CL-IT-004: Intelligent Connected Passenger Car Basic Development Platform

I. Platform Introduction

The Connected Compact Passenger Car Development Teaching Platform is a professionally retrofitted by-wire vehicle based on mass-produced passenger cars. It is equipped with an autonomous driving system capable of achieving Robot Taxi functionality. Through hands-on teaching, students are shown the industry's professional intelligent connected vehicle by-wire technology and autonomous driving technology.

The by-wire chassis uses mass-produced by-wire VCU controls to achieve high by-wire performance, with leading indicators in control precision, control error, response time, and feedback accuracy.

Functional safety is fully considered. Manual takeover can be achieved through the accelerator pedal, brake pedal, and steering wheel, with the capability to automatically switch to conventional driving mode in the event of system power failure. The system also incorporates an emergency power-off device and automatically switches to conventional driving mode after power-off. On the CAN communication mechanism, there are multiple safety assurance measures, such as redundant control verification methods to ensure command correctness, restrictions on unexpected shift commands from the upper computer to ensure driving and vehicle safety, and software restriction strategies for high-speed steering, among others.

The autonomous intelligent car uses a full set of self-developed autonomous driving software, with sensor applications involving cameras, LiDAR, millimeter-wave radar, Ultrasonic Sensor, GPS/IMU; the main function algorithms include perception algorithms and obstacle behavior prediction; the positioning algorithm uses laser positioning as the main method, supplemented by RTK positioning, to avoid building and tree signal occlusion affecting vehicle operation; it can meet customized planning control algorithms for mixed traffic conditions and can perform functions such as active tracking, obstacle identification, active braking, station docking, and local path planning.

I. By-Wire Chassis

1. By-Wire Chassis Overview

· Dimensions: Length 2917mm, width 1492mm, height 1621mm, designed exquisitely, suitable for various scenarios.

· Wheelbase: 190mm, ensuring vehicle stability and comfort.

· Front/Rear Track: Both 1290mm, ensuring vehicle balance during driving.

· Minimum Turning Radius: 4.2m, enhancing vehicle flexibility in narrow spaces.

· Range: 120km, meeting daily short-distance travel needs.

· Vehicle Weight: 700kg, lightweight design for improved energy efficiency.

· Top Speed: 100km/h, meeting the need for rapid travel.

· Motor Type: High-efficiency permanent magnet synchronous motor.

· Maximum Power/Torque: 20kW / ≥85Nm, providing robust power.

· Battery Type and Capacity: High-performance lithium-ion battery, ≥9.3kW•h, ensuring long endurance.

· Drive Type: Rear-mounted rear-wheel drive, optimizing driving experience and vehicle performance.

· Brake Type: Front disc and rear drum, ensuring reliable braking safety.

By-Wire Throttle System

· Functionality: Advanced by-wire technology for longitudinal drive control, equipped with a dedicated CAN interface for precise throttle pedal position adjustment.

· Performance Parameters: a. Latency: Ensures command to acceleration response time does not exceed 300ms, meeting or exceeding original car throttle response. b. Response Time: Acceleration from zero to maximum value must be completed within 800ms. c. Maximum Acceleration: Ensures no less than 0.3g, applicable for 0 to 80km/h speed range. d. Independent Enable and Takeover: Supports manual takeover via the throttle pedal, enhancing operational safety. e. Status Feedback: Provides real-time position status of the throttle pedal, actual vs command value feedback.

By-Wire Brake System

· Functionality: Provides longitudinal braking function through by-wire technology, controlling the brake pedal opening with the corresponding CAN interface.

· Performance Parameters: a. Braking Force: Capable of providing no less than 0.5g of braking deceleration, meeting emergency braking needs. b. Latency and Response Time: From the braking command issue to the start of deceleration increase not exceeding 300ms, to maximum deceleration not exceeding 800ms. c. Operating Speed Range: 0 to 80km/h, covering full-speed driving. d. Independent Enable and Takeover: Allows manual takeover through the brake pedal, ensuring driving safety. e. Status Feedback: Real-time feedback of the brake pedal's status, actual position vs command value, automatic brake light activation.

