | x | ||
| LiDAR driver | Velodyne driver, Robosense driver | x | ||
| Camera driver | UVC camera driver, GigE camera | x | ||
| GNSS Driver | NMEA Standard driver | x | ||
| IMU Driver | Xsens IMUs driver | x | ||
| Radar Driver | Continental ARS408/208 driver | x | ||
| Localization | LiDAR NDT | x | ||
| Localization | GNSS/IMU/ODOM EKF fusion | x | ||
| LiDAR detector | Euclidean cluster, depth cluster | x | ||
| LiDAR tracker | IMM UKF PDA tracker | x | ||
| Camera (with accelerator) | Object detection, traffic light, lane mark | x | ||
| Fusion/Filter | Multi LiDAR fusion, EKF, points down sampler, points preprocessor | x | ||
| Fusion/Filter | LiDAR/Radar/Camera fusion | x | ||
| Map | Vector map / HD map support port | x | ||
| Runtime IDE client | AutoCore runtime IDE tool | x |
| Item | Description | Open Source | AutoCore SDK |
|---|---|---|---|
| V-Map | Vector map editor | x | x |
| PCD Map | Point cloud map builder | x | |
| Simulation | Simulation tool and test scenarios | x | x |
| Runtime IDE | AutoCore runtime framework management tool | x |
PCU board follows 96Boards open standard, and it is compatible with Autoware open-source autonomous driving software. It could be used in several different ways in AD/ADAS application scenarios:
-
Single board application:
- Central ECU for L2/L3 ADAS functions.
- Centual Gateway
- Drive-by-wire safe controller of autonomous driving vehicle.
- High resolution localization module.
- HD map construction.
- Data logging device for L4 vehicle.
-
Double board application:
- Full redundancy system.
- L4 AD perception, localization, planning and control.
-
Multi board application:
- Full L4 AD functions. (with extra ADCU)
- Work together with other hardware platform or IPC.
Please go to the documentation page of AutoCore platform: