CL-IT-001: Intelligent Connected Training Microcar

I. Overview

The intelligent connected training vehicle is a comprehensive training platform specifically designed for autonomous driving technology education and R&D. The platform uses advanced Ackerman by-wire chassis technology and integrates a multi-dimensional sensor system, including 360-degree scanning LiDAR, front smart cameras, millimeter-wave radar, integrated inertial gyroscope plus GNSS positioning unit, and Ultrasonic Sensor. This platform supports autonomous driving functions in complex scenarios, such as multi-scenario navigation, path tracking, and traffic sign recognition, meeting training needs for autonomous driving function demonstrations and sensor technology debugging. Utilizing AI deep learning and artificial intelligence algorithms, the platform can perform functions such as image recognition, SLAM positioning, environmental perception, obstacle detection, and autonomous driving decision control. It supports secondary development, providing learners with hands-on experience to deepen their understanding of unmanned driving hardware and software systems.

I. Equipment Functionality

1. Autonomous Driving System Compatibility: Integrates two major autonomous driving frameworks, Autoware and Apollo, ensuring seamless operation under both systems.

2. L4 Level Autonomous Driving Implementation: Based on high-precision maps, the training vehicle can perform L4-level autonomous driving tasks, including but not limited to automatic path tracking, obstacle identification and avoidance, autonomous braking, scheduled stop docking, and local path planning.

3. Parameter Setting and Adjustment: Provides interactive vehicle driving parameter setting controls, allowing users to adjust the behavior strategy of the autonomous driving system according to training needs.

4. High-Precision Map Creation: The autonomous driving system has a built-in high-precision map generation tool, supporting point cloud data recording and map-making software, making it convenient for users to create exclusive training environment maps.

5. Sensor Application Training: Comes with dedicated sensor application training software, supporting detailed teaching and operational training of various sensor technologies.

6. Multi-Mode Positioning Technology: Combining indoor and outdoor various positioning technologies, supporting precise tracking and navigation in different environments.

II. Detailed Technical Specifications

1. By-Wire Vehicle Platform

· Dimensions: 1700mm x 880mm x 1500mm

· Maximum Range: 30km

· Suspension System: a. Front Suspension: MacPherson independent suspension b. Rear Suspension: Leaf spring non-independent suspension

· By-Wire Steering System: Automotive-grade mini-P-EPS, supports precise steering control

· By-Wire Braking System: Automotive-grade EHBS, tandem dual-cavity plunger design, supports open CAN protocol

· Power Battery: 1.6kWh ternary lithium battery, 48V35Ah, equipped with open CAN protocol

· Control Mode: Reserved CAN control interface, supports autonomous driving and remote control functions

Computing Unit

· CPU: 6 cores 12 threads, base frequency 2.9GHz, 12M L3 cache

· GPU: Independent image processor, CUDA core count 3584, memory frequency 15Gbps, memory capacity 12G DDR6

· Memory: 16GB LPDDR4x 2666MHz

· Storage: 500GB solid-state drive

· Interfaces: Gigabit Ethernet + WiFi, USB3.0

Front Camera

· Sensor Model: IMX291, 1/2.8" lens

· Interface: USB3.0

· Maximum Effective Pixels: 2 million pixels, 1920(H) x 1080(V)

· Output Image Format: MJPEG/YUV2(YUVY)

· Maximum Frame Rate: 1920 x 1080p 50 frames/YUV/MJPEG

· Detection Targets: Vehicles, pedestrians, traffic signs, traffic lights, etc.

16-Line LiDAR

· Scanning Channels: 16 lines

· Laser Wavelength: 905nm

· Detection Distance: 70 meters to 200 meters

· Power Supply Range: 9V-36VDC

· Communication Interface: Ethernet pps

· Data: Includes three-dimensional spatial coordinates and point cloud reflectivity

Combined Positioning Unit

· Supported Modes: RTK mode, GNSS single point mode, three-mode seven-frequency positioning (GPS, BDS, GLANESS)

· Built-in: 6-axis IMU

· Attitude Accuracy: 0.1° (baseline length ≥2m)

· Positioning Accuracy: a. Single point L1/L2: 1.2m b. DGPS: 0.4m c. RTK: 1cm+1ppm

· Input Voltage: 9～32V DC (standard adapter 12V DC)

· Power Consumption: ＜5W

Millimeter Wave Radar Technical Specifications

· Working Frequency and Detection Range: The millimeter-wave radar operates within the 76GHz to 77GHz frequency band, capable of detecting distances from 0.2 meters to 250 meters, meeting a wide range of detection needs.

· Measurement Performance: Features long-range measurement resolution of ±1.79 meters, short-range of ±0.39 meters, measurement accuracy at long-range of ±0.40 meters, and at short-range of ±0.10 meters, ensuring high precision in target detection.

· Speed Detection and Data Output: The speed range covers -400 km/h to +200 km/h, with a resolution at long-range of 0.37km/h, at short-range of 0.43km/h, and speed accuracy of ±0.1 km/h. Supports CAN/CANFD data output, including tracking target ID, distance, speed, RCS, and more.

· Environmental Adaptability: Designed with a working temperature range of -40°C to 85°C, operating voltage of 9-16V, protection level reaching IP67, suitable for various harsh environments.

Ultrasonic Sensor Technical Specifications

· Operating Frequency Range: 76GHz to 77GHz, supporting a wide range of detection needs.

· Detection Distance Range: From 0.2 meters to 250 meters, adapting to different scenarios.

· Distance Measurement Resolution and Accuracy: Close range ±0.39m, long range ±1.79m; close range accuracy ±0.10m, long range accuracy ±0.40m.

· Speed Range: -400 km/h to +200 km/h, covering a wide range of motion speeds.

· Speed Resolution and Accuracy: Long range 0.37km/h, close range 0.43km/h; speed accuracy ±0.1 km/h.

· Detection Target Types: Includes moving away, approaching, stationary, crossing stationary, and crossing moving targets.

· Data Output: Supports CAN/CANFD, providing target ID, distance, speed, radar cross-section (RCS), and other information.

· Working Environment: Temperature -40℃ to 85℃, voltage 9-16V, protection level IP67.

Ultrasonic Sensor Technical Specifications

· Operating Power: +12V to 24V.

· Operating Temperature Range: -40℃ to +85℃.

· Measuring Range: 130mm to 5000mm, probe measuring distance is adjustable.

· Accuracy and Resolution: Detection distance accuracy of 0.5%, resolution 5mm.

· Communication Interface: Compatible with CAN2.0A and CAN2.0B.

· Sampling Rate and Transmission Cycle: 100ms, probe emission angle 60 degrees.

Display Screen Technical Specifications

· Refresh Rate: ≥70Hz, ensuring smooth imagery.

· Voltage Support: 12V.

· Size: 22 inches widescreen, suitable for various display needs.

Router Technical Specifications

· Supported Bands: 4G all-netcom, ensuring broad network connectivity compatibility.

· Antennas: Dual antenna design, enhancing signal reception.

· Network Interfaces: Four adaptive 100/1000 Mbps LAN ports.

· Power Supply: 12V, adaptable to various power environments.

· Wireless Network Standard: Supports 2.4GHz/5GHz dual-band, catering to different wireless network needs.

CAN Transceiver Technical Specifications

· Integrated Channels: Two CAN channels, supporting complex communication needs.

· Protection: ESD protection, surge protection, and communication isolation, ensuring stable device operation.

· Operating Temperature: Industrial grade -40 to 85℃, adapting to harsh environments.

· Configuration Mode: Web-based configuration interface, simplifying the device setup process.