Patent Grant
11433855
At least some embodiments disclosed herein relate to vehicles in general and more particularly, but not limited to, detection and alerting of potential intruders.
Recent developments in the technological area of autonomous driving allow a computing system to operate, at least under some conditions, control elements of a motor vehicle without the assistance from a human operator of the vehicle.
For example, sensors (e.g., cameras and radars) can be installed on a motor vehicle to detect the conditions of the surroundings of the vehicle traveling on a roadway. A computing system installed on the vehicle analyzes the sensor inputs to identify the conditions and generate control signals or commands for the autonomous adjustments of the direction and/or speed of the vehicle, with or without any input from a human operator of the vehicle.
In some arrangements, when a computing system recognizes a situation where the computing system may not be able to continue operating the vehicle in a safe manner, the computing system alerts the human operator of the vehicle and requests the human operator to take over the control of the vehicle and drive manually, instead of allowing the computing system to drive the vehicle autonomously.
Autonomous driving and/or Advanced Driver Assistance System (ADAS) can use an Artificial Neural Network (ANN) for the identification of events and/or objects that are captured in sensor inputs. Examples of sensor inputs include images from digital cameras, lidars, radars, ultrasound sonars, etc.
In general, an Artificial Neural Network (ANN) uses a network of neurons to process inputs to the network and to generate outputs from the network.
For example, each neuron in the network receives a set of inputs. Some of the inputs to a neuron may be the outputs of certain neurons in the network; and some of the inputs to a neuron may be the inputs provided to the neural network. The input/output relations among the neurons in the network represent the neuron connectivity in the network.
For example, each neuron can have a bias, an activation function, and a set of synaptic weights for its inputs respectively. The activation function may be in the form of a step function, a linear function, a log-sigmoid function, etc. Different neurons in the network may have different activation functions.
For example, each neuron can generate a weighted sum of its inputs and its bias and then produce an output that is the function of the weighted sum, computed using the activation function of the neuron.
The relations between the input(s) and the output(s) of an ANN in general are defined by an ANN model that includes the data representing the connectivity of the neurons in the network, as well as the bias, activation function, and synaptic weights of each neuron. Using a given ANN model a computing device computes the output(s) of the network from a given set of inputs to the network.
For example, the inputs to an ANN network may be generated based on camera inputs; and the outputs from the ANN network may be the identification of an item, such as an event or an object.
A Spiking Neural Network (SNN) is a type of ANN that closely mimics natural neural networks. An SNN neuron produces a spike as output when the activation level of the neuron is sufficiently high. The activation level of an SNN neuron mimics the membrane potential of a natural neuron. The outputs/spikes of the SNN neurons can change the activation levels of other neurons that receive the outputs. The current activation level of an SNN neuron as a function of time is typically modeled using a differential equation and considered the state of the SNN neuron. Incoming spikes from other neurons can push the activation level of the neuron higher to reach a threshold for spiking. Once the neuron spikes, its activation level is reset. Before the spiking, the activation level of the SNN neuron can decay over time, as controlled by the differential equation. The element of time in the behavior of SNN neurons makes an SNN suitable for processing spatiotemporal data. The connectivity of SNN is often sparse, which is advantageous in reducing computational workload.
In general, an ANN may be trained using a supervised method where the parameters in the ANN are adjusted to minimize or reduce the error between known outputs resulted from respective inputs and computed outputs generated from applying the inputs to the ANN. Examples of supervised learning/training methods include reinforcement learning, and learning with error correction.
Alternatively, or in combination, an ANN may be trained using an unsupervised method where the exact outputs resulted from a given set of inputs is not known before the completion of the training. The ANN can be trained to classify an item into a plurality of categories, or data points into clusters.
Multiple training algorithms can be employed for a sophisticated machine learning/training paradigm.
The embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings in which like references indicate similar elements.
At least some embodiments disclosed herein provide systems, methods and apparatus to detect, recognize, and/or predict potential intrusion, break in, theft, aggression, etc., and generate alerts to deter and/or record illegal activities.
For example, an artificial neural network can be trained to recognize, from images captured by one or more cameras, situations that typically precede illegal activities. In response to the detection and/or recognition of such an activity, a vehicle can generate alarms and/or alerts to deter the activity and/or alert a driver, a user, and/or an owner of the vehicle.
For example, machine learning can be used to train an artificial neural network (ANN) (125) to recognize, based on inputs from one or more cameras (e.g., 103) whether a person is breaking-in, or is likely to break-in, a vehicle (111). When the break-in activity is detected or predicted, the vehicle (111) can generate an alarm using a horn of the vehicle (111) and/or an infotainment system of the vehicle (111), and/or alert a driver or user of the vehicle, an owner of the vehicle, a security team, and/or a law enforcement agency.
For example, a camera (103) can be configured to monitor the surrounding of the vehicle (111) at a selected frame rate. The frame rate can be selected based on the presence of persons (e.g., 101) around the vehicle (111), the distances from the nearby persons (e.g., 101) to the vehicle (111), the activities of the persons (e.g., 101), and/or the directions of movements of the persons (e.g., 101).
For example, the image and/or sound data from the camera (103) can be analyzed using an artificial neural network (ANN) (125) to recognize actions of a person (e.g., 101) performed to break in the vehicle (111).
When a break-in activity is detected, the computer system (131) of the vehicle (111) can turn on the alarm device of the vehicle (111) and transmit an alert to the owner of the vehicle (111), a user of the vehicle (111), a security team, and/or a law enforcement agency.
For example, the artificial neural network (ANN) (125) can be configured in a data storage device that is connected to the camera (103) to receive inputs. When the vehicle (111) is in a parking state, the vehicle (111) can be turned off; and most of the computer system (131) other than the data storage device can be powered off or placed in a hibernation mode. The data storage device is configured with neuromorphic memory and/or a neural network accelerator to process the inputs from the camera (103).
Initially, when a person (101) is detected from a distance, the camera (103) can be used to generate images at a low frame rate; and the artificial neural network (ANN) (125) is configured to evaluate the images of the person (101) to determine the risk of the person having the intention to break-in the vehicle (111). For example, the images can be analyzed to extract features to match with features from recent incidents in the neighborhood. For example, the extracted features can be used to recognize an item (107) associated with the person and predict a risk score of the person (101) having the item (107) to attack the vehicle (111).
When the distance between the person (101) and the vehicle (111) is reduced, the frame rate for capturing images of the person (101) can increase. When the person (101) is sufficiently close to the vehicle (111), the camera (103) can capture facial images of the person (101) and use facial recognition to determine whether the person (101) matches with one or more suspects of recent instances of intrusion experience by the vehicle (111) or other vehicles in the neighborhood.
In general, the vehicle (111) can be a motor vehicle (111), or another vehicle (111), with or without an Advanced Driver Assistance System (ADAS). Further, the intrusion detection and/or prediction technique can be used near doors and windows of houses and buildings.
When an incident is detected, recognized, confirmed, and/or reported in a neighborhood of the vehicle (111), image features of a suspect involved in the incident can be transmitted to the computer system (131) of the vehicle (111) to allow artificial neural network (ANN) (125) to evaluate a risk level based on matching the received features and the images of the person (101). When the risk level is above a threshold, the vehicle (111) can generate an alarm and/or transmit an alert to the owner of the vehicle (111), a user of the vehicle (111), a security team, and/or a law enforcement agency.
