Audi AADC2017, Hardware Description

Page 1: ...Audi Autonomous Driving Cup 2017 Hardware Description Current version 1 7 Created March 1 2017 Last changed May 31 2017 ...

Page 2: ...reated S Zech N N 01 03 2017 1 0 File updated S Zech N N 22 03 2017 1 1 Updated schematic S Zech N N 11 05 2017 1 2 Updated camera info S Zech N N 15 05 2017 1 3 File updated A Weichhart N N 19 05 2017 1 4 File updated S Zech N N 22 05 2017 1 5 File updated S Zech N N 23 05 2017 1 6 Student release A Kuck 31 05 2017 31 05 2017 1 7 ...

Page 3: ...or Hacker Skalar 10 17 1 5 4 Absima CR2s V 2 Radio System 17 1 6 Cameras 18 1 6 1 Depth Camera Intel R200 18 1 6 2 Front Camera Basler daA1280 54uc 19 1 6 3 RearView Camera Delock 96368 19 1 7 Power supply 20 1 7 1 External power supply unit 20 1 7 2 Battery for powertrain units 21 1 7 3 Battery for measurement units 21 1 7 4 Charger 22 1 7 5 Charging Batteries 22 1 8 Printed Circuit Boards PCBs 2...

Page 4: ...roller 29 2 5 1 Activate Remote Radio Controller 29 2 5 2 Deactivate Remote Radio Controller 30 2 5 3 Bind Radio Controller to Radio Remote Receiver 30 3 CALIBRATION 32 3 1 Speed Controller Setup 32 3 2 Steering Calibration 32 3 3 Adjustment with Potentiometers 32 4 TROUBLESHOOTING 34 5 BIBLIOGRAPHY 35 ...

Page 5: ...wler 16 Figure 18 Hacker SKALAR 10 21 5 Brushless Motor 17 Figure 19 Absima CR2S V 2 Radio Transmitter 18 Figure 20 Absima CR2S V 2 Radio Receiver 18 Figure 21 Intel RealSense R200 Depth Camera 18 Figure 22 Front Camera Basler daA1280 54uc 19 Figure 23 RearView Camera Delock 96368 19 Figure 24 Mean Well GST160A24 R7B 20 Figure 25 Pin Assignment of external power supply unit 20 Figure 26 Mechanical...

Page 6: ...Hardware 31 05 2017 V Abbreviations AADC Audi Autonomous Driving Cup LiPo Lithium Polymer Accumulator IMU Inertial Measurement Unit ...

Page 7: ...Hardware 31 05 2017 v1 7 Audi Autonomous Driving Cup 2017 Hardware Description 6 1 Hardware Figure 1 The AADC2017 car with AUDI Q2 cover Figure 2 The AADC2017 car ...

Page 8: ...Hardware 31 05 2017 v1 7 Audi Autonomous Driving Cup 2017 Hardware Description 7 1 1 Schematic diagram Figure 3 Schematic diagram ...

Page 9: ...re 4 Mainboard GIGABYTE GA Z170N WIFI1 Format Mini ITX Chipset Intel Z170 Socket 1151 for 6th generation Intel CPUs Skylake RAM 2 DDR4 in Dual Channel Slots physical o 1 PCIe 3 0 x16 o 1 WiFi Bluetooth Module incl 802 11ac Internal Connectors o 6 SATA 6G o 1 M 2 PCIe 3 0 x4 o 2 USB 3 0 one header o 2 USB 2 0 one header o 1 Fan 4 Pin PWM 1 http www gigabyte de Motherboard GA Z170N WIFI rev 10 23ov ...

Page 10: ...2280 SSD disk drive In addition there is a NVIDIA GeForce GTX1050Ti graphics card mounted 1 2 1 Graphics Card The NVIDIA GeForce GTX 1050Ti graphics card specifications GPU Engine Specs o Base Clock MHz 1290 o Boost Clock MHz 1392 o NVIDIA CUDA Cores 768 Memory Specs o Memory Speed 7 Gbps o Standard Memory Config 4 GB GDDR5 o Memory Interface Width 128 Bit o Memory Bandwidth 112 GB sec Technology ...

Page 11: ...Thermal Power Specs o Maximum GPU Temperature 97 C o Graphics Card Power 75 W o Recommended System Power4 300W Figure 55 NVIDIA GeForce GTX 1050Ti 3 DisplayPort 1 2 Certified DisplayPort 1 3 1 4 Ready 4 Recommendation is made based on PC configured with an Intel Core i7 3 2 GHz processor Pre built system may require less power depending on system configuration 5 http www nvidia de graphics cards g...

Page 12: ...ced on a breadboard The Micro is like the Arduino Leonardo in that the ATmega32u4 has a built in USB communication eliminating the need for a secondary processor This allows the Micro to appear to a connected computer as a mouse and keyboard in addition to a virtual CDC serial COM port 6 Figure 6 Arduino Micro7 Microcontroller ATmega32u4 Operating Voltage 5V Input Voltage recommended 7 12V limits ...

