The Mobileye EPM evaluation platform is based on Mobileye’s EyeQ® Vision-System-On-A-Chip. Designed to run Mobileye’s image processing applications for technology evaluation in a series-ready environment, it’s capable of running the following vision applications: Vehicle Detection, Lane and Road Analysis, Traffic Sign Recognition and Intelligent Headlight Control.
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The EPM supports a number of different cameras and image sensor boards. Mobileye is currently supporting the following images:
- Micron MT9V023/MT9V024 CMOS sensor based camera module, RCC version.
- Micron MT9V023 CMOS sensor based camera module, BW version.
The typical Horizontal Field of View (FoV) for capturing video images is 40º. The EPM can be run in two modes: stand-alone and PC HOST-controlled, with the EPM accepting video packets downloaded over a USB2 bus from an external PC via the SIM.
The basic EPM platform includes:
- EPM + SIM development boards.
- LVDS or parallel Camera module.
- Power supplies.
The EPM can include the optional analogue to digital (A2D) board to support analog cameras. The offline system includes: PC notebook with CAN interface Mobileye EyeQ® Client application (incorporates Mobileye Off-line application) SIM Board Optional CAN card and cables The EPM can also be expanded as a software development platform for the Mobileye EyeQ®. A board support package (SW) enables customers to port their own code onto the ARM processors. Probe, Compiler and debug tools for ARM are not included and should be purchased from third party (e.g. Green Hills).
EPM (EyeQ Processing Module) Platform
- Overview of EPM
The EPM evaluation platform is intended for evaluation of Mobileye applications and algorithms running on the Mobileye EyeQ® production intent platform. The EPM is also a basis for development of customer applications on the Mobileye EyeQ® chip.
- EPM System Components
The basic EPM platform includes:
- EPM + SIM development boards
- Mobileye EyeQClient application (incorporates Mobileye Off-line application)
- LVDS camera
- Power supplies
- PC notebook with CAN interface
- EPM Specifications
The EPM (EyeQ® Processing Module) contains:
- A Mobileye EyeQ® SOC (in a BGA-292 pins package)
- 32MB SDRAM arranged as either two 128Mbit16-bit SDRAM chips
- 8MB uniform addressing FLASH (Intel StrataFlash)
- Two CAN Transceivers (3.3V, up to 1Mbps)
- GPIO IN and OUT Transceivers
- RS-232 Transceivers for connection to external ASCII Terminal
- On-Board DC-DC Power module – generates EyeQ Core (1.8V) and IO (3.3V) voltages with power-up
sequencing (3.3V followed by 1.8V supply ) and power supervisory from a noisy 12V car battery. This
module should filter out all conducting noises that are going into or going out to the car DC supply lines.
The EPM ports
Car Interface Connector – 16/20-pin automotive connector with:
- Car DC Power input.
- Bi-directional GPIO signals.
- Half-duplex RS-232 communication to an external ASCII terminal.
- Two CAN ports
JTAG header connectors for connecting ARM Debug tools
- Host Interface Header Connector.
- Two camera Video Interfaces (each with up to 30 signals – see description in Camera Interface
- DISP-OUT Asynchronous Memory Interface with 16-bit data, 22-bit address and 8 command signals
- GPIO signals
- Two 30-pin Camera Interface Header Connectors – for connecting up to two separate Camera modules.
Each connector should carry:
- 12-bit video data input
- 3 Video control + 1 Pixel clock inputs
- I2C port
- Power to Camera module
- System clock output to camera
- GPIO input and output signals
- LED indicators – 3.3V, 1.8V, CPU MODE[0:2], FLAG[0:2]
- RESET Push-button switch
- BOOT MODE switch
Board Size – The EPM dimensions are 90mm x 65mm.
- Temperature – 40 to 85 degrees C on board surface.
- Relative Humidity – 10 to 90 percent (non-condensing) over recommended operating range.
Electrical characteristics, Input Power
- 10V – 16V DC (12V DC nominal) Negative Ground from Car Interface connector.
- Support +7V to +36V Battery voltage variation at motor start and high voltage, high energy load dump transients.
- +3.3VDC +/- 5% IO voltage to EyeQ IO ports, EPM’s on-board components and camera modules.
- +1.8VDC +/- 5% EyeQ Core voltage.
- There should be a support for changing this preset voltage by 10% due to EyeQ specification change.
- Total Power consumption is about 5W maximum.
SIM – Serial Interface Module Specifications
The SIM needs to supply the connectivity between the EPM and the development environment running on a Host PC so that EPM+SIM+PC together offer an application development platform.