By-Wire Steering System

· Functionality: Achieves precise steering control through by-wire technology and a dedicated CAN interface adjusting the steering wheel angle.

· Performance Parameters:

o Steering Angle Range: -450deg to 450deg, accommodating a variety of steering needs.

o Maximum Steering Rate: Not less than 360deg/s, ensuring rapid and accurate steering response.

o Latency: The time from command issuance to change in steering angle does not exceed 300ms, guaranteeing immediate steering reaction.

o Operating Speed Range: 0 to 40km/h, ensuring steering performance at low to medium speeds.

o Independent Enable and Takeover: Supports manual takeover through the steering wheel, enhancing operational flexibility.

o Status Feedback: Comprehensive feedback on the by-wire steering system's status, including actual and command steering angle values.

By-Wire Gearshift Control

· Functionality: Provides by-wire functionality for switching between R, N, D gears, operated through the CAN interface when the vehicle is stationary.

· Safety Requirements: a. By-wire gearshift control requires the gear stick to be in N position, ensuring safety when entering and exiting by-wire mode. b. Moving the gear stick from N to D or R automatically terminates by-wire mode, reverting to manual driving.

· Enable and Takeover: By-wire gear position is independently enabled, allowing manual takeover through gear stick operation, enhancing operational safety.

· Response Time: From command issue to action completion not exceeding 2 seconds.

· Status Feedback: Real-time feedback on gear position, actual vs command gear stick position.

By-Wire Sound and Light System

· Function Description: Implements by-wire switch control for vehicle sound and light signals (turn indicators, high/low beam lights, hazard lights, horn, wipers) equipped with a CAN interface.

· Enable Conditions: By-wire sound and light system can be independently enabled, not involved in vehicle takeover control.

· Feedback Mechanism: This system does not provide operational feedback signals.

Status Feedback Mechanism

· Function Scope: In addition to by-wire throttle, brakes, steering, and gearshift, the system provides feedback on key vehicle status information such as speed through the CAN bus, ensuring comprehensive monitoring and diagnosis.

By-Wire Operating Modes

· Mode Overview: The system design includes both manual and automatic operating modes, with mode switching achieved through by-wire enable flag bit.

· Status Feedback: The system provides feedback on the entire vehicle's by-wire status, ensuring the driver has a clear understanding of the vehicle's control status.

· Fault Response: The system defaults to manual mode, with an automatic fallback to conventional driving mode when a serious fault is triggered, ensuring driving safety.

By-Wire Takeover Function

· Takeover Implementation: The system design supports smooth transition from by-wire mode to manual control through operation of the throttle, brake, steering, or gear position, enhancing vehicle safety and flexibility.

II. Autonomous Driving Configuration

1. Computing Unit

· CPU: 6 cores 12 threads, base frequency 2.9GHz, 12M L3 cache, ensuring strong data processing capability.

· GPU: Independent image processor, CUDA cores 3584, memory frequency 15Gbps, capacity 12G DDR6, supporting complex image processing tasks.

· Memory: 16GB LPDDR4x 2666MHz, ensuring smooth system operation.

· Storage: 500GB solid-state drive, providing ample data storage space.

· Interfaces: Equipped with Gigabit Ethernet + WiFi, USB3.0, meeting diverse communication needs.

Front Camera

· Model: Sensor IMX291, lens size 1/2.8", providing clear image capture.

· Interface: USB3.0, ensuring high-speed data transfer.

· Maximum Effective Pixels: 2 million, resolution 1920x1080, supporting high-definition video capture.

· Output Format: MJPEG/YUV2(YUVY), meeting different image processing needs.

· Maximum Frame Rate: 50 frames per second in YUV/MJPEG, ensuring smooth video playback.

· Detection Targets: Vehicles, pedestrians, traffic signs, traffic lights, etc., enhancing environmental perception capabilities.