Page 13: ...Hardware 31 05 2017 v1 7 Audi Autonomous Driving Cup 2017 Hardware Description 12 Figure 7 HC SR04 Ultrasonic Sensor Arduino Micro Pinout8 8 http arduino cc en uploads Main ArduinoMicro_Pinout3 png ...

Page 14: ... 8 HC SR04 Ultrasonic Sensor9 HC SR04 Ultrasonic Sensor Operating Voltage 4 5V to 5 5V Quiescent Current 1 5mA to 2 5mA Working Current 10mA to 20mA Ultrasonic Frequency 40Hz Range 2cm to 400cm Resolution 0 3cm Measuring Angle 30 Effectual Angle 15 Dimension mm 45 x 20 x 15 Figure 9 Measuring Angle HC SR04 1 9 HC SR04 User s_Manual ...

Page 15: ...gular rate sensors gyroscopes with a user programmable full scale range of 250 500 1 000 and 2 000 sec and integrated 16 bit ADCs Digital output triple axis accelerometer with a programmable full scale range of 2g 4g 8g and 16g and integrated 16 bit ADCs 3 axis silicon monolithic Hall effect magnetic sensor with magnetic concentrator Digitally programmable low pass Gyroscope filter Figure 11 Block...

Page 16: ...oltage 4 5V to 5 5V Detector Operating voltage 1 6V Emitter Revers Leakage Current 10uA Emitter Supply Current 12mA Slot width 3 2 mm Resolution up to 0 457mm Tach Pulse Width 3 20 us Encoder Wheel The encoder wheel is a 3D printed BFFT in house development It fits exactly onto the rear wheels and has 30 slots that result in 60 edges rising and falling Figure 14 Output Timing Diagram HOA0902 11 2 ...

Page 17: ...ting time 0 11s to 0 09s Angle 60 Weight 77 g 1 5 2 Robitronic Speedstar Brushless Speed Controller Figure 17 Robitronic Speedstar Brushless Crawler12 Robitronic Speedstar Brushless Regler 8 5T LiPo Cells 2 3s B E C Voltage 5V B E C Current 3 0A Ampacity 260A phase brushless Motor Turn Limit 8 5 Turn brushless Internal Resistance 0 005 Ohm phase brushless Dimensions mm 40 x 41 x 28 7 Weight 43g 11...

Page 18: ...5 Brushless Motor 1 10 Technology Sensored brushless Scale 1 10 Voltage 3 2 11 1V Length 52 3mm Diameter 35 7mm R min per Volt 2 100 Max power 149W Turns 21 5T Weight 162g 1 5 4 Absima CR2s V 2 Radio System You can use the radio system to control the car manually Please see chapter 2 4 Use Remote Radio Controller for a detailed description 13 Hacker SKALAR 10 21 5T Brushless Motor ...

Page 19: ... CR2S V 2 Radio Receiver Channels 3 Frequency band 2 4 GHz Modulation GFSK Sensitivity 1024 RF receiver sensitivity 100 dbm Power 4 5 7 2 V ANT length 26 mm Dimensions mm 37 6 x 22 3 x 13 Weight 5 g 1 6 Cameras 1 6 1 Depth Camera Intel R200 Figure 21 Intel RealSense R200 Depth Camera14 Intel RealSense R200 Depth Camera Streams RGB Depth 2x Infrared RGB Stream o Resolution H x V pixels 1920x1080 64...

Page 20: ...A1280 54uc 15 Front Camera Basler daA1280 54uc Resolution H x V pixels 1280 x 960px Pixel Size horizontal vertical 3 75 µm x 3 75 µm FPS 45 in Car 54 max Lens Evetar M13B02118W Iris F1 8 Focal length 2 1mm FOV V x H x D 96 x 130 x 170 1 6 3 RearView Camera Delock 96368 Figure 23 RearView Camera Delock 9636816 RearView Camera Delock 96368 Resolution H x V pixels max 2592 x 1944 min 160 x 144 FPS ma...

Page 21: ...ent 1 85A 115VAC 1A 230VAC Output DC Voltage 24V Output Rated Current 6 67A Output Rated Power max 160W Connection cable UL2464 18AWGx4C 1200 50mm for 15V 48V Connection R7B male Dimensions mm 175x72x35 DC Output Plug Figure 2518 Pin Assignment of external power supply unit 17 https www conrad de de tischnetzteil festspannung mean well gst160a24 r7b 24 vdc 667 a 160 w 1439251 html 18 http www mean...

Page 22: ... 45C 234 A Connection cable silicon Connection Deans T Plug Balancer cable PVC JST XH Dimensions mm 137 5 x 46 x 25 Weight 280g 1 7 3 Battery for measurement units Figure 28 Yuki Model 6S 22 2 V battery Yuki Model 6S 22 2 V battery Configuration 6s1p Nominal voltage 22 2 V Rated capacity 5 200mAh Max charge rate 2C 10 4 A Cont discharge rate 45C 234 A Connection cable silicon Connection Deans T Pl...

