A Road Environment Prediction System for Intelligent Vehicle

Table 7

Running time of modules.

Hardware unit	FPGA		ARM1		ARM2
Module	Stereo matching	Point cloud	WPGM	Path planning	Shape detection	State model
Running time	55 ms	11 ms	12 ms	4 ms	20 ms	1 ms
Delay time	66 ms		16 ms		21 ms