In some implementations, the vehicle (111) and/or other similar vehicles (111) can be configured with sensors to automatically determine an attack or break-in activity. For example, an instance of break-in can be detected when the person (101) opens a door of the vehicle (111) without a key to the vehicle (111) being detected. For example, an instance of break-in can be detected when the person (101), or a portion of the user (101), is imaged to be inside in the vehicle (111) without the vehicle (111) unlocking a door of the vehicle (111) and/or rolling down a window of the vehicle (111). For example, an instance of attack can be recognized from sounds corresponding to an object or tool hitting a window, or another portion of the vehicle (111).
When a suspicious person (101) approaches the vehicle (111), a data storage device connected to the camera (103) can record features extracted from images generated by the camera (103) and/or the images. More data can be stored as the predicted risk level of an attack or break-in activity increases. Subsequently, when the attack or break-in activity is determined automatically, or identified via a user interface provided via an infotainment system of the vehicle (111), the recorded image features of the suspicious person (101) and/or the images of the person (101) can be associated with a classification of high risk to generate training data. However, if no subsequent attack or break-in activity occurs, the recorded image features of the suspicious person (101) and/or the images of the person (101) can be associated with a classification of low risk to generate training data.
Subsequently, the training data can be used to train, using a machine learning technique, an artificial neural network (125) in the vehicle (111), or in a server that collects training data from a population of vehicles (e.g., 111). The training allows the artificial neural network (125) to evaluate the risk of an approaching person (e.g., 101) to the vehicle (111) such that the vehicle (111) can generate an alarm and/or an alert prior to the person (101) is close enough to the vehicle (111) to carry out an attack or break-in. The alarm can be in the form of blowing (104) the horn of the vehicle (111), flashing lights of the vehicle (111), and/or providing voice comments using an infotainment system of the vehicle (111). In some implementation, the vehicle (111) can provide a real time communication channel for the owner of the vehicle (111), a user of the vehicle (111), or a representative of a security team or a law enforcement agency to speak to the person (101), while images of the person is streamed to a computing device, a mobile device, or a media player of the owner, the user, or the representative.
For example, the vehicle (111) of one embodiment has an Advanced Driver Assistance System (ADAS). The ADAS of a vehicle can have one or more cameras configured to monitor surroundings of the vehicle for driver assistance, such as autonomous driving, lane keeping, adaptive cruise control, and/or collision avoidance, etc. When the vehicle (111) is in a parking state, the ADAS may be deactivated. However, the cameras can be used to capture images for the detection of an approaching person (101).
An artificial neural network (ANN) (125), such as a Convolution Neural Network (CNN) and/or a Spiking Neural Network (SNN), can be trained using a machine learning technique to recognize the approaching person (101) as one of suspects involved in recent incidents in a geographical area in which the vehicle (111) is currently located. The area can be a city, a section of a city, a neighborhood, an area of a predetermined distance from the vehicle (111), etc.
Alternatively, or in combination, the artificial neural network (ANN) (125) can recognize an item (107) carried by the person (101), where the item (107) is involved in many known incidents of break-in or attacks on vehicles (e.g., 111).
Alternatively, or in combination, the artificial neural network (ANN) (125) can recognize an action, or a sequence/pattern of actions of the person (101) near the vehicle (111), where the actions frequently precede break-in or attacks on vehicles (e.g., 111).
In some implementations, the artificial neural network (ANN) (125) is trained to evaluate a risk level using a collection of images leading to known incidents of break-in or attacks on vehicles (e.g., 111), or a collection of video images that are ranked by human operators to have scores indicative risk levels of the behavior of the persons depicted in the video images.
When the approaching person (101) is detected and/or recognized from a distance, the vehicle (111) can optionally sound (104) the horn or flash its lights (e.g., 102). Optionally, the vehicle (111) can turn on power to accessories, perform on-board diagnosis routines, and/or prepare power for the drivetrain, as if the vehicle (111) were being prepared for used for use by an owner, a driver, or an authorized user.
For example, the vehicle (111) of one embodiment is powered by an internal combustion engine; and the vehicle (111) can start the internal combustion engine and make engine noises to deter the person (101) from making an attack on the vehicle (111).
Optionally, after the vehicle (111) recognizes the person (101) from a distance as a suspect involved in a recent incident, the vehicle (111) can power up its infotainment system and use the infotainment system to provide voice comments on the incident and thus deter the suspect from approaching the vehicle (111).
For example, based on a distance between the person (101) and the vehicle (111) and/or the pace of the person (101) approaching the vehicle (111), the vehicle (111) can schedule alarms and alerts to specifically target the person (101). For example, as the predicted threat increases and the person (101) moves closer to the vehicle (111), the vehicle (111) can increase the intensity of the alarm made using its horn and/or lights; and as the person moves away from the vehicle (111), the vehicle (111) can decrease to stop the alarm.
When the vehicle (111) initially detects the person (101) using a camera (103) from a distance, an image from the camera (103) may not have sufficient resolution/details for facial recognition. The artificial neural network (ANN) (125) can be trained to analyze the images to classify the threat of the person (101) to the vehicle (111) based on a pattern of motion relative to the vehicle (111). For example, the movement of the person (101) indicates that the person (101) is merely passing by the vehicle (111) and thus is not a threat to the vehicle (111). However, when the movement of the person (101) indicates that the person (101) is investigating the vehicle (111), moving around the vehicle (111), looking into the vehicle (111), etc., the person (101) can be a threat to the vehicle (111).
When the person (101) is detected, the vehicle (111) can determine whether the person (101) is an authorized user, a driver, or an owner of the vehicle. If so, the person (101) is not a threat to the vehicle (111).
For example, the determination of whether the person (101) is an authorized user can be initially recognized based on the size, build, posture of the person (101), characteristics of the person (101) in walking, and/or clothing features of the person (101), etc. As the person (101) moves closer to the vehicle (111), more information can be extracted from images captured by the camera (103); and the confidence of positive recognition can increase as an authorized user approaches the vehicle (111). The camera (103) can increase the rate of capturing images as the user moves closer to the vehicle (111).
The artificial neural network (ANN) (125) can be trained to recognize the routine user(s) of the vehicle (111). For example, when a potential user (101) is approaching the vehicle (111), the vehicle (111) can record training data to train the artificial neural network (ANN) to tell the user (101) apart from other persons based on images from the camera(s) (103). When the potential user (101) produces a key to operate the vehicle (111), the vehicle (111) can store data to associate the identity of the user (101) with the authorized use of the vehicle (111). Optionally, the vehicle can further authenticate the user based on facial recognition, fingerprint recognition, voice fingerprint recognition, RFID, NFC, or a wireless key, or any combination thereof. Optionally, a person (101) can be explicitly registered as an owner or authorized user such that when the vehicle (111) recognizes the person (101), the vehicle (111) allows the user (101) to use the vehicle (111) without a key, regardless of the time and location for the current instance of usage.
Based on the usage history of the vehicle (111), the ANN (125) can be trained to predict whether an approaching person (101) is authorized to use the vehicle (111) based on the date and time, and the location of the vehicle (111). When the approaching person (101) is recognized as an authorized user of the vehicle (111), the threat to the vehicle (111) by the approaching person (101) can be downgraded, even when the person (101) is imaged by the camera (103) to have an item (107) that would otherwise be considered a threat to the vehicle (111).
