{"id":5633,"date":"2023-07-25T10:35:32","date_gmt":"2023-07-25T02:35:32","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/07\/25\/5633\/"},"modified":"2023-07-25T13:21:41","modified_gmt":"2023-07-25T05:21:41","slug":"%e7%bc%96%e8%be%91%e4%ba%8e-2023-07-24-0140%e3%83%bbip-%e5%b1%9e%e5%9c%b0%e4%b8%8a%e6%b5%b7%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%ae%a1%e7%ae%97%e5%9f%9f%e6%8e%a7%e5%b9%b3%e5%8f%b0-tesla","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/07\/25\/5633\/","title":{"rendered":"2023-07-24 \u81ea\u52a8\u9a7e\u9a76\u8ba1\u7b97&\u57df\u63a7\u5e73\u53f0-Tesla"},"content":{"rendered":"

\u524d\u8a00<\/p>\n

\u672c\u6587\u603b\u7ed3\u4e86Tesla\u81ea\u52a8\u9a7e\u9a76\u57df\u3001\u4fe1\u606f\u5a31\u4e50\u57df\u7684\u786c\u4ef6\u65b9\u6848\uff0c\u4eceHW1.0\u3001HW2.0\u3001HW2.5\uff0c\u5230HW3.0\uff0c\u518d\u5230HW4.0\u3002\u53ef\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8ba1\u7b97&\u57df\u63a7\u5e73\u53f0\u5b66\u4e60\u3001\u7814\u53d1\u7684\u53c2\u8003\u8d44\u6599\u3002<\/p>\n

<\/p>\n

1. Tesla HW<\/strong><\/p>\n

1.1 HW 4.0<\/p>\n

\u6027\u80fd\u53c2\u6570<\/p>\n

SOC\uff1aFSD 2\u4ee3 * 2\uff1b<\/p>\n

CPU\uff1a\u4e09\u661fExynos IP\u3001CPU\u9891\u73872.35GHz\u3001\u95f2\u65f61.37GHz\u300120\u4e2aCPU\u3001\u6bcf4\u4e2aCPU\u4e00\u4e2a\u96c6\u7fa4\u30015\u4e2aCPU\u96c6\u7fa4\uff1b<\/p>\n

AI\uff1a3\u4e2a\u795e\u7ecf\u7f51\u7edc (NN)\u5904\u7406\u5668\u3001NN\u5904\u7406\u5668\u9891\u73872.2 Ghz\uff0cNN\u53ef\u63d0\u4f9b50 TOPS\u7684\u7b97\u529b\uff1b<\/p>\n

