1. It adopts BYD Dolphin for research and development, it has the functions of manual driving, L2-level assisted driving, L3-level self-driving, OTA intelligent remote upgrade, etc. The L3-level self-driving mode can be switched with one button.
2. The vehicle is equipped with 32-bit LIDAR, front view camera, high-precision GPS combination navigation, millimeter wave radar, ultrasonic radar, self-driving computing platform and other core components of the self-driving system, which can perform functions such as high precision map creation, high precision positioning, driveable area detection, lane marking line detection, obstacle detection, dynamic object tracking and obstacle classification recognition. The longest detection distance of LIDAR is up to 150 meters. The self-driving system has built-in algorithms for secondary development to meet the needs of self-driving research and training projects.
3. The vehicle self-driving system is developed based on Autoware open source self-driving system, the instructions are compiled in c++ and python language, with human-computer interaction interface operation for simple and convenient use.
4. Vehicle-mounted camera, real-time monitoring of lane lines, traffic lights, traffic signs and other information to achieve lane keeping driving, automatic lane change, traffic light automatic waiting and driving function.
5. The driving cab is equipped with high-definition display screen, which can display the imaging shadow and identification mechanism of LIDAR and camera in real time, so that students can understand the software internal algorithm logic more clearly.
6. The system can collect high-precision maps to realize the self-driving function of city-level scenes.
7. The OBU interface is reserved to extend the vehicle-road cooperation function and realize the networked communication connection between the vehicle and the outside world (that's V-X. including vehicle-vehicle, vehicle-road. vehicle-human, vehicle-cloud. etc.).
8. The vehicle level computing platform can provide up to 32 Tops computing capability to meet the computing needs of self-driving scenarios. Built-in multi-sensor clock synchronization function to reduce sensor fusion time difference and improve the data accuracy of self-driving.
Technical Parameters
1.Whole vehicle
2.Power battery
3.LIDAR
4.Millimeter wave radar
5.Surround view camera
6.Ultrasonic radar
7.Forward camera
8.Self-driving computing platform
9.GPS combined inertial navigation system
Technical Data
1. Whole vehicle
Overall dimension (mm): not less than
4125 x 1770 x 1570 (length x width x height)
Braking mode: front and rear disc brake
Structure: front wheel drive
Suspension: front MacPherson rear torsion beam type Track: 2700mm
Wheelbase : 2700 mm
Minimum turning radius: 5.25M
Drive motor type: AC permanent magnet synchronous motor
Drive motor power: 70KW
2. Power battery
Battery capacity: 44.9kwh
3. LIDAR
Number of lines: 32
Laser wavelength: 905nm
Laser safety level: Class1 human eye safety
Range capability: 150m (80m@10% NIST)
Accuracy (typical): ±3cm
Horizontal field of view: 360°
Vertical field of view: -16°-15°
Frame rate: 5Hz/10Hz/20Hz
Rotational speed: 300/600/1200rpm (5/10/20Hz)
Output points: ~640.000pts/s (single echo mode)~1280,000pts/s (dual-echo mode)
Ethernet output: 100 Mbps
Output data protocol: UDP packets over Ethernet
Operating voltage: 12V-32V
Operating temperature:-20℃~+60℃
Product power: 12W
Storage temperature:-40°C~+85℃
Protection level: IP67
Time synchronization: SGPRMC with 1PPS
Size: φ102mm*H77.9 mm
Weight (without data cable): ~1040g
4. Millimeter wave radar
Transmit frequency: 76-77GHz
Transmit power (EIRP): 14.1dBm
Update rate: 20Hz
Power consumption: @12V DC 25℃ 6.6~12W
Distance measurement range for obstacle: 0.2~100m
Distance accuracy: 0.42m
Measurement speed range: -16~16m/s
Speed resolution: 0.24 m/s
Number of targets tracked simultaneously: 8Pcs
Beamwidth/TX: Azimuth(-6dB)56deg Pitch(-6dB)37deg
Operating voltage: 8-32v