At block 251, a camera (103) configured in a vehicle (111) captures an image of surrounding of the vehicle (111) while the vehicle (111) is in a parking state.
For example, in the parking state, the power supply to most electronic systems in the vehicle (111) can be turned off. However, some components of the vehicle (111) can be still powered on, periodically or continuously, to facilitate the monitoring of the surroundings of the vehicle (111). Such components can include one or more cameras (103) and a computer system (131) that uses an artificial neural network (ANN) (125) to process the images from the cameras (103).
For example, the camera (103) can be part of an advanced driver assistance system (ADAS) of the vehicle (111) that is mostly inactive when the vehicle (111) is in the parking state. In another example, the vehicle (111) does not have an advanced driver assistance system (ADAS).
For example, the artificial neural network (ANN) (125) can include a convolution neural network (CNN), or a spiking neural network (SNN), or any combination thereof.
At block 253, a person (101) approaching the vehicle (111) is identified from a distance from the image captured by the camera (103). For example, a portion of the image can be analyzed using a model to tell a person apart from other objects captured in the image.
At block 255, based at least in part on the image and using an artificial neural network (125), a level of threat of the person (101) to the vehicle (111) is evaluated. For example, another model can be used to analyze the image and/or other data to estimate a level of threat and/or to tell apart threat from non-threat.
At block 257, in response to the level of threat being above a threshold, the computer system of the vehicle (111) instructs the vehicle (111) to generate an alarm. Otherwise, the alarm is not generated.
For example, the alarm can be in the form of starting the vehicle (111), flashing lights (e.g., 102) of the vehicle (111), blowing a horn of the vehicle (111), or playing audio content through an infotainment system of the vehicle (111), or any combination thereof.
Optionally, the computer system (131) can further transmit an alert to a computing device that is located remotely from the vehicle (111), using contact information of an owner of the vehicle (111), an authorized user of the vehicle (111), a driver of the vehicle (111), or a security team or a law enforcement agency. The alert can include one or more image captured by the camera (103).
For example, in response to the threat level being about the threshold, the computer system (131) can connect the infotainment system of the vehicle (111) to a mobile device remote from the vehicle (111). The connection provides a communication channel that allows voice communications to be received from the mobile device and played/presented in the infotainment system of the vehicle (111) to deter the person (101) from further approaching the vehicle (111) and/or attacking or breaking-in the vehicle (111).
For example, the camera (103) can capture a sequence of images of the person (101) approaching the vehicle (111); and the artificial neural network (125) can recognize, from the sequence of images, the person as a match to a suspect involved in an incident. Optionally, the alarm can include voice comments on the incident provided via the infotainment system of the vehicle. To increase the confidence level of the recognition, the camera (103) can increase a rate to capture images of the person (101) when a distance between the person (101) and the vehicle (111) is reduced.
Optionally, the threat level is evaluated before an image from the camera is sufficient for facial recognition of the person. Thus, the alarm can be started/provided before the person (101) is too close to the vehicle (111).
Optionally, based at least in part on the image, the output of the artificial neural network (ANN) (125) (e.g., computed by a computer system) can indicate whether the person (101) is an authorized user of the vehicle (111). The level of threat can be evaluated based at least in part on a determination of whether the person (101) is an authorized user of the vehicle (111). For example, the determining of whether the person (101) is an authorized user of the vehicle (111) can be further based on a time of the person (101) approaching the vehicle (111), a location of the vehicle (111) at the time, and/or a history of one or more authorized users using the vehicle (111).
At block 261, a camera (103) of a vehicle (111) captures an image of surrounding of the vehicle (111) while the vehicle (111) is in a parking state.
At block 263, the artificial neural network (125) identifies, from the image, a person (101) approaching the vehicle (111) from a distance.
At block 265, the artificial neural network (125) extracts features related to the person (101) from the image for threat recognition.
At block 266, it is determined whether the person is a threat to the vehicle (111).
For example, when the person (101) is recognized as an authorized user of the vehicle (111), the person (101) and/or the associated item (107) is not a threat to the vehicle (111).
For example, the person can be recognized as an authorized user for using a key that unlocks the door or starts the vehicle (111).
For example, the person can be determined to be of no threat to the vehicle (111) for accompanying an authorized user in a ride in the vehicle (111).
For example, the person can be determined to a threat when the person attempt to enter the vehicle (111) without a key to the vehicle.
For example, the person can be determined to be a threat when additional sensors of the vehicle (111) detects illegal activities, such as breaking a window of the vehicle (111), tampering with a lock of the vehicle (111), attempting to use the vehicle (111) without a key, crashing into the vehicle (111), touching the vehicle (111), hitting the vehicle (111), etc.
For example, a human operator can view the image and/or other images to classify the person as a threat to the vehicle (266) or as of no threat to the vehicle (266).
If it is determined (266) that the person (101) is a threat to the vehicle (111), at block 267, the vehicle (111) stores the features in associate with a threat.
Optionally, a threat level can be assigned by a human operator, or automatically based on the activities of the person relative to the vehicle (111). For example, touching the vehicle (111) is assigned a low threat level; and hitting the vehicle (111) is assigned a high threat level.
Otherwise, at block 269, the vehicle (111) stores the features in associate with the lack of threat.
At block 271, the stored training data can be used to train an artificial neural network (125) to predict threat by minimizing or reducing the difference between predictions made by analyzing the features in the artificial neural network (125) and the corresponding indication of threat or the lack of threat.
The training can be performed in the vehicle (111). Alternatively, the training data can be downloaded at a maintenance facility and/or uploaded to a server for the training of an artificial neural network. The trained artificial neural network (125) can be installed in the vehicle (111) through an update to improve the capability of the vehicle (111) in recognizing threats from a distance.
The techniques of
For example, a data storage device can include: one or more memory components configured to store data; an interface configured to receive, from a camera (103) configured in a vehicle (111), an image of the surrounding of the vehicle (111) while the vehicle (111) is in a parking state; an inference engine configured to identify, from the image using an artificial neural network (ANN) (125), a person approaching the vehicle (111) from a distance; and a controller configured to evaluate, based at least in part on the image, a level of threat of the person (101) to the vehicle (111) and, in response to the level of threat being above a threshold, cause the vehicle (111) to generate an alarm.
For example, the inference engine can include a neural network accelerator configured to perform matrix arithmetic computations more efficiently than the controller.
In some embodiment, the techniques of detecting a threat, such as potential intruder, can be implemented in a computer system (131) of the vehicle (111).
In some implementations, the processing of the images from the camera(s) (103) using the ANN (125) is configured in a data storage device of the vehicle (111), such as a black box data recorder of the vehicle (111). The data storage device can be configured as part of the computer system (131). However, during the monitoring of the surrounding of the vehicle (111) and the detecting and recognizing (105) of the approach person (101), the data storage device of the vehicle (111) can be powered up while the host of the data storage device in the computer system (131) can remain being powered off or in a hibernating state. After the person (101) is recognized as a threat, or an authorized user, with at least a threshold level of confidence, the data storage device can wake up the entire computer system (131), or cause the entire computer system (131) to be powered up. Subsequently, the computer system (131) can determine further operations to deter the threat, or welcome the authorized user.
Optionally, the vehicle (111) can be configured to train the artificial neural network (125) to recognize the person (101), an item (107) associated with the person (101), and/or activities of the person (101), as a threat to the vehicle, based on images captured by the camera (103) of the vehicle (111) in prior instances and/or by other similar vehicles.