\u64cd\u4f5c\u7cfb\u7edf\uff1a Linux\u5185\u68385.4.161-rt67\uff1b<\/p>\n

\u76f8\u673a\uff1a12\u4e2a\uff0c1\u4e2a\u5907\u7528\uff1b<\/p>\n

\u56fe\u50cf\u4f20\u611f\u5668\uff1a\u4e09\u661f\uff1b<\/p>\n

\u5185\u5b58\uff1a\u7f8e\u5149DDRM 16GB * 8\uff1b<\/p>\n

1.2 HW 3.0<\/p>\n

FSD\u4ecb\u7ecd<\/p>\n

\u5b8c\u5168\u81ea\u52a8\u9a7e\u9a76\u82af\u7247\uff08FSD\u82af\u7247\uff0c\u4ee5\u524d\u7684Autopilot Hardware 3.0\uff09\u662f\u7279\u65af\u62c9\u8bbe\u8ba1\u7684\u81ea\u52a8\u9a7e\u9a76\u82af\u7247\uff0c\u4e8e2019\u5e74\u521d\u63a8\u51fa\u7528\u4e8e\u81ea\u5df1\u7684\u6c7d\u8f66\u3002\u7279\u65af\u62c9\u58f0\u79f0\u8be5\u82af\u7247\u9488\u5bf9\u7684\u662f4 \u7ea7\u548c 5 \u7ea7\u81ea\u52a8\u9a7e\u9a76\u3002FSD \u82af\u7247\u91c7\u7528\u4e09\u661f14 nm \u5de5\u827a\u6280\u672f\u5236\u9020\uff0c\u5305\u542b 3 \u4e2a\u56db\u6838Cortex-A72\u96c6\u7fa4\uff0c\u603b\u5171 12 \u4e2a\u8fd0\u884c\u9891\u7387\u4e3a 2.2 GHz \u7684 CPU\u3001\u4e00\u4e2a\u8fd0\u884c\u9891\u7387\u4e3a 1 GHz \u7684 Mali G71 MP12 GPU\u30012 \u4e2a\u8fd0\u884c\u9891\u7387\u4e3a2 GHz \u7684\u795e\u7ecf\u5904\u7406\u5355\u5143\u4ee5\u53ca\u5404\u79cd\u5176\u4ed6\u786c\u4ef6\u52a0\u901f\u5668\u3002FSD \u652f\u6301\u9ad8\u8fbe 128 \u4f4d LPDDR4-4266 \u5185\u5b58\u3002<\/p>\n

\u6027\u80fd\u53c2\u6570<\/p>\n

SOC\uff1aFSD 1\u4ee3 * 2\uff1b<\/p>\n

CPU\uff1a3\u4e2a\u56db\u6838Cortex-A72\u96c6\u7fa4\u3001\u603b\u517112\u4e2aCPU\u3001\u8fd0\u884c\u9891\u7387\u4e3a2.2GHz\uff1b<\/p>\n

AI\uff1a2\u9897\u795e\u7ecf\u7f51\u7edc\u52a0\u901f\u5668\uff0c\u53ef\u63d0\u4f9b36 TOPS\u7684\u7b97\u529b\uff0c\u4e09\u661f14 nm\u5de5\u827a\uff1b<\/p>\n

