Evaluation and Testing
(To be completed)
| Component |
AGX Orin |
Xavier |
Orin Nano |
| LiDAR Detection |
10 Hz |
8 Hz |
5 Hz |
| Camera Detection |
20 Hz |
15 Hz |
10 Hz |
| Planning |
10 Hz |
10 Hz |
8 Hz |
| Control |
50 Hz |
50 Hz |
50 Hz |
| Power Usage |
40W |
25W |
12W |
| Component |
Target FPS |
CPU Usage |
GPU Usage |
Latency |
| LiDAR Detection |
10 Hz |
20-30% |
40-60% |
<100ms |
| Camera Detection |
15 Hz |
15-25% |
50-70% |
<80ms |
| Planning |
10 Hz |
30-40% |
N/A |
<50ms |
| Control |
50 Hz |
10-15% |
N/A |
<20ms |
AdvanTech X86-based ECU
| Component |
Target FPS |
CPU Usage |
GPU Usage |
Latency |
| LiDAR Detection |
10 Hz |
15-25% |
N/A |
<150ms |
| Camera Detection |
10 Hz |
5-10% |
N/A |
<80ms |
| Planning |
10 Hz |
30-45% |
N/A |
<75ms |
| Control |
20 Hz |
10-25% |
N/A |
<40ms |
LiDAR:Use 3D LiDAR Sensor.
Camera:Use USB camera, resolution is 1280x720.
vecow X86-based ECU