State estimation processor and state estimation system

• US 10,191,739 B2
• Filed: 09/22/2016
• Issued: 01/29/2019
• Est. Priority Date: 03/31/2014
• Status: Active Grant

• Current Assignee: Megachips Corporation
• Original Assignee: Megachips Corporation
• Inventors: Matsumoto, Mahito, Kato, Tomoshige, Yoshimura, Takehiro, Yamaoka, Takio, Sasaki, Yusuke, Hamaguchi, Shingo
• Primary Examiner(s): Wang, Albert
• Application Number:
  US15/273,059
• Publication Number:
  US 20170010891A1
• Time in Patent Office: 859 Days
• CPC Class Codes: G06F 1/32 Means for saving power
• CPC Class Codes: G06F 1/3243 Power saving in microcontroller unit
• CPC Class Codes: G06F 15/8007 single instruction multiple data [SIMD] multiprocessors
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 7/00 Methods or arrangements for processing data by operating upon the order or content of the data handled logic circuits H03K19/00
• CPC Class Codes: G06F 9/3001 Arithmetic instructions
• CPC Class Codes: G06F 9/30083 Power or thermal control instructions
• CPC Class Codes: G06F 9/3887 controlled by a single instruction for multiple data lanes [SIMD]
• CPC Class Codes: Y02D 10/00 Energy efficient computing, e.g. low power processors, power management or thermal management

Abstract

A microprocessor unit (MPU) connected to external sensors is provided with an interface unit that acquires detection information acquired by the external sensors and a digital signal processor (DSP) that estimates the state of a target object on the basis of the detection information acquired by the interface part and generates state information. The DSP is provided with a SIMD type arithmetic processing circuitry that processes a plurality of information with one command and is provided with single precision floating point computing units. The interface part outputs the state information generated by the DSP to an externally provided main processor. Therefore, power consumption can be reduced.

Claims

1. A state estimation processor connected to an external detection device and an external computer, comprising:

interface circuitry configured to obtain detection information obtained by the external detection device and output state information to the external computer;

calculating circuitry including a SIMD type arithmetic processing circuitry processes a plurality of information by one command and provided with at least four single precision floating point computing circuits, the one command being executed in parallel to a plurality of data set to each of the at least four single precision floating point computing circuits in a single cycle;

the calculating circuitry configured to;

estimate a state of an object based on the detection information obtained by the interface circuitry;

generate the state information according to the state of the object;

compare first detection information received at a first point in time with second detection information received at a second point in time, which is subsequent to the first point in time;

control the interface circuitry to output a notification to the external computer when it is determined that a difference between the first detection information and the second detection information is less than a predetermined threshold value; and

switch an operational mode from a first operation mode, during which the state information is generated, to a second operation mode in which power consumption is smaller than the first operation mode after controlling the interface circuitry to output the notification to the external computer.

2. The state estimation processor according to claim 1, wherein

the calculating circuitry configured to estimate the state of the object using a Kalman filter to the detection information, and generates the state information.

3. The state estimation processor according to claim 1, wherein

the calculating circuitry configured to processes 6 or more axes information in parallel based on the detection information.

4. The state estimation processor according to claim 3, wherein

the calculating circuitry configured to processes 9 or more axes information in parallel based on the detection information.

5. The state estimation processor according to claim 4, wherein

the calculating circuitry configured to processes 12 or more axes information in parallel based on the detection information.

6. A state estimation system, comprising:

a detection device obtains detection information;

a main processor works in first operation mode, and second operation mode in which power consumption is smaller than the first operation mode; and

a state estimation processor connected to the detection device and the main processor;

wherein

the state estimation processor, including;

an interface circuitry configured to obtain detection information obtained by the detection device and output state information to the main processor; and

a calculating circuitry including a SIMD type arithmetic processing circuitry processes a plurality of information with one command and provided with a single precision floating point computing unit;

the calculating circuitry configured to;

estimate a state of an object based on the detection information obtained by the interface circuitry; and

generate the state information according to the state of the object;

the main processor configured to;

shift to the first operation mode based on a timing which the state information is input from the interface circuitry;

generate output information during the first operation mode based on the state information generated by the state estimation processor.

7. The state estimation system according to claim 6, wherein

the state estimation processor, further comprising:

a switching circuitry configured to switch operational mode of the calculating circuitry between third operation mode and fourth operation mode in which power consumption is smaller than the third operation mode.

8. The state estimation system according to claim 7, wherein

the switching circuitry configured to switch operational mode of the calculating circuitry between third operation mode and fourth operation mode according to a demand from the main processor.

9. The state estimation system according to claim 8, wherein

the state estimation processor starts the detection device when the calculating circuitry changes from the fourth operation mode to the third operation mode according to a demand from the main processor.

10. The state estimation system according to claim 7, wherein

the switching circuitry configured to switch operational mode of the calculating circuitry between the third operation mode and the fourth operation mode according to the detection information from the detection device.

11. The state estimation system according to claim 10, wherein

the switching circuitry configured to switch to the fourth operation mode when the state where change in detection information from the detection device has become below a threshold value continues at a predetermined period.

12. The state estimation system according to claim 11, further comprising:

a timer determines timing in which the calculating circuitry returns to the third operation mode from the fourth operation mode;

wherein

in a case where the calculating circuitry returns to the third operation mode with the timer, and also in a case where the change in the detection information from the detection device is below a threshold value, the interface circuitry configured to output that the state of the object does not have a change for the main processor, and the switching circuitry configured to switch the calculating circuitry to the fourth operation mode.

13. The state estimation system according to claim 12, wherein

in a case where the main processor is in the second operation mode, the interface circuitry configured to prohibit from outputting that the state of the object does not have a change.

14. The state estimation system according to claim 10, wherein

in a case where operational mode of the calculating circuitry is the fourth operation mode, and also in a case where a change in the detection information from the detection device changes into a larger state than a threshold value, the switching circuitry configured to switch the calculating circuitry to the third operation mode.