2. Functional characteristics
The SIM, with the EPM being mounted on top, offers “Cigarette size” module with the following application development capabilities:
- USB-2 peripheral for the Host PC
- Bi-directional Digital Video transport (USB2) for download or upload of Video data to Host PC
- Receiving the video data stream from the EPM’s two attached cameras and also from the EyeQ real-time
processed Video data port ( DISP-OUT port ) and preparing them ( Time-Stamping using FPGA logic ) for
upload to Host PC for storage or Display
- Downloading of two Video data streams from Host PC and transferring them to EPM’s EyeQ Video inputs
after reformatting to a Camera raw data format
- GPIO bi-directional signals to remote components (like a Buzzer or Turn Lights)
- Housed in a cigarette-box sized metal enclosure
The SIM has the following blocks:
- EPM Interface connector
- Two camera Video Interfaces (Each interface is with up to 30 signals – see description in EPM
specifications) DISP-OUT Asynchronous Memory Interface with 16-bit data, 22-bit address and 8
- GPIO signals
- 12V Power to EPM module
- FPGA logic (memory mapped to the EPM processor)
- Generates packets of active video data from the dual video data streams from the EPM’s connected
- Adds Time stamps to each frame in these active video packets
- Generates similar time stamps to the processed Video data frames from the EyeQ DISP-OUT interface
- Sends both stamped data streams to the Host PC upon command
- Receives dual video data streams from the Host PC upon command and sends it to the EPM EyeQ
Video input ports after conversion to a CIS raw data format
- Host PC communicates with the EPM’s EyeQ® chip via a mapped 64KB asynchronous memory (controlled by
the FPGA) for downloading of new code to the EyeQ or uploading of EyeQ’s processed video data.
- Power Module that accepts 12V from Car Battery and generates a clean voltage for the FPGA and Logic as
required and also transfer the 12V to the EPM.
- LED indicators – 3.3V, FPGA_CORE, CPU MODE[0:2], FLAG[0:2]
- RESET Push-button switch
- Board Size – Same size as the EPM board – 90mm x 65mm
- Temperature - designed to -40 to 85 degrees C on board surface
- Relative Humidity – 10 to 90 percent (non-condensing) over recommended operating range
- Input Power
- 10V – 16V DC (12V DC nominal) Negative Ground from Car Interface connector
- Support +7V to +36V Battery voltage variation at motor start and high voltage, high-energy load dump
- +12VDC to EPM module
- +3.3VDC +/- 5% IO voltage
- +1.8VDC +/- 5% FPGA Core voltage
- Total Power consumption is about 5W maximum
Mobileye EyeQClient Application & On-line/Off-Line system
The EPM unit is designed to function as a standalone module for running Mobileye’s applications during the development phase. However, there is a need for higher level controlling abilities of the EPM, such as: On-line view, software upload, calibration, data logging, recorded data review and rerun of recorded data on the EyeQ®processor in Off-line mode. All these abilities are provided in the Mobileye EyeQ® client application.
The SIM board serves as an interface between the EPM and the PC that serves as the computing platform for the client application via the USB2. The Mobileye EyeQClient supports direct CAN interface with the EPM board.
Mobileye’s EyeQ® client application runs on an IBM notebook computer and provides a convenient interface application to the EPM board and to the Mobileye applications. The application includes a menu based user interface and a video display window. Hardware description:
- IBM Notebook computer with USB2.0 interface running Windows XP OS
- SIM board for the USB 2.0 high-speed interface
- Dual CAN-2.0A/B using PCMCIA card plus two CAN cables (connections to the EPM and to the vehicle CAN
bus). Supported cards: Vector CANcardXL & KVASER CAN card
The client application provides the following functionalities:
- On-line viewing of the image processing results – Video display of the image sequences and the
application results (e.g. targets, lanes, features)
- User data input – for calibration, selecting run modes, and setting of parameter values
- Downloading software updates to the EPM
- Data logger: Recording of video and vehicle CAN data
- Launcher: Allows re-computing recorded video sequences on the EyeQ chip. (For benchmarking -
re-running the application on identical video sequences using different versions of the application and/or
different parameters or running options)
- Player: Allows viewing the results of previously computed video sequences.
CMOS Image Sensor
The 1/3″ CMOS Active Pixel sensor is Micron MT9V023/MT9V024 Monochrome/RCCC sensor.
|Array Format Active:||752H x 480V|
|Effective Image Area Active:||6.0 µm x 6.0 µm|
|Pixel Size||7.5µm x 7.5µm|
|Video Outputs||10Bit linear or 12bit to 10bit companding mode|
|Frame Rate||60 FPS|
|Shutter||Double buffered global shutter type|
|Dynamic Range||>55dB in Linear mode, >80dB-100dB in Hi-Dy mode|
|Sensitivity||4.8 V lux/s (550nm)|
|Fill Factor||47% (no micro lens)|
|Color Mosaic (LM9628)||monochrome or RGB Bayer pattern or RCCC pattern|
|Operating Temperature||-40 to 85º C|
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