The vehicle (111) in
In general, one or more sensors (e.g., 122) can be configured on the vehicle (111) to generate sensor data input to the ADAS (128) and/or the data storage device (112). The data storage device (112) and/or the ADAS (128) can be configured to use the ANN (125) to generate inference results. The inference results can include a control signal for operating or driving the vehicle (111), a suggestion for a maintenance service of the vehicle (111), etc.
In some implementations, at least a portion of the data generate by the sensors (e.g., 122) is used in both the ADAS (128) for driver assistance and in the ANN (125) for maintenance prediction. Optionally, the output of the ANN (124) can be used in both the data storage device (112) and in the ADAS (128). The ANN (125) can be part of the ADAS (128).
The sensors (122) can be configured in a digital camera, lidar, radar, ultrasound sonar, etc. Other types of sensors can also be used, such as brake sensors, speed sensors, acceleration sensors, airbag sensors, a GPS (global positioning system) receiver, audio sensors/microphones, vibration sensors, force/stress sensors, deformation sensors, motion sensors, temperature sensors, etc. Some of the sensors (122) can be configured primarily to monitor the environment of the vehicle (111); and other sensors (122) can be configured primarily to monitor the operating condition of one or more component of the vehicle (111), such as an internal combustion engine, an exhaust system, an electric motor, a brake, a tire, a battery, etc.
The ANN (125) of the vehicle (111) is configured to process the sensor input data from the sensors (122) to control the vehicle (111) and/or the data storage device (112).
In general, the outputs of the sensor(s) (122) as a function of time are provided as a sensor data stream to the ADAS (128) and/or the ANN (125) to provide driver assistance (e.g., autonomous driving) and maintenance prediction.
At least a portion of the sensor data stream can be provided to the data storage device (112) for storing and/or for processing. For example, a portion of the ANN (125) can be implemented in the data storage device (112). The inference engine of the data storage device (112) can process the sensor data stream to generate inference results for further processing by the ADAS (128). Thus, the input data stream to the data storage device (112) can include at least a portion of the sensor data stream from the sensors (122); and the output data stream from the data storage device (112) can include inference results generated using the ANN (125) in the data storage device (112) for the ADAS (128) of the vehicle (111). The operating condition of the vehicle (111) and thus the workload of the data storage device (112) can be determined from the patterns in the input/output data streams.
The ANN (125) of the vehicle (111) and/or in the data storage device (112) can include an SNN configured to classify time-based variations of sensor data and/or detect deviation from known patterns of sensor data of the vehicle (111). When the ANN (125) detects the deviation from known patterns, the sensor data corresponding to the deviation can be stored in the data storage device (112) for further analysis and/or for further training of the ANN (125).
The data storage device (112) of the vehicle (111) can be configured to record sensor data for a period of time. The recorded sensor data can be used in the ANN (125) for predictive maintenance and/or used to further train the ANN (125). The maintenance service facility (e.g., 127) can download the sensor data (121) from the data storage device (112) and provide the sensor data (121) and the corresponding inference result data (123) to the server (119) to facilitate the training of the ANN (125).
Optionally, or in combination, the data storage device (112) is configured with a machine learning module to customize and/or train the ANN (125) installed in the vehicle (111) and/or in the data storage device (112).
The vehicle (111) can have a wireless communication device to communicate with a remote server (119) via wireless signals (113) and a communication network (117). The remote server (119) is typically configured at a location away from a road (114) on which the vehicle (111) is in service. For example, the vehicle (111) may provide some sensor data (121) to the server (119) and receive update of the ANN (125) from the server (119).
The communication network (117) can be a cellular phone network having one or more base stations (e.g., 115) to receive the wireless signals (e.g., 113). Alternatively, or in combination, the communication network (117) can include the Internet, where the wireless local area network signals (e.g., 113) transmitted by the vehicle (111) is received in an access point (e.g., 115) for further communication to the server (119). In some implementations, the vehicle (111) uses a communication link (116) to a satellite (118) or a communication balloon to communicate with the server (119).
The server (119) can also communicate with one or more maintenance service facilities (e.g., 127) to receive the sensor data (121) and/or the desired inference result data (123) of vehicles (e.g., 111).
For example, the desired inference result data (123) can be generated by a human operator inspecting the sensor data (121) (e.g., images from the sensors (122)) and/or relevant conditions of the vehicle (111). For example, the desired inference result data (123) can include inspection records and/or service records of components of the vehicles (e.g., 111). For example, the inspection records and/or service records can indicate the degree of wear and tear of components inspected during their services at the maintenance service facilities (e.g., 127), the identification of failed or malfunctioning components, etc. The sensor data (121) of the vehicles (e.g., 111) obtained in a time period relevant to the desired inference result data (123) can be used to train an ANN (125) at the server (119) to improve inference capability of the ANN (125).
The updated ANN (125) can be installed in the vehicle (111) at the maintenance service facility (127). Alternatively, the update ANN (125) can be transmitted to the vehicle (111) to update the vehicle (111) over the air.
In general, the vehicle (111) can include an infotainment system (149), a communication device (139), one or more sensors (122), and a computer system (131) that is connected to some controls of the vehicle (111), such as a steering control (141) for the direction of the vehicle (111), a braking control (143) for stopping of the vehicle (111), an acceleration control (145) for the speed of the vehicle (111), etc. In some embodiments, the vehicle (111) in the system of
The vehicle (111) of
The computer system (131) of the vehicle (111) can include one or more processors (133), a data storage device (112), and memory (135) storing firmware (or software) (147), including the computer instructions and data models for ADAS (128).
Sensors (122) of the vehicle (111) can include a visible light camera, an infrared camera, a lidar, radar, or sonar system, a peripheral sensor, a Global Positioning System (GPS) receiver, a satellite positioning system receiver, a brake sensor, and/or an airbag sensor. Further, the sensors (122) of the vehicle (111) can include audio sensors (e.g., microphone) configured to monitor noises from various components and locations in the vehicle (111), a vibration sensor, a pressure sensor, a force sensor, a stress sensor, and/or a deformation sensor configured to measure loads on a component of the vehicle (111), accelerometers and/or gyroscope sensors measuring the motions of some components of the vehicle (111), etc. Such sensors can be used to monitor the operating status and/or health of the components for predictive maintenance.
The sensors (122) can provide a stream of real time sensor data to the computer system (131). The sensor data generated by sensors (122) of the vehicle (111) can include an image that captures an object using a camera that images using lights visible to human eyes, or a camera that images using infrared lights, or a sonar, radar, or LIDAR system. Preferably, the image is processed by the inference engine of the data storage device (112) to generate inference results as the output data stream of the data storage device (112) and thus reduce the computation workload of the main computer system (131).
For example, a camera can be used to obtain roadway information for the travel of the vehicle (111), which can be processed by the ANN (125) to generate control signals for the vehicle (111). For example, a camera can be used to monitor the operation state/health of a component of the vehicle (111), which can be processed by the ANN (125) to predict or schedule a maintenance service.
The infotainment system (149) of the vehicle (111) can be used to present data and/or inference results from the sensors (122). For example, compressed images with reduced resolution and refreshing frequency can be generated in the sensors (122) and transmitted to the infotainment system (149) for presentation to an occupant of the vehicle (111). Optionally, the communication device (139) can establish a connection to a mobile device of an occupant of the vehicle (111) to make the presentation.