16-Line LiDAR

· Scanning Channels: 16 lines, providing all-around spatial scanning.

· Laser Wavelength: 905nm, suitable for various detection environments.

· Detection Distance: 70 to 200 meters, meeting long-distance sensing needs.

· Power Supply Range: 9V-36VDC, adaptable to different power systems.

· Communication Interface: Ethernet pps, ensuring stable data transmission.

· Data: Includes three-dimensional spatial coordinates and point cloud reflectivity, supporting accurate environmental modeling.

Combined Positioning Unit

· Positioning Modes: Supports RTK, GNSS single point, and triple-mode seven-frequency (GPS, BDS, GLANESS).

· Built-in: 6-axis IMU, providing precise attitude recognition.

· Attitude Accuracy: 0.1° (with a baseline length ≥2m), ensuring high precision positioning.

· Positioning Accuracy: Single point L1/L2 at 1.2m, DGPS at 0.4m, RTK at 1cm+1ppm, satisfying high-precision navigation needs.

· Input Voltage: 9～32V DC (standard adapted to 12V DC), power consumption

Millimeter-Wave Radar

· Operating Frequency: 76GHz to 77GHz, suitable for high-precision long-range detection.

· Detection Distance: 0.2m to 250m, covering a broad range of distances.

· Distance 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, capable of detecting high-speed moving targets.

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

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

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

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

Ultrasonic Sensor

· Power Supply: +12V to 24V.

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

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

· Accuracy: 0.5% of the detection distance.

· Resolution: 5mm.

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

· Sampling Rate: 100ms, with a probe emission angle of 60 degrees.

Router Specifications

· Supported Bands: 4G full-netcom, ensuring broad compatibility with network connections.

· Antennas: Dual-antenna design, enhancing signal reception.

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

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

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

CAN Transceiver Specifications

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

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

· Operating Temperature: Industrial-grade from -40 to 85℃, suitable for harsh environments.

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

III. Vehicle Function Description

1. Complete Autonomous Driving System: The vehicle is equipped with a complete autonomous driving system, ensuring it can operate normally under the system's control.

2. L4 Autonomous Driving Capability: Based on high-precision maps, the system is capable of performing L4-level autonomous driving functions, including but not limited to active path tracking, obstacle identification and avoidance, autonomous braking, precise station docking, and dynamic local path planning.

3. Adjustable Driving Parameters: Provides a user-friendly interface for setting driving parameters, allowing users to adjust the autonomous driving system's strategy according to actual needs.

4. High-Precision Map Generation: The system integrates the functionality to generate high-precision maps, capable of recording and processing point cloud data, and creating detailed navigation maps with mapping software.

5. Sensor Application Training Software: Provides dedicated training software for each sensor, supporting individual function teaching and technical training.

6. Multi-Technology Fusion Positioning: Combines various advanced positioning technologies, supporting precise path tracking and navigation in both indoor and outdoor environments.

IV. Supporting Software Description

1. Vision Testing Software:

· Includes modules for vehicle and pedestrian recognition, lane line, and traffic light recognition.

· Supports rapid installation, calibration, debugging, and data collection and processing of cameras.

· Provides a complete development toolkit, such as Python3, TensorFlow, CUDA, etc.

· Contains machine learning models, training samples, and real-time processing DEMOs, complemented by a training dataset.

Radar Testing Software:

· Supports testing of millimeter-wave and Ultrasonic Sensors, including distance detection and target detection.

· Real-time reception and analysis of radar data streams, suitable for target analysis under different operating conditions.

· Provides the capability to read fault information.

LiDAR Testing Software:

· Supports interface testing and LiDAR configuration (including network settings, time synchronization, motor parameter adjustments, etc.).

· Real-time reception of LiDAR data streams, visualizing point cloud information.

Combined Navigation Testing Software:

· Includes interface testing and calibration of the combined navigation system (initial alignment, navigation modes, coordinate axis configuration, data output, etc.).

· Supports the reception and analysis of combined navigation data, offering the ability to read fault information.