<\/p>\n

\u795e\u7ecf\u7f51\u7edc\u5904\u5355\u5143<\/strong><\/p>\n

FSD \u82af\u7247\u96c6\u6210\u4e86\u4e24\u4e2a\u5b9a\u5236\u8bbe\u8ba1\u7684\u795e\u7ecf\u7f51\u7edc\u5904\u7406\u5355\u5143\u3002\u6bcf\u4e2a NPU \u5747\u5305\u542b 32 MiB SRAM\uff0c\u4e13\u4e3a\u5b58\u50a8\u4e34\u65f6\u7f51\u7edc\u7ed3\u679c\u800c\u8bbe\u8ba1\uff0c\u4ece\u800c\u51cf\u5c11\u5411\u4e3b\u5185\u5b58\u7684\u6570\u636e\u79fb\u52a8\u3002\u6574\u4f53\u8bbe\u8ba1\u975e\u5e38\u7b80\u5355\u3002\u6bcf\u4e2a\u5468\u671f\uff0c256 \u5b57\u8282\u7684\u6fc0\u6d3b\u6570\u636e\u548c\u989d\u5916\u7684 128 \u5b57\u8282\u7684\u6743\u91cd\u6570\u636e\u4ece SRAM \u8bfb\u53d6\u5230 MAC \u9635\u5217\u4e2d\uff0c\u5e76\u5728\u5176\u4e2d\u8fdb\u884c\u7ec4\u5408\u3002\u6bcf\u4e2a NPU \u90fd\u6709\u4e00\u4e2a 96×96\u4e58\u6cd5\u7d2f\u52a0\u5668\u9635\u5217\u603b\u5171 9,216 \u4e2a MAC \u548c 18,432 \u4e2a\u64cd\u4f5c\u3002\u5bf9\u4e8e FSD \u82af\u7247\uff0cTesla \u4f7f\u7528 8 \u4f4d\u4e58 8 \u4f4d\u6574\u6570\u4e58\u6cd5\u548c 32 \u4f4d\u6574\u6570\u52a0\u6cd5\u3002\u8fd9\u4e24\u79cd\u6570\u636e\u7c7b\u578b\u7684\u9009\u62e9\u5f88\u5927\u7a0b\u5ea6\u4e0a\u662f\u4e3a\u4e86\u964d\u4f4e\u529f\u8017\uff08\u4f8b\u5982\uff0c32 \u4f4d FP \u52a0\u6cd5\u7684\u529f\u8017\u5927\u7ea6\u662f 32 \u4f4d\u6574\u6570\u52a0\u6cd5\u7684 9 \u500d\uff09\u3002\u5728 2 GHz \u4e0b\u8fd0\u884c\uff0c\u6bcf\u4e2a NPU \u7684\u5cf0\u503c\u6027\u80fd\u4e3a\u6bcf\u79d2 36.86 \u4e07\u4ebf\u6b21\u64cd\u4f5c (TOPS)\u3002FSD \u82af\u7247\u7684\u6bcf\u4e2a\u82af\u7247\u4e0a\u6709\u4e24\u4e2a NPU\uff0c\u7efc\u5408\u5cf0\u503c\u6027\u80fd\u6bcf\u79d2\u53ef\u6267\u884c\u9ad8\u8fbe 73.7 \u4e07\u4ebf\u6b21\u64cd\u4f5c\u3002\u5728\u70b9\u79ef\u8fd0\u7b97\u4e4b\u540e\uff0c\u6570\u636e\u88ab\u8f6c\u79fb\u5230\u6fc0\u6d3b\u786c\u4ef6\u3001\u6c60\u786c\u4ef6\uff0c\u6700\u540e\u8fdb\u5165\u805a\u5408\u7ed3\u679c\u7684\u5199\u5165\u7f13\u51b2\u533a\u3002FSD \u652f\u6301\u591a\u79cd\u6fc0\u6d3b\u51fd\u6570\uff0c\u5305\u62ec\u4fee\u6b63\u7ebf\u6027\u5355\u5143(ReLU)\u3001Sigmoid \u7ebf\u6027\u5355\u5143(SiLU) \u548c TanH\u3002\u6bcf\u4e2a\u5468\u671f\uff0c128\u5b57\u8282\u7684\u7ed3\u679c\u6570\u636e\u88ab\u5199\u56deSRAM\u3002\u6240\u6709\u64cd\u4f5c\u90fd\u662f\u540c\u65f6\u8fde\u7eed\u5b8c\u6210\u7684\uff0c\u91cd\u590d\u8fdb\u884c\u76f4\u5230\u6574\u4e2a\u7f51\u7edc\u5b8c\u6210\u3002<\/p>\n

<\/p>\n

\u56fe\u50cf\u4fe1\u53f7\u5904\u7406\u5668<\/strong><\/p>\n

FSD \u5c06\u56fe\u50cf\u4fe1\u53f7\u5904\u7406\u5668 (ISP) \u4e0e\u5185\u90e8 24 \u4f4d\u7ba1\u9053\u76f8\u7ed3\u5408\uff0c\u65e8\u5728\u5904\u7406 Tesla \u6c7d\u8f66\u4e0a\u914d\u5907\u7684 8 \u4e2a HDR \u4f20\u611f\u5668\uff0c\u6bcf\u79d2\u80fd\u591f\u5904\u7406\u9ad8\u8fbe 10 \u4ebf\u4e2a\u50cf\u7d20\u3002ISP \u5177\u6709\u8272\u8c03\u6620\u5c04\u529f\u80fd\uff0c\u5141\u8bb8\u82af\u7247\u66b4\u9732\u7531\u4e8e\u4eae\u70b9\/\u6697\u70b9\uff08\u4f8b\u5982\u9634\u5f71\uff09\u800c\u4ea7\u751f\u7684\u989d\u5916\u7ec6\u8282\u3002\u6b64\u5916\uff0cISP \u8fd8\u5177\u6709\u964d\u566a\u529f\u80fd\u3002<\/p>\n