When the vehicle (111) is configured with an ADAS (128), the outputs of the ADAS (128) can be used to control (e.g., 141, 143, 145) the acceleration of the vehicle (111), the speed of the vehicle (111), and/or the direction of the vehicle (111), during autonomous driving.
In
For example, the sensor data (121) can include an image showing an object; and the desired/expected inference result data (123) can identify an image region occupied by the object, a feature of the object, a classification of the object, an identity of the object, etc.
For example, the sensor data (121) can include an image surrounding of the vehicle (111); and the desired/expected inference result data (123) can include preferred control inputs for the steering control (141), the braking control (143), and the acceleration control (145).
The desired/expected inference result data (123) can be generated by a human operator. For example, the sensor data (121) can be used to construct a virtual reality demonstration of a situation encountered by the vehicle (111), including images from the sensors (122) showing an environment of the vehicle (111); and the desired/expected inference result data (123) can include responses generated by a human operator responsive to the virtual reality demonstration of the situation.
The supervised machine learning module (171) can adjust the artificial neural network (125) to reduce/minimize the difference between the prediction (129) generated based on the sensor data (121) and the desired/expected inference result data (123) generated by a human operator.
The supervised learning (171) of
The supervised learning (171) of
In
For example, anomaly detection (173) can be used to preserve the sensor data (121) associated with anomaly for further analysis. In response to anomaly detection (173) in the vehicle (111), the computer system (131) can issue read command to the sensors (122) to retrieve image data associated with the anomaly from the sensors (122) and store the retrieved image data in the data storage device (112). The image data associated with the anomaly can be temporarily preserved in the memory device of the sensors (122) and loaded to the data storage device (112) over a period of time using available communication bandwidth between the sensors (122) and the data storage device (112) without impacting the normal operations of the ADAS (128).
When the vehicle (111) is in the maintenance service facility (127), the image data (and other sensor data) associated with the anomaly can be retrieved from the data storage device (112) to generate desired/expected inference result data (123) for further training of the ANN (125) using a supervised learning (171) of
Optionally, a supervised machine learning (171) can be used to train the ANN (125), as illustrated in
For example, in absence of an accident, a near accident event, or a user input indicating an abnormal condition, a classification of “normal” can be assumed. An accident, a near accident event, or a user input can be used to identify an expected classification of “abnormal” for the sensor data leading to the accident, event, or user input. The supervised machine learning (171) can be used to train the artificial neural network (125) to make the classification (179) with reduced/minimized differences from the expected classification (177).
Optionally, the inference engine of the data storage device (112) can be configured to accelerate the computations of a portion of the artificial neural network (ANN) (125) implemented in the data storage device (112).
For example, the inference engine can include a neural network accelerator (159) (e.g., illustrated in
In
For example, the host computer system (131) can communicate with the host interface (157) to retrieve inference results generated by the data storage device (112) from the input data stream that contains sensor data generated by the sensors (122) of the vehicle (111).
For example, the host interface (157) can be used to receive, from the sensors (122), sensor data (121) of the vehicle (111); and the sensor data (121) can be optionally stored in the data storage device (112) for an analysis of a subsequent accident or near accident event.
In
The neural network accelerator (159) and the controller (151) can be implemented via logic circuits formed on one or more integrated circuit dies that are stacked on the integrated circuit dies of the memory components (161 to 163). Through-silicon vias between the integrated circuit die(s) of the neural network accelerator (159) and the controller (151) and the integrated circuit dies of the memory components (161 to 163) can be used to provide high communication bandwidth for processing the data stored in the memory components (161 to 163) to generate inference results. The inference results can be stored in the local memory (153) of the controller (151) and/or some of the memory components (161 to 163) for retrieval by the host system, such as the computer system (131) of the vehicle (111). For example, different memory components (161 to 163), or different sections of a memory component (e.g., 161 or 163), can use through-silicon vias to facilitate parallel access for different portions of the neural network accelerator (159), and the controller (151).
In general, some memory integrated circuits are volatile and require power to maintain the stored data; and some memory integrated circuits are non-volatile and can retain the stored data even when not powered. The memory components (161 to 163) can include volatile memory and/or non-volatile memory. The memory components (161 to 163) can implement different types of memory or a same type of memory.
Examples of non-volatile memory include flash memory, memory units formed based on negative-and (NAND) logic gates, negative-or (NOR) logic gates, Phase-Change Memory (PCM), magnetic memory (MRAM), resistive random-access memory, cross point storage and memory devices. A cross point memory device can use transistor-less memory elements, each of which has a memory cell and a selector that are stacked together as a column. Memory element columns are connected via two layers of wires running in perpendicular directions, where wires of one layer run in one direction in the layer is located above the memory element columns, and wires of the other layer is in another direction and in the layer located below the memory element columns. Each memory element can be individually selected at a cross point of one wire on each of the two layers. Cross point memory devices are fast and non-volatile and can be used as a unified memory pool for processing and storage. Further examples of non-volatile memory include Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM) and Electronically Erasable Programmable Read-Only Memory (EEPROM) memory, etc. Examples of volatile memory include Dynamic Random-Access Memory (DRAM) and Static Random-Access Memory (SRAM).
The data storage device (112) can have a controller (151) that includes volatile local memory (153) and at least one processing device (155).
The local memory of the controller (151) can be an embedded memory configured to store instructions for performing various processes, operations, logic flows, and routines that control operation of the processing device (155), including handling communications between the data storage device (112) and the processor(s) (e.g., 133) of the vehicle (111), and other functions described herein. Optionally, the local memory (153) of the controller (151) can include Read-Only Memory (ROM) for storing micro-code and/or memory registers storing, e.g., memory pointers, fetched data, etc., and/or volatile memory, such as Dynamic Random-Access Memory (DRAM) and Static Random-Access Memory (SRAM).
In
For example, the neural network accelerator (159) can be configured to perform matrix arithmetic computations more efficiently than the processing device (155) of the controller (151). The computations involving ANN (125) have matrix multiplication and accumulation operations, which can be computational intensive for a generic processor (e.g., 133, 155). Using the neural network accelerator (159) to perform the matrix arithmetic computations can reduce the data to be transmitted to the processor(s) (133) of the vehicle (111) and reduce the computation workload for the processor(s) (133, 155).
When the ANN (125) includes a Spiking Neural Network (SNN), the simulation of the differential equation(s) for controlling the activation level of SNN neurons can be computationally intensive for a generic processor (e.g., 133, 155). Optionally, the neural network accelerator (159) can use special hardware to simulate the differential equation(s) and thus improve the computational efficiency in implementing the SNN.
In some implementations, the neural network accelerator (159) is an integrated circuit device separate from the controller (151) and/or the memory components (161 to 163). Alternatively, or in combination, a neural network accelerator (159) is integrated with the controller (151) in an integrated circuit die. Alternatively, or in combination, a portion of the neural network accelerator (159) can be integrated on the integrated circuit die(s) of at least one of the memory components (161 to 163), as illustrated in
In
In
For example, the input/output interface (169) can receive addresses that identify matrices that are stored in the media units and that are to be operated upon via the neural network accelerator (159). The memory component (160) can provide the computation results of the neural network accelerator (159) as the output data responsive to the addresses, store the output data in a buffer for further operations, store the output data into a location in the media units (165) specified via the address signals. Thus, the computations performed by the neural network accelerator (159) can be within the memory component (160), which is close to the media units (165) in which the matrix data is stored.
