Select BYD Dolphin car for development; Through the communication protocol of the vehicle control system and the independently developed vehicle control VCU, the highest control authority of the vehicle can be obtained, enabling line control of the lighting system, steering system, braking system, and drive system; Cooperate with the laser radar, vehicle camera, millimeter wave radar, ultrasonic radar and inertial navigation system data collected by the auto drive system, and convert them into CAN protocol data through perception, decision-making, planning and control algorithms to communicate with the vehicle, so as to realize the automatic driving function under specific road conditions. Applicable to the needs of undergraduate institutions for teaching and practical training in autonomous driving.
ii. Features
1. Developed based on BYD Dolphin, it can complete functions such as manual driving, L2 assisted driving, L3 autonomous driving, OTA intelligent remote upgrade, etc. The L3 autonomous driving mode can be switched with one click through the autonomous driving button on the dashboard.
2. The vehicle is equipped with three 32 line laser radar, front view camera, high-precision integrated navigation, millimeter wave radar, ultrasonic radar, automatic driving computing platform and other core parts of the auto drive system, which can carry out high-precision map creation, high-precision positioning, driving area detection, lane marking line detection, obstacle detection, dynamic object tracking, obstacle classification and recognition and other functions. Lidar has a maximum detection range of up to 150 meters, giving 100km/h high-speed autonomous vehicles up to 5 seconds of observation and response time, which can more effectively ensure the safety of high-speed autonomous driving. The auto drive system has built-in algorithm, which can be used for secondary development.
3. The vehicle's autonomous driving system is developed based on the autoware open source autonomous driving system. The instructions are compiled in C language, and the human-computer interaction interface can be completed, which is simple and convenient to use.
4. The cab is equipped with a high-definition display device that can display the laser radar and camera imaging and recognition mechanism in real time, allowing students to have a clearer understanding of the internal algorithm logic of the software.
5. Reserve OBU interface, which can expand the vehicle road cooperation function and realize the communication connection between the vehicle and the outside world.
6. Use an automotive-grade computing platform to meet the computing needs of unmanned driving scenarios. Built-in multi-sensor clock synchronization function reduces sensor fusion time difference and improves the accuracy of autonomous driving data.
7. Can complete the installation and debugging teaching training of millimeter wave radar.
8. Can complete the ultrasonic radar installation and debugging teaching training.
9. Can complete the installation and debugging teaching training of 360 panoramic camera and monocular camera.
10. Can complete the installation, debugging, teaching and training of LiDAR.
11. Can complete the installation and debugging teaching training of the training platform.
12. Can complete the installation and debugging teaching and training of the wire control brake system.
13. Can complete the debugging teaching and training of the wire control drive system.
14. Can complete the installation and debugging teaching and training of the wire-controlled steering system.
15. Can complete the installation, debugging, teaching and training of the combined inertial navigation system.
16. Can complete the teaching and training of wire-controlled lighting system debugging.
17. Can complete the teaching and training of high-precision map collection and production.
18. Can complete the test and verification of the whole vehicle's autonomous driving function.
19. Can complete the test and verification of the whole vehicle's wire-controlled control strategy
20. Can complete the installation and test verification of the ROS system.
21. Can complete the installation and test verification of Autoware auto drive system.
22. Can complete the installation and testing verification of the laser radar ROS driver.
23. Can complete the installation and testing verification of camera ROS driver.
24. Can complete the installation and testing verification of millimeter wave ROS drivers.
25. Can complete the tnstallation and testing verification of ultrasonic ROS driver.
26. Can complete the installation and testing verification of ROS driver for integrated navigation.
27. Can complete the installation and testing verification of ROS drive for wire controlled chassis.
28. Can complete the practical application of lane recognition algorithm function.
29. Can complete the practical application of visual recognition algorithms for pedestrians, vehicles, and traffic lights.
30. Can complete the practical application of 360 panoramic stitching algorithm function.
31. Can complete the practical application of visual recognition algorithms for cardboard boxes and mineral water bottles.
32. Can complete the practical application of obstacle recognition algorithm for LiDAR.
33. Can complete the practical application of visual and LiDAR fusion target detection algorithm functions.
34. Can complete the practical application of visual and LiDAR fusion target tracking algorithm functions.
35. Can complete the practical application of laser radar recording point cloud data and point cloud map generation algorithm.