1.3 HW 2.5<\/p>\n

AP2.5 \u7684\u786c\u4ef6\u5c06\u4e8e2017 \u5e74 8 \u6708\u5de6\u53f3\u81f3 2019 \u5e74 4 \u6708\u5de6\u53f3\u5b89\u88c5\u5728 Model S\u3001X \u548c Model 3 \u8f66\u8f86\u4e0a\u3002\u8be5\u786c\u4ef6\u4e5f\u662f\u7531Nvidia\u516c\u53f8\u5f00\u53d1\u7684\uff0c\u662f\u5728AP2\u7684\u57fa\u7840\u4e0a\u8fdb\u4e00\u6b65\u5f00\u53d1\u7684\u3002\u4e0e AP2 \u7684\u533a\u522b\u5728\u4e8e\u66f4\u591a\u7684\u8ba1\u7b97\u673a\u80fd\u529b\u3001\u989d\u5916\u7684\u5197\u4f59\u5e03\u7ebf\u3001\u4e0d\u540c\u7684\u524d\u7f6e\u96f7\u8fbe\u548c\u66f4\u597d\u7684\u6444\u50cf\u5934\u3002AP2.5\u5e76\u4e0d\u662f\u5168\u65b0\u7684\u8bbe\u8ba1\uff0c\u800c\u662fAP2\u7684\u4f18\u5316\u3002AP2.5\u786c\u4ef6\u4f7f\u7528\u5e26RCCB\u7684\u6444\u50cf\u5934\u30028\u4e2a\u6ee4\u955c\uff0c\u800cAP2\u4ecd\u7136\u4f7f\u7528\u5e26\u6709RCCC\u6ee4\u955c\u7684\u76f8\u673a\u3002<\/p>\n

\u6027\u80fd\u53c2\u6570<\/p>\n

SOC\uff1aNVIDIA Drive PX2\uff1b<\/p>\n

Camera\uff1a8\u9897\u6444\u50cf\u5934\uff1b<\/p>\n

Radar\uff1a1\u9897\u524d\u7f6e\u6beb\u7c73\u6ce2\u96f7\u8fbe\/\u5927\u9646\uff1b<\/p>\n

USR\uff1a12\u9897\u8fdc\u7a0b\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\uff1b<\/p>\n

\u529f\u80fd\uff1a\u884c\u8f66\u8bb0\u5f55\u4eea\u3001\u54e8\u5175\u6a21\u5f0f<\/p>\n

Nvidia Drive PX 2 \u57fa\u4e8e\u4e00\u4e24\u4e2aTegra X2 SoC\uff0c\u5176\u4e2d\u6bcf\u4e2a SoC \u5305\u542b 2 \u4e2a Denver \u5185\u6838\u30014 \u4e2a ARM A57 \u5185\u6838\u548c\u4e00\u4e2a Pascal\u4e00\u4ee3GPU \u3002<\/p>\n

1.4 HW 2.0<\/p>\n

AP2 \u7684\u786c\u4ef6\u5df2\u4e8e2016 \u5e74 10 \u6708\u81f3 2017 \u5e74 8 \u6708\u5de6\u53f3\u5b89\u88c5\u5728 Model S \u548c X \u8f66\u8f86\u4e2d\u3002\u8be5\u786c\u4ef6\u7531 Nvidia \u516c\u53f8\u5f00\u53d1\u3002\u4e0eAP1\u76f8\u6bd4\uff0cAP2\u7684\u8ba1\u7b97\u5355\u5143\u7684\u8ba1\u7b97\u80fd\u529b\u662f\u5176\u524d\u8eab\u768440\u500d\u3002\u8fd9\u4e2a\u786c\u4ef6\u7248\u672c\u7684\u81ea\u52a8\u9a7e\u9a76\u4eea\u6709 8 \u4e2a\u5e26\u6709 RCCC \u6ee4\u8272\u955c\u7684\u6444\u50cf\u5934\uff0c\u53ef\u4ee5\u663e\u793a\u8f66\u8f86\u5468\u56f4\u7684 360 \u5ea6\u89c6\u56fe\u3002\u6539\u8fdb\u7684\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u548c\u524d\u9762\u7684\u96f7\u8fbe\u8865\u5145\u4e86\u6444\u50cf\u673a\u56fe\u50cf\u4e2d\u7684\u4fe1\u606f\u3002\u914d\u5907 AP2 \u786c\u4ef6\u7684 Model 3 \u8f66\u8f86\u5e76\u4e0d\u5b58\u5728\uff0c\u56e0\u4e3a\u7279\u65af\u62c9\u5728 Model 3 \u5f00\u59cb\u751f\u4ea7\u4e4b\u524d\u5c31\u5f00\u59cb\u5728\u5176\u65b0\u8f66\u4e2d\u4ec5\u5b89\u88c5 AP2.5 \u786c\u4ef6\u3002\u56e0\u6b64\uff0c\u6240\u6709 Model 3 \u8f66\u8f86\u90fd\u81f3\u5c11\u914d\u5907 AP2.5\u3002<\/p>\n