For example, the state data of SNN neurons can be stored in the media units (165) according to a predetermined pattern. The neural network accelerator (159) can automatically update the states of the SNN neurons according to the differential equation(s) for controlling the activation level of SNN neurons over time. Optionally, the neural network accelerator (159) is configured to process spiking of neurons in the neural network. Alternatively, the neural network accelerator (159) of the data storage device (112) and/or the processor(s) (133) can be configured to process the spiking of neurons and/or accumulation of inputs to the SNN.
For example, the sensors (122) generate sensor data (e.g., images) at a predetermined frequency. Each image is stored into the memory components (161 to 163) in a cyclic way where the newest image writes over the oldest image. The memory components (161 to 163) further store a portion of ANN (125) of the vehicle (111) responsible for processing of the images from the sensors (122). The controller (151) processes the images in the memory components (161 to 163) according to the portion of ANN (125) to generate inference results. The inference results are stored in the memory components (161 to 163) and/or in the local memory (153) of the controller (151) for reading by the host system, such as the computer system (131) of the vehicle (111).
For example, the data storage device (112) receives a sensor data stream from at least one sensor (122) configured on the vehicle (111) and generate the inference results based on the sensor data stream according to the portion of ANN (125) stored in the memory components (161 to 163). A neural network accelerator (159) configured within the data storage device (112) performs at least a portion of computations based on an artificial neural network (125) and the sensor data stream.
Optionally, the neural network accelerator (159) can be configured on an integrated circuit die that is separate from a controller (151) and/or separate from the memory components (161 to 163).
Optionally, the neural network accelerator (159) can be configured on an integrated circuit die that includes a controller (151) of the data storage device (112), or memory component (160, 161 or 163) of the data storage device (112).
The neural network accelerator (159) can be configured to perform computations, such as matrix arithmetic computations for ANN and/or differential equation simulations for SNN, using data stored in the data storage device (112).
Examples of the matrix arithmetic computations include matrix multiplication and accumulation operations. After a computation to generate a result of the matrix arithmetic computations using a data stored in the data storage device (112), the neural network accelerator (159) can provide the result as output of the data storage device (112) in data retrieval operations (e.g., in response to a read command). Alternatively, or in combination, the result of the matrix arithmetic computation can be buffered in the data storage device (112) as operand for a next matrix computation performed in combination with a matrix of data retrieved from the non-volatile memory via a read command received in the host interface (157).
When the Artificial Neural Network (ANN) (125) includes a Spiking Neural Network (SNN), the neural network accelerator (159) can be configured to simulate a differential equation controlling activation levels of neurons in the Spiking Neural Network (SNN). Optionally, the memory component (160) is configured to store states of the neurons in the spiking neural network according to a predetermined pattern; and the neural network accelerator is configured to automatically update the states of the neurons over time according to the differential equation. For example, the neural network accelerator (159) can be configured to train the Spiking Neural Network (SNN) via unsupervised machine learning to detect anomaly.
The computations performed by the neural network accelerator (159) according to an Artificial Neural Network (ANN) (125) involve different types of data that have different patterns of usages of the data storage device (112).
For example, making a prediction using the Artificial Neural Network (ANN) (125) includes the use of data specifying the model of the Artificial Neural Network (ANN) (125), input data provided to the artificial neurons, and output data generated by the artificial neurons.
The memory capacity of the data storage device (112) can be partitioned into different portions for the different types of ANN-related data. The different portions can be separately configured to optimize the access and storage of the corresponding data according to their patterns of usages by the neural network accelerator (159) and/or the processor(s) (133) of the computer system (131) in which the data storage device (112) is configured.
The model of the Artificial Neural Network (ANN) (125) can include the parameters specifying the static attributes of individual artificial neurons in the ANN (125) and the neuron connectivity in the ANN (125). The model data of the ANN (125) is static and does not change during the prediction calculation made using the ANN (125). Thus, the usage pattern of the model data is mostly read. However, the model data of the ANN (125) can change when an updated ANN (125) is installed. For example, the vehicle (111) can download an updated ANN (125) from the server (119) to the data storage device (112) of the vehicle (111) to update its prediction capability. The model data of the ANN (125) can also change during or after the training of the ANN (125) using a machine learning technique (e.g., 171 or 175). It is preferred to configure a separate memory partition or region of the data storage device (112) to store the model data, where the partition or region is operated according to configuration parameters that optimize the memory units for the specific usage patterns of the model data (e.g., mostly read, infrequent update). For example, when the memory units are implemented using a flash memory based on NAND logic gates, the memory units in the ANN model partition/region can be configured to operate in a Multi-Level Cell (MLC) mode, a Triple Level Cell (TLC) mode, or a Quad-Level Cell (QLC) mode, wherein each memory cells stores two, three, or four bits for increased storage capability.
Input data provided to the artificial neurons in the ANN (125) can include external inputs and internal inputs. The external inputs are generated typically by the sensors (e.g., 122) of the vehicle (111) but not by artificial neurons in the ANN (125). The external inputs can be saved in a cyclic fashion so that the input data of the most recent time period of a predetermined length of driving can be found in the data storage device (112). Thus, it is preferred to configure a separate memory partition or region of the data storage device (112) to store the external input data, where the partition or region is operated according to configuration parameters that optimize the memory units for the storage pattern of the external input data (e.g., enhanced endurance, cyclic overwrite). For example, when the memory units are implemented using a flash memory based on NAND logic gates, the memory units in the ANN input partition/region can be configured to operate in a Single Level Cell (SLC) mode, where each memory cell stores one bit of data for improved endurance in cyclic overwriting operations.
In some implementations, artificial neurons can have state variables that change over time in response to inputs during prediction calculations. For example, the activation level of a spiking neuron can change over time and is considered a dynamic state variable of the spiking neuron. In some implementations, such state variable data of artificial neurons has a similar storage usage pattern as the external input data; and thus, the state variable data can be stored in the partition or region configured for the external input data. In other implementations, the state variable data of artificial neurons is kept in a buffer and stored less frequently than the external inputs; and thus, another partition/region can be configured for storing the dynamic state variable data of artificial neurons.
Output data generated by the artificial neurons in the ANN (125) can be buffered for further access by the neural network accelerator (159) and/or the processor(s) (133) of the computer system (131). The output data can include external outputs and internal outputs. The external inputs are generated by artificial neurons as the output from the ANN (125), such as the results of classifications or predictions made by the ANN (125). The output of the ANN (125) is typically further processed by the processor(s) (133) of the computer system (131). The external inputs may be saved periodically (e.g., in a way similar to the storing of the state variable data). The internal outputs and/or some of the external outputs can be internal inputs to artificial neurons in the ANN (125). In general, it may not be necessary to store the internal outputs from the buffer of the data storage device to the memory components. In some implementations, when the buffer capability of the data storage device (112) is insufficient to hold the entire state variable data and/or the internal outputs, the data storage device (112) can use a swap partition/region to extend the capacity of the buffer. The swap partition/region can be configured for optimized random access and for improved endurance.