36. Can complete the practical application of high-precision map positioning algorithms for laser radar and navigation.
37. Can complete the practical application of A * global path planning algorithm.
38. Can complete the practical application of the lattice planner local path planning algorithm.
39. Can complete the practice of PID control algorithm function.
iii. Technical Parameters
1. Complete vehicle
Overall dimensions (mm): ≥ length 4150mm width 1770mm height 1600mm
Braking method: front and rear disc brakes
Structural form: front-wheel drive
Suspension: front McPherson and rear torsion beam
Wheelbase: 2700mm
Track: 1530mm
Minimum turning radius: 5.20M
Drive motor type: AC permanent magnet synchronous motor
Drive motor power: 70KW
2. Power battery system:
Battery capacity: 44.9kwh
3. LiDAR:
Number of lines: 32
Laser wavelength: 905nm
Laser safety level: Class1 eye safety
Distance measurement capability: 150m（ 80m@10 %NIST)
Accuracy (typical value): ± 3cm
Horizontal field of view angle: 360 °
Vertical field of view angle: -16 ° -15 °
Frame rate: 5Hz/10Hz/20Hz
Speed: 300/600/1200rpm (5/10/20Hz)
Output points:~30.000pt/s (single echo mode)~600.000pt/s
(Dual echo mode) UDP packet content, three-dimensional spatial coordinates such as timestamp, reflection intensity, and time
Ethernet output: 100 Mbps
Output data protocol: UDP packets over Ethernet
Working voltage: 9V-32V
Working temperature: -30 ℃~+60 ℃
Product power: 12W
Storage temperature: -40 ℃~+85 ℃
Protection level: IP67
Time synchronization: $GPRMC with 1PPS
Size: 120mm * H110mm
Weight (excluding data cable):~0.87 kg
4. Millimeter wave radar:
Detection distance:
±9°0.2m~250m@far range
±45°0.2m~70m/100m@near range/far range
±60°0.2m~20m@near range
Detection distance resolution:
1.79m@far range
0.39m (0.2m in static state)@near range
Working bandwidth: 76GHz-77GHz.
Distance detection accuracy: ≤±0.1m for near range, ±0.4m for far range.
Speed detection accuracy: ≤±0.1km/h.
Azimuth detection accuracy: ≤±0.3°@0°/±1°@±45°/±5°@±60° for far range ± 0.1°.
5. Surround view camera
Pixel: AR0147 RGGB ISP AP0101
Image size: 1/4 inch CMOS
Output pixel: 1280H*720V
Pixel size: 3um
Back side illumination: (BSI)
Frame rate: 1280*720@30fps HDR range 140 dB 120dB@LFM.
Output data: Parallel/YUV422-8 bit serializer Maxim MAX96705
Camera interface coaxial power supply: 5~16V POC
Current: <200mA
Connector: Amphenol (Z-type Fakra)
Operating temperature: range -40~+85℃
Waterproof reference lens:
Dimensions W: 30mm, L: 30mm, H: 22.5mm
Weight: <50g
6. Ultrasonic radar:
Working power supply:+12V~24V Working current:<200mA (+12V power supply)
Working temperature range: -40 ℃ to+85 ℃
Ultrasonic stable ranging range: 200mm-3500mm Extreme range: 130mm-5000mm (reflective surface is the wall)
Accuracy: 0.5% of detection distance
Resolution: 5mm
Communication interface: compatible with CAN2.0A and CAN2.0B
Sampling rate and CAN transmission cycle: 100ms
Probe protection level: IP67
Probe shooting angle: 60 degrees
Box dimensions: 161 (with ears 190) * 72 * 46mm
7. Forward camera:
Processor: FPGA, Dual-Core ARM
Memory: 1G
Flash: 8G
Lens focal length: 8mm
Distance measurement range: 3m-100m
Distance measurement error: within 5%
Baseline: 12cm
Dynamic range: 120dB
Resolution: 1280*720
Field of view: HFOV38/VFOV21°
Pitch angle: 70°~90°
Operating voltage: 9~36V
Machine power: <6W
Storage temperature: -30℃~85℃
Operating temperature: -20℃~70℃
Image frame rate: 10fps
8. Autonomous driving computing platform:
Basic computing unit parameters:
AI computing power: 8 TOPS
Dual-core C66x (1.35GHz) + C7x (1GHz)
CAN modules: ≥16 (support CAN-FD)
Ethernet: 8 channels (1Gbps)
Memory: 4GB LPDDR4x
Internal storage: 32GB eMMC
Core computing unit parameters:
CPU: 8 cores 64-bit
AI computing power: 32 TOPS
Memory: 32GB LPDDR4x
Internal storage: 32GB eMMC
SSD interface: support m.2 interface nvme protocol (default 512GB)
9. Combined inertial navigation system:
Performance indicators: 432 channels, cold start<30s BDS: B1/B2 signal count, Beidou: L1/L2 GLONASS: G1/G2
GALILEO: E1/E5b initial time<5s update frequency 20Hz differential data RTCM 2. X/3. X
Reliability>99.9% Data format NMEA-0183, Unicore
Accuracy index: Single point accuracy plane: 13m elevation: 3.0m RTK accuracy plane: 1cm+1ppm elevation: 15cm+1ppm
DGPS plane: 0.4m, elevation: 0.8m, time accuracy 20ns, velocity accuracy 0.03m/s, orientation accuracy 0.2 degrees/1m baseline
10. Hardware system:
Communication serial port: Hardware system 32-bit communication processor FLASH 512KB DDR2 256KB
Communication interface: GX16-8 * 1 supports RS232
Radio interface: GX12-4 * 1 supports RS232 indicator light 3 4G interface SMA * 1 GNSS interface TNC * 2 SIM/UIM 1
Physical environment: Standard power supply 12V/1.5A
Power supply range: 9~36V
Power standby: 220~250mA, communication: 80~330mA
Size: 100x119x38 mm
Weight: 280g
Protection level: IP30
Working temperature: -35~+75 ° C
Storage temperature: -40~+85 ° C
Relative humidity: 95% (no condensation)
iv. Basic Configuration
One BYD Dolphin autonomous driving teaching and training platform, one 360-degree panoramic calibration cloth, one corner radar reflector, one camera calibration board, one infrared rangefinder, and one vertical measuring device.