\u6027\u80fd\u53c2\u6570<\/p>\n

SOC\uff1aDrive PX2\uff1b<\/p>\n

Camera\uff1a8\u9897\u6444\u50cf\u5934\uff1b<\/p>\n

Radar\uff1a1\u9897\u524d\u7f6e\u6beb\u7c73\u6ce2\u96f7\u8fbe\/\u535a\u4e16\uff1b<\/p>\n

USR\uff1a12\u9897\u8fdc\u7a0b\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\uff1b<\/p>\n

<\/p>\n

1.5 HW 1.0<\/p>\n

AP1\u7684\u786c\u4ef6\u4e8e2014\u5e7410\u6708\u81f32016\u5e7410\u6708\u5b89\u88c5\u5728Model S\u548cX\u8f66\u8f86\u4e2d\u3002\u7531MobilEye\u516c\u53f8\u5728EyeQ3\u7cfb\u7edf\u4e0b\u5f00\u53d1\u7684\u3002\u8be5\u786c\u4ef6\u57fa\u4e8e\u9ed1\u767d\u524d\u7f6e\u6444\u50cf\u5934\u3001\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u548c\u524d\u7f6e\u96f7\u8fbe\u3002\u7531\u4e8e\u7f3a\u4e4f\u5168\u65b9\u4f4d\u53ef\u89c6\u6027\uff0c\u6444\u50cf\u673a\u4e0d\u53ef\u907f\u514d\u5730\u65e0\u6cd5\u5b9e\u73b0360\u00b0\u89c6\u89d2\u3002\u4f7f\u7528\u8fd9\u79cd\u786c\u4ef6\u6c38\u8fdc\u4e0d\u53ef\u80fd\u5b9e\u73b0\u5b8c\u5168\u81ea\u52a8\u9a7e\u9a76\u3002AP1 \u662f\u8fc4\u4eca\u4e3a\u6b62\u7279\u65af\u62c9\u8f66\u8f86\u4e2d\u552f\u4e00\u5177\u6709\u4ea4\u901a\u6807\u5fd7\u8bc6\u522b\u529f\u80fd\u7684\u81ea\u52a8\u9a7e\u9a76\u4eea\u3002\u968f\u540e\u5728\u914d\u5907 AP1 \u786c\u4ef6\u7684\u8f66\u8f86\u4e2d\u6fc0\u6d3b\u6b64\u81ea\u52a8\u9a7e\u9a76\u9009\u9879\u7684\u8d39\u7528\u4e3a 3100 \u6b27\u5143\u3002<\/p>\n

\u6027\u80fd\u53c2\u6570<\/p>\n

SOC\uff1aEyeQ3 * 1\uff1b<\/p>\n

Camera\uff1a\u5355\u9897EQ3\u7cfb\u5217\u6444\u50cf\u5934\uff1b<\/p>\n

Radar\uff1a\u5355\u9897\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff1b<\/p>\n

USR\uff1a12\u4e2a\u4e2d\u7a0b\u8d85\u58f0\u6ce2\u96f7\u8fbe\uff1b<\/p>\n

<\/p>\n

2. Tesla IVI<\/strong><\/p>\n

Tesla\u4fe1\u606f\u5a31\u4e50\u7cfb\u7edf\/\u5ea7\u8231\u82af\u7247\u53d1\u5c55\u5386\u7a0b\uff1a<\/p>\n