External outputs and/or dynamic states of neurons can be saved in a separate output partition or region, in a cyclic way so that the external output data and/or dynamic states of the neurons can be periodically stored, and the most recent sets of the external outputs and/or dynamic states can be found in the data storage device (112). External outputs and/or dynamic states of neurons can be stored selectively, since some of such data can be re-generated by the ANN from the external inputs stored in the input partition or region. Preferably, the output partition or region is configured to store one or more sets of external outputs and/or dynamic states that cannot be created from the external inputs stored in the input partition or region. In storing data in a cyclic way in an input/output partition or region, the oldest stored data sets are erased to make rooms for the most recent data sets. The ANN input/output partition/region can be configured for an optimized sequential write stream for copying data from the buffer of the data storage device into the memory units in the memory components of the data storage device.
The memory capacity (181) of
A set of regions (183, 185, 187, . . . ) can be created on the memory capacity (181) of the data storage device (112). Each of the region (e.g., 183, 185, or 187) corresponds to a named portion of the memory capacity (181). Logical addresses are defined within each region. An address map (191) is configured to map between the logical addresses defined in the regions (183, 185, 187, . . . ) to the physical addresses of memory units in the memory components (e.g., 161 to 163 illustrated in
The address map (191) can include region optimization settings (192) for the regions (183, 185, and 187).
For example, an ANN model region (183) can be a memory/storage partition configured for the model data of the Artificial Neural Network (ANN) (125). The region optimization settings (192) optimizes the memory operations in the ANN model region (183) according to the data usage pattern of ANN models (e.g., mostly read, infrequent update centric).
For example, a neuron input region (185) can be a memory/storage partition configured for the external input data to the Artificial Neural Network (ANN) (125). The region optimization settings (192) optimizes the memory operations in the neuron input region (185) according to the data usage pattern of the external input data (e.g., for enhanced endurance supporting cyclic overwrite of continuous input data flow for sequential writes).
For example, a neuron output region (187) can be a memory/storage partition/configured for the external output data provided from the Artificial Neural Network (ANN) (125). The region optimization settings (192) optimizes the memory operations in the neuron output region (187) according to the data usage pattern of the external output data (e.g., improved endurance for periodically overwrite of data with random read/write access).
The data storage device (112) includes a buffer configured to store temporary/intermediate data of the Artificial Neural Network (ANN) (125), such as the internal inputs/outputs of the artificial neurons in the ANN (125).
Optionally, a swap region can be configured in the memory capacity (181) to extend the capacity of the buffer (152).
Optionally, the address map (191) includes a mapping between logic memory addresses received in the host interface (157) to access data of artificial neurons and the identities of the artificial neurons. Thus, a read or write command to access one type of data of an artificial neuron in one region can cause the controller 151 to access another type of data of the artificial neuron in another region.
For example, in response to a request to write external input data for a neuron into the memory capacity (181) of the data storage device (112), the address map (191) can be used to calculate the addresses of the model parameters of the neuron in the ANN model region (183) and read the model parameters into the buffer (152) to allow the neural network accelerator (159) to perform the computation of the output of the neuron. The output of the neuron can be saved in the buffer (152) as the internal input to other neurons (e.g., to reduce write amplification). Further, the identities of the other neurons connected to the neuron can also be retrieved from the ANN model region (183) into the buffer (152), which allows the neural network accelerator (159) and/or the processor to further process the propagation of the output in the ANN (125). The retrieval of the model data from the ANN model region (183) can be performed in parallel with the storing of the external input data into the neuron input region (185). Thus, the processors (133) of the computer system (131) of the vehicle (111) do not have to explicitly send in read commands for the retrieval of the model data from the ANN model region (183).
Similarly, in response to reading output data of a neuron, the address map (191) can be used to compute the addresses of the model parameters of the neuron stored in the ANN model region (183) and read the model parameters into the buffer (152) to allow the neural network accelerator (159) to apply internal inputs in the buffer (152) to the perform the computation of the output of the neuron. The computed output can be provided as a response to the reading of the output data for the neuron, without the data storage device (112) having to store the output data in the memory components (e.g., 161 to 163). Thus, the processors (133) and/or the neural network accelerator (159) can control the computations of the neuron via writing inputs to neurons and/or reading outputs from neurons.
In general, incoming external input data to the ANN (125) can be raw sensor data (121) generated directly by the sensors (e.g., 122) without processing by the processors (133) and/or the neural network accelerator (159). Alternatively, indirect sensor data (121) that has processed by the processors (133) for the ANN (125) from the signals from the sensors (122) can be provided as the external input data. The incoming external input data can be accepted in the host interface (157) and written in a cyclic way into the neuron input region (185), and automatically buffered in the buffer (152) for neural network accelerator (159) to generate neuron outputs using the model stored in the ANN model region (183). The outputs generated by the neural network accelerator (159) can be further buffered as internal inputs for further application of the model in the ANN model region (183). When the external outputs become available, the data storage device (112) can report the completion of the write requests with an indication of the availability of the external outputs. Optionally, the controller 151 and/or the neural network accelerator (159) can generate internal read commands to propagate signals in the ANN (125) in generating the external outputs. Alternatively, the host processors (133) can control the propagation of signals in the ANN (125) by selectively reading outputs of neurons; and the data storage device (112) can actively buffer data that may be needed in the buffer (152) to accelerate the ANN computation.
The configuration of
In
The configuration of
In
The configuration of
In
A communication protocol/interface can be configured to allow a data storage device to perform neural network acceleration on the fly with reduced data traffic to the host system.
For example, the host processor (e.g., 133) of a vehicle (111) can provide write commands to the data storage device (112) to store the model of an artificial neural network in a model partition (e.g., 183).
To use the ANN model in classifications and/or predictions, the host processor (e.g., 133) of a vehicle (111) can optionally stream input data for the ANN (125) into the neuron input partition (e.g., 185). The neural network accelerator (159) of the storage device (112) can automatically apply the images from the sensors (122) and, if there is any, the input data from the host processor (133) to the model stored in ANN model partition (e.g., 183) in accordance with the address map (191). The data storage device (112) makes the computed outputs available for propagation in the ANN (125). Preferably, the computed outputs are made available to the neural network accelerator (159) through the buffer (152) without the need to store the intermediate outputs into memory components (e.g., 161 to 163). Thus, the data communications between the host processor (e.g., 133) and the data storage device (112) for the transporting of outputs of neurons can be reduced. When the outputs have propagated to the output neurons in the ANN (125), the data storage device (112) can provide a response to a request from the host processor (e.g., 133). The response indicates that the external output from neurons in the ANN (125) is available. In response, the host processor (e.g., 133) of a vehicle (111) can optionally issue read commands to retrieve the external outputs for further processing.
In
The sensors (122) can generate a continuous input stream (205) as part of sensor data (121) for the vehicle (111). The sensor data (121) in the input stream (205) can be generated at a fixed, predetermined time interval (e.g., during the operation of the vehicle (111)).
The input stream (205) is applied to input neurons in the ANN (125). Input neurons in the ANN (125) are configured to accept external inputs to the ANN (125); and output neurons are configured to provide external outputs from the ANN (125).
The processor(s) (133) can execute the instructions (201) to process the output data (207) from the data storage device (112) and some of the sensor data (121).
For example, the processor(s) (133) can write the sensor data (121) as part of the input stream (205) into the neuron input region (185) and read from the neuron output region (187) the output data (207) generated by the neural network accelerator (159) using the ANN data in the model region (183).