Protection grade: IP66
Storage temperature: -40~85℃
Operating temperature: -50~105℃
5. Surround view camera
Pixels: AR0147 RGGB ISP AP0101
Image size：1/4 inch CMOS
Output pixel：1280H*720V
Pixel size: 3um
Backside illumination: (BSI)
Frame rate: 1280*720@30fps HDR range 140 dB 120dB@LFM
Output data parallel/YUV422-8-bit serializer motto MAX96705
Camera interface coaxial power supply: 5~16V POC
Current: less than 200mA
Connector: Z-type Fakra
Operating temperature: -40~+85℃
Waterproof lens
Size(mm): 30 x 30 x 22.5
Weight: <50g
6. Ultrasonic radar
Working power supply: +12V~24V
Working current: less than 200mA (+12V supply)
Operating temperature range: -40℃~＋85℃
Ultrasonic stable measurement range: 200mm-3500mm,
limit range: 130mm-5000mm (the reflective surface is wall)
Accuracy: 0.5% of the detection distance
Resolution: 5mm
Communication interface: compatible of CAN2.0A CAN2.0B
Sampling rate and CAN send cycle: 100ms
Probe protection level: IP67
Probe launch angle: 60 degrees
7. Forward camera
Processor: FPGA, Dual-Core ARM
Memory: 1G
Flash memory: 8G
Lens focal length: 8mm (4mm can be customized)
Distance measurement range: 3m-100m (Can be customized)
Distance measurement error: within 5%
Baseline: 12cm (Can be customized)
Dynamic range: 120dB
Resolution: 1280*720
Field of view: HFOV38/VFOV21° (Can be customized)
Pitch angle: 70 ° ~ 90 °
Transmission: 1*Gigabit network port (transmitting image data), 1*CAN (transmitting lane lines and obstacle information)
Operating voltage: 9~36V
Overall power: <6W
Storage temperature: -30℃~85℃
Operating temperature: -20℃~70℃
Image frame rate: 12.5fps
8. Self-driving computing platform
AI computing power: 32TOPS
Graphics card: NVIDIA Ampere architecture with 1792
NVIDIA CUDA cores and 56 tensor cores
Maximum graphics card frequency: 930MHz
CPU: 8-core Arm Cortex-A78AE v8.2 64-bit CPU2MBL2+4MBL3
Maximum CPU frequency: 2.2GHz
Maximum frequency: 1.4GHz
Memory card: 32GB 256-bit LPDDR5204.8GB/s
Storage: 32GB eMMC5.1
Network interface: 4×Gigabit E hot network port
Camera interface: 2×GMSL2 four in one mini Fakra type
(10V, transmission distance up to 15 meters, GMSL2 and GMSL1 compatible)
Video output: 1×HD 2.0 (Type A)
Interrupter: 2×USB 3.0 (Type A)
Universal input/output port: 4×input (0-12V) 4×output (3.3V)
Interrupter: 5×capacitor (terminal resistance 120Ω)
Serial port: 1×debugging (RS232), 3 ×RS232, 2×RS485/RS422
Synchronous input/output port: 1×SYNC_IN (0-12V), 1×SYNC_OUT (3.3V),
1×SYNC_PPS (3.3V)
Expansion port: 1×M.2 M key (PCIe x4, 2280), 1×Mini PC
(for 4G or wireless expansion), 1×Nano SIM card socket
Key: Power button, Reset button, Restore button
Input voltage: wide input 9-36V DC
Typical consumption: up to 60W
9. GPS combined inertial navigation system
Performance index: Number of channels 432
Cold start: less than 30s
BDS: B1/B2
Number of signals GPS: L1/L2 GLONASS:G1/G2
GALILEO: E1/E5b
Initial time: less than 1 min
Update frequency: 100Hz
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
Speed accuracy: 0.03m/s
Orientation accuracy: 0.2 degrees/1m baseline
Hardware system:
Communication serial port: 32-bit communication processor FLASH 512KB DDR2 256KB
Communication interface: GX16-8*1 support RS232
Radio interface: GX12-4*1 support RS232
Indicator lamp 3 4G interface SMA*1 GNSS interface TNC*2 SIM/UIM 1
Physical environment: Standard power supply 12V/550mA
Power supply range: 9~32V
Power consumption: 6.6W/550 mA typ. and 12W/1.0A @max.peak power
Dimension: 162x120x53 mm
Weight: 1.25kg
Protection level: IP67
Operating temperature: -40~+70°C
Storage temperature: -40~+85°C
Relative humidity: 95% (no condensation)
1 unit of 200TOPS arithmetic computing platform, 1 set of 32-line LIDAR, 1 unit of 77GHz millimeter wave radar, 1 unit of GPS combined navigation, 1 unit of front view camera, 4 units of surround view camera, 8 units of ultrasonic radar, 1 unit of whole vehicle controller, 1 unit of BYD Dolphin wire-controlled whole vehicle, 1 unit of VCU whole vehicle controller.