<\/p>\n

2.1 IVI 3.0<\/strong><\/p>\n

Tesla\u7b2c\u4e09\u4ee3\u5ea7\u8231SOC\u57fa\u4e8eAMD\u7684Ryzen CPU\u548cRedaon GPU\u3002<\/p>\n

CPU\uff1aAMD Ryzen<\/p>\n

GPU\uff1aAMD Redeon<\/p>\n

2.2 IVI 2.0<\/strong><\/p>\n

Tesla\u7b2c\u4e8c\u4ee3\u5ea7\u8231\u82af\u7247\u57fa\u4e8eIntel\u7684A3950\u5904\u7406\u5668\u3002<\/p>\n

<\/p>\n

2.3 IVI 1.0<\/strong><\/p>\n

Tesla\u7b2c\u4e00\u4ee3\u5ea7\u8231\u82af\u7247\u57fa\u4e8eNVIDIA\u7684Tegra3\u5904\u7406\u5668\u3002<\/p>\n

NVIDIA \u7684 Tegra 3\uff08\u4ee3\u53f7\u201c Kal-El \u201d\uff09\u5728\u529f\u80fd\u4e0a\u662f\u4e00\u6b3e\u5e26\u6709\u56db\u6838ARM Cortex-A9 MPCore CPU \u7684 SoC\uff0c\u4f46\u5728 Nvidia \u6240\u79f0\u7684\u201c\u53ef\u53d8SMP\u67b6\u6784\u201d\u4e2d\u5305\u542b\u7b2c\u4e94\u4e2a\u201c\u914d\u5957\u201d\u6838\u5fc3\u3002\u867d\u7136\u6240\u6709\u5185\u6838\u5747\u4e3a Cortex-A9\uff0c\u4f46\u914d\u5957\u5185\u6838\u91c7\u7528\u4f4e\u529f\u8017\u7845\u5de5\u827a\u5236\u9020\u3002\u8be5\u5185\u6838\u5bf9\u5e94\u7528\u7a0b\u5e8f\u900f\u660e\u5730\u8fd0\u884c\uff0c\u7528\u4e8e\u5728\u5904\u7406\u8d1f\u8f7d\u6700\u5c0f\u65f6\u964d\u4f4e\u529f\u8017\u3002\u5728\u8fd9\u4e9b\u60c5\u51b5\u4e0b\uff0cCPU \u7684\u4e3b\u8981\u56db\u6838\u90e8\u5206\u4f1a\u5173\u95ed\u3002 Tegra 3 \u662f\u7b2c\u4e00\u4e2a\u652f\u6301 ARM SIMD \u6269\u5c55NEON\u7684 Tegra \u7248\u672c\u3002 Tegra 3 \u4e2d\u7684 GPU \u662f Tegra 2 GPU \u7684\u6f14\u53d8\uff0c\u5177\u6709 4 \u4e2a\u989d\u5916\u7684\u50cf\u7d20\u7740\u8272\u5668\u5355\u5143\u548c\u66f4\u9ad8\u7684\u65f6\u949f\u9891\u7387\u3002\u5b83\u8fd8\u53ef\u4ee5\u8f93\u51fa\u9ad8\u8fbe 2560\u00d71600 \u5206\u8fa8\u7387\u7684\u89c6\u9891\uff0c\u5e76\u652f\u63011080p MPEG-4 AVC\/h.264 40 Mbit\/s High-Profile\u3001VC1-AP \u4ee5\u53ca\u66f4\u7b80\u5355\u5f62\u5f0f\u7684 MPEG-4\uff08\u4f8b\u5982 DivX \u548c Xvid\uff09\u3002<\/p>\n

<\/p>\n

\u603b\u7ed3<\/strong><\/p>\n

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HW5.0\u4e5f\u5feb\u8981\u53d1\u5e03\u4e86\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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