The data storage device (112) stores the input stream (205) into the neuron input region (185) in a cyclic way where the oldest input set corresponding to the oldest time instance of data sampling for data sets currently stored in the neuron input region (185) is erased to store the newest set of inputs.
For each input data set, the neural network accelerator (159) applies the model of the ANN (125) stored in the ANN model region (183). The neural network accelerator (159) (or the processor(s) (133)) can control the propagation of signals within the neural network. When the output neurons of the ANN (125) generate their outputs responsive to the input data set, the data storage device (112) can provide to the processor (133) an indication that the neuron outputs are ready for retrieval. The indication can be configured in a response to the request from the processor(s) (133) to write the input data set into the neuron input region (185). The processor(s) (133) can optionally retrieve the output data (207) (e.g., in accordance with conditions and/or criteria programmed in the instructions).
In some embodiments, a trigger parameter is configured in the data storage device (112). When an output parameter in the external output (217) meetings a requirement specified by the trigger parameter, the data storage device provides the response to the request from the processor(s) (133) to write the input data set into the neuron input region (185).
In
In general, the neuron output (227) can include a portion that is the internal output (216) for further propagation within the ANN (125) and/or a portion that is the external output (217) for the processor(s) (133).
The internal output (216) is stored in the buffer (152) as internal input (216) for further propagation in the ANN (125) in a way similar to the generation of neuron outputs (227) from the external input (215). For example, a portion of the internal input (216) can cause the controller (151) and/or the neural network accelerator (159) to retrieve corresponding neuron model (212) relevant to the internal input such that the internal input is applied in the neural network accelerator (159) to the corresponding neuron model (212) to generate their neuron outputs (227).
When the complete set of external output (217) is available in the buffer (152), the external output (217) can be stored into the output region (187).
Optionally, the storage device (112) does not store each set of external output (217) corresponding to a set of stored external input (215) sampled at a time instance. For example, the storage device (112) can be configured to store one set of external output (217) every time when a predetermined number of sets of external input (e.g., 215) has been counted. Alternatively, or in combination, the processor(s) (133) can determine whether or not to store the external output (217). For example, the storage device (112) can be configured to store the external output (217) in response to the processor(s) (133) retrieving the external output (217) for further processing. For example, the storage device (112) can be configured to store the external output (217) in response to a write command from the processor(s) (133) after the processing of the external output (217) in the processor(s) (133).
The server (119), the computer system (131), and/or the data storage device (112) can each be implemented as one or more data processing systems.
The present disclosure includes methods and apparatuses which perform the methods described above, including data processing systems which perform these methods, and computer readable media containing instructions which when executed on data processing systems cause the systems to perform these methods.
A typical data processing system may include an inter-connect (e.g., bus and system core logic), which interconnects a microprocessor(s) and memory. The microprocessor is typically coupled to cache memory.
The inter-connect interconnects the microprocessor(s) and the memory together and also interconnects them to input/output (I/O) device(s) via I/O controller(s). I/O devices may include a display device and/or peripheral devices, such as mice, keyboards, modems, network interfaces, printers, scanners, video cameras and other devices known in the art. In one embodiment, when the data processing system is a server system, some of the I/O devices, such as printers, scanners, mice, and/or keyboards, are optional.
The inter-connect can include one or more buses connected to one another through various bridges, controllers and/or adapters. In one embodiment the I/O controllers include a USB (Universal Serial Bus) adapter for controlling USB peripherals, and/or an IEEE-1394 bus adapter for controlling IEEE-1394 peripherals.
The memory may include one or more of: ROM (Read Only Memory), volatile RAM (Random Access Memory), and non-volatile memory, such as hard drive, flash memory, etc.
Volatile RAM is typically implemented as dynamic RAM (DRAM) which requires power continually in order to refresh or maintain the data in the memory. Non-volatile memory is typically a magnetic hard drive, a magnetic optical drive, an optical drive (e.g., a DVD RAM), or other type of memory system which maintains data even after power is removed from the system. The non-volatile memory may also be a random access memory.
The non-volatile memory can be a local device coupled directly to the rest of the components in the data processing system. A non-volatile memory that is remote from the system, such as a network storage device coupled to the data processing system through a network interface such as a modem or Ethernet interface, can also be used.
In the present disclosure, some functions and operations are described as being performed by or caused by software code to simplify description. However, such expressions are also used to specify that the functions result from execution of the code/instructions by a processor, such as a microprocessor.
Alternatively, or in combination, the functions and operations as described here can be implemented using special purpose circuitry, with or without software instructions, such as using Application-Specific Integrated Circuit (ASIC) or Field-Programmable Gate Array (FPGA). Embodiments can be implemented using hardwired circuitry without software instructions, or in combination with software instructions. Thus, the techniques are limited neither to any specific combination of hardware circuitry and software, nor to any particular source for the instructions executed by the data processing system.
While one embodiment can be implemented in fully functioning computers and computer systems, various embodiments are capable of being distributed as a computing product in a variety of forms and are capable of being applied regardless of the particular type of machine or computer-readable media used to actually effect the distribution.
At least some aspects disclosed can be embodied, at least in part, in software. That is, the techniques may be carried out in a computer system or other data processing system in response to its processor, such as a microprocessor, executing sequences of instructions contained in a memory, such as ROM, volatile RAM, non-volatile memory, cache or a remote storage device.
Routines executed to implement the embodiments may be implemented as part of an operating system or a specific application, component, program, object, module or sequence of instructions referred to as “computer programs.” The computer programs typically include one or more instructions set at various times in various memory and storage devices in a computer, and that, when read and executed by one or more processors in a computer, cause the computer to perform operations necessary to execute elements involving the various aspects.
A machine readable medium can be used to store software and data which when executed by a data processing system (e.g., 131 and/or 119) causes the system to perform various methods discussed above (e.g., the method of
Examples of computer-readable media include but are not limited to non-transitory, recordable and non-recordable type media such as volatile and non-volatile memory devices, Read Only Memory (ROM), Random Access Memory (RAM), flash memory devices, floppy and other removable disks, magnetic disk storage media, optical storage media (e.g., Compact Disk Read-Only Memory (CD ROM), Digital Versatile Disks (DVDs), etc.), among others. The computer-readable media may store the instructions.
The instructions may also be embodied in digital and analog communication links for electrical, optical, acoustical or other forms of propagated signals, such as carrier waves, infrared signals, digital signals, etc. However, propagated signals, such as carrier waves, infrared signals, digital signals, etc. are not tangible machine readable medium and are not configured to store instructions.
In general, a machine readable medium includes any mechanism that provides (i.e., stores and/or transmits) information in a form accessible by a machine (e.g., a computer, network device, personal digital assistant, manufacturing tool, any device with a set of one or more processors, etc.).
In various embodiments, hardwired circuitry may be used in combination with software instructions to implement the techniques. Thus, the techniques are neither limited to any specific combination of hardware circuitry and software nor to any particular source for the instructions executed by the data processing system.
The above description and drawings are illustrative and are not to be construed as limiting. Numerous specific details are described to provide a thorough understanding. However, in certain instances, well known or conventional details are not described in order to avoid obscuring the description. References to one or an embodiment in the present disclosure are not necessarily references to the same embodiment; and, such references mean at least one.
In the foregoing specification, the disclosure has been described with reference to specific exemplary embodiments thereof. It will be evident that various modifications may be made thereto without departing from the broader spirit and scope as set forth in the following claims. The specification and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense.
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