ii. Features

1. Sensor system functions

(1) Forward vision system: to achieve the detection, identification, tracking and other functions of environmental targets (including pedestrians, vehicles, traffic lights, traffic signs, lane lines, etc.).

(2) LIDAR system: collects platform environment information to generate point cloud data for exercisable area detection and obstacles detection, and can get three-dimensional information of obstacles.

(3) Surround view system: 360 degrees detect whether there are obstacles around and obtains the relative orientation and distance of obstacles, intuitive and without any blind spots.

2. Battery and electronic control module functions

(1) Battery system function: the main parameters of the battery can be read, including remaining power, real-time current, current voltage, current temperature, custom alarm information, etc.

(2) Drive system function: Adopt wire-controlled drive system, the decision control unit can control the motor controller to execute acceleration, deceleration, energy recovery and other working conditions through CAN signal.

(3) Braking system function: adopts motor reverse electric potential (brake during running), electromagnetic brake holding (brake during parking) function.

(4) Steering system function: adopts Ackermann wire-controlled steering system, which can adjust the direction in real time according to the navigation path and obstacles position.

3. Identification and control module functions

(1) Obstacles identification function: carry out fusion calculation through the detect data of LIDAR, camera and millimeter wave radar, then control the platform to safely avoid obstacles through calculation results to ensure vehicle driving safety.

(2) Map construction function: LIDAR collects 3D environment information and combines with forward camera and GPS position information to construct a global map.

(3) Positioning function: locate the platform's position information through the global map, real-time LIDAR point cloud information and IMU/GPS information.

4. Human-computer interaction function

(1) Display: It can display the information of surrounding environment of the vehicle as well as the vehicle driving information including speed and acceleration, etc. The vehicle can be operated by touch screen, such as stopping and starting, etc.

(2) Keyboard: connected to the vehicle computer by wireless, then commands can be input, and debugging of modules, system debugging and control.

(3) Remote control handle: connected to the vehicle by wireless, the remote control operation mode can be switched, including starting, stopping, accelerating, steering, etc.

iii. Technical Parameters

1. Parameters of the whole vehicle

Overall dimension (mm): not less than 1600×800×1400 (L×W×H)

Minimum turning radius: 2.0m±0.1m

Wheel base: 0.66m

Wheel track: 0.606m

Maximum speed: not more than 10km/h

Maximum climbing gradient with full load: 30%

Wire-controlled drive / brake system:

Drive mode: rear drive

Control mode: torque

Rated power: 0.5kW

Rated voltage: 48V

Rated speed: 3000rpm

Speed feedback error: ±0.1 m/s

Wire-controlled steering system:

Control mode: speed/torque/position

Rated power: 220W

Rated voltage: 24V

Response time: <100ms

Control accuracy: ±1°

2. Power battery system

Form: automotive grade lithium battery

Rated voltage: 48V

Rated current: 20A

Capacity: ≥2kWh

Battery box waterproof level: IP67

3. BMS system

Over-charge, over-discharge, short-circuit, high temperature protection, etc.

Communication interface: CAN

Power supply interface: 24V 20A, 12V 25A, 12V 20A, 5V 10A

4. LIDAR

16 lines and above LIDAR, accuracy not less than ±2cm, vertical angle resolution not more than 2 degrees, safety protection level not less than IP67

Distance measurement: 20cm to 150m (target reflectivity 20%)

Viewing angle (vertical): ±15 degrees

Viewing angle (horizontal): 360 degrees

Angular resolution (horizontal/azimuth): 0.09 degree (5Hz) to 0.36 degree (20Hz)

Rotational speed: 300/600/1200rpm (5/10/20Hz)

5. Millimeter wave radar

5.1 Transmitting frequency band at 76-77Hz, with both medium and short distance scanning capability, coverage distance greater than 1-175m, horizontal viewing angle greater than ±45 degrees, input voltage DC 8-16V.

5.2 It can match with the underlying control algorithm of vehicle, and play a important role in self-driving function of intelligent connected vehicles.

5.3 With multi-position mounting mechanism, can match with the training vehicle for installation and debugging.

We can set and calibrate the multiple key parameters for millimeter wave radar on the multi-sensor fusion wire-controlled chassis.

6. Camera

The camera is industrial grade and above.

Specific parameters of camera are as follows:

Lens type: fisheye

Photographic sensor: IMX291 (1/2.8 inch)

Maximum effective pixels: not less than 1280 (H) * 720 (V)

HDR range: ＞120dB

Interface type: Fakra Z

Power supply and interface: 5-12V Fakra Z socket

Voltage: DC 5V

Current: 150mA-200mA

7. Computing Platform

Basic computing unit parameters:

AI computing power: 8 TOPS

Dual core C66x (1.35GHz)+C7x (1GHz)

CAN modules: ≥ 16 (supporting CAN-FD)

Ethernet: 8 channels (1Gbps)

Memory: 4GB LPDDR4x

Internal storage: 32GB eMMC

Core computing unit parameters:

CPU: 8-core 64 bit

AI computing power: 32 TOPS

Memory: 32GB LPDDR4x

Internal storage: 32GB eMMC

SSD interface: Supports m.2 interface nvme protocol (default 512GB)

iv. Basic Configuration

One L4 level autonomous driving vehicle, one complete vehicle circuit diagram, one laser rangefinder, one digital angle ruler, one angle radar reflector, one set of 360 degree calibration cloth, one camera calibration board, one chassis inspection box, one tape measure, and one vertical measuring device.