Page 23: ...S connected to the charger First connect the battery to the charger as shown in Figure 30 Connect the charger to the power socket and conjunct the balancer cable and the power cable from battery pack to the charge Always charge the batteries in balance mode During this mode the internal processor thereby controls the charging current in order to normalize the voltage monitors each cell of the pack...

Page 24: ... for it yellow circle The connector on the right side of it is used for the R3FS Reciever The two white connectors on the top of the board are used for the two different balancer cables The left one is for the 6S battery the right one for the 2S battery The switch next to them is for choosing between the two operation modes radio controlled left or autonomous right The RJ45 socket is for the conne...

Page 25: ... small detail that one is jumpered for usage in the front and the other one is jumpered for usage in the rear 1 8 2 1 Sensor PCB front At this PCB there is connected one Arduino micro on the headers on the right side and five ultrasonic sensors from the front spoiler are plugged in at the five 4 pin connector 1 8 2 2 Sensor PCB rear At this PCB there are connected five ultrasonic sensor and two wh...

Page 26: ...tors on this PCB The one RJ 45 socket where you can plug in the cable that is also connected to the PCB_Center The other two black headers are used to plug in the two different cable sets for the lights The 10 pin connector is used for the cable set to the LEDs in the back of the covering and the 8 pin connector is used for the cable set to the LEDs in the front of the car ...

Page 27: ...iPo 7 4V for power supply of the actuators the speed controller motor and the steering servo The second one 6S 22 2V for power supply of the PC the Arduinos and the measurement technology Figure 31 Top view batteries You need to charge these two batteries place them in the vehicle as shown in Figure 31 Top view batteriesFigure 31 and connect thme to the board as shown in Figure 32 ...

Page 28: ... batteries in big red letters YOU MUST USE THE BATTERY VOLTMETERS DURING USING THE CAR OTHERWISE THE BATTERIES COULD BE IRREVERSIBLE DAMAGED OR COULD CATCH FIRE AND DAMAGE THE CAR EVERYTIME THE CAR IS USED THE VOLTMETER MUST SHOW A VOLTAGE AND IF THEY START TO BEEP DISCONNECT THE ACCORDING BATTERY AND CHARGE IT 2 2 Connecting the external power supply You can also power the car externally by using...

Page 29: ...r The switch labeled PC turns on the ATX power supply It will take 2 seconds after pressing the switch until the PC starts Afterwards the USB ports are supplied and the Arduinos consequently The other switch labeled Motor turns on the actuators You need to press the switch in order to control the actuators We recommend turning off the actuators if you use the car on your desk to prevent unexpected...

Page 30: ...ote Radio Controller Please follow the instructions below to use the radio controller Figure 35 Switch for RC autonomous mode 1 First make the sure that the Bind Jumper is placed in the Bind Jumper Holder position and not in the Bind Jumper position i e the position next the remote radio receiver 2 Then the mode switch has to be set to the RC position as shown in Figure 30 Afterwards a LED right b...

Page 31: ...revents receiving signals from the other controllers of the same model The binding was made for every car prior to the delivery so it is not necessary to do the binding again If the binding was lost follow the instructions below to match the devices again 1 Make sure that the Mode Switch is set to Autonomous Mode 2 Set the Bind Jumper to the Bind Jumper position and not to the Bind Jumper Holder p...

Page 32: ...ice versa You can use a little trick can be used to avoid this effort When the speed controller is powered on after pressing the Button Motor in the side sills it waits for the zero position PWM signal which corresponds to motor speed zero set during calibration procedure During this time the red LED of the speed controller is on When the speed controller gets the zero position it does some more b...

Page 33: ...tted from ADTF from the Car Control Filter by moving the bar to topmost position 4 Now the maximum Reverse has to be transmitted and will be confirmed by red and green light Release to zero position again The maximum reverse can be transmitted from ADTF from the Car Control Filter by moving the bar to lowermost position 5 The Controller will proceed with some blinking and peeping to confirm the ca...

Page 34: ...ntiometer in Zero Position The potentiometer for the steering servo changes its zero position to make the car drive straight ahead The potentiometer for the speed controller modifies the mapping over the complete scope as shown in Figure 33 Figure 38 Modifications with speed controller potentiometer ...

Page 35: ...ing 31 05 2017 v1 7 Audi Autonomous Driving Cup 2017 Hardware Description 34 4 Troubleshooting If any errors during using the car occur please refer to the support forum at https www audi autonomous driving cup com ...

Page 36: ... t rct j q esrc s source web cd 2 cad rja uact 8 ved 0CCsQFj AB url http 3A 2F 2Fmedia digikey com 2Fpdf 2FData 2520Sheets 2FHoneywell 2520Sen sing 2520 26 2520Control 2520PDFs 2FHOA0902 011 pdf ei CrhuVZvUGubZywOHn4Eo usg AFQjC 3 Invensense http www invensense com MPU 6000 and MPU 6050 Product Specification Revision 3 1 Online 11 24 2011 Cited 6 3 2016 http 43zrtwysvxb2gf29r5o0athu wpengine netdn...