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Summary of Contents for Audi AADC2017
- Page 1 Audi Autonomous Driving Cup 2017 Hardware Description Current version: Created: March 1, 2017 Last changed: May 31, 2017...
- Page 2 Hardware Change Documentation Title: Manual AADC2017 Version: State: release Theme Author Release Date Version File created S. Zech 01.03.2017 File updated S. Zech 22.03.2017 Updated schematic S. Zech 11.05.2017 Updated camera info S. Zech 15.05.2017 A. Weichhart 19.05.2017 File updated File updated S.
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Page 3: Table Of Contents
Hardware Contents CONTENTS ......................II LIST OF FIGURES ....................IV ABBREVIATIONS ....................V HARDWARE ...................... 6 Schematic diagram ....................7 Computer ........................8 1.2.1 Graphics Card ........................ 9 Arduino Micro ......................11 Sensors ........................13 1.4.1 HC-SR04 Ultrasonic Sensor ..................13 1.4.2 9-axis MotionTracking Device .................. - Page 4 Hardware Switching on ......................28 Connecting other devices ..................29 Use Remote Radio Controller ................... 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 CALIBRATION ....................
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Page 5: List Of Figures
Hardware List of Figures Figure 1: The AADC2017 car with AUDI Q2 cover ..............6 Figure 2: The AADC2017 car ....................6 Figure 3: Schematic diagram ....................7 Figure 4: Mainboard GIGABYTE GA-Z170N-WIFI ..............8 Figure 5: NVIDIA GeForce GTX 1050Ti................. 10 Figure 6: Arduino Micro......................11 Figure 7: HC-SR04 Ultrasonic Sensor Arduino Micro Pinout.......... -
Page 6: Abbreviations
Hardware Abbreviations AADC Audi Autonomous Driving Cup LiPo Lithium-Polymer-Accumulator Inertial Measurement Unit 31.05.2017... -
Page 7: Hardware
Hardware 1 Hardware Figure 1: The AADC2017 car with AUDI Q2 cover Figure 2: The AADC2017 car 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 8: Schematic Diagram
Hardware Schematic diagram Figure 3: Schematic diagram 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 9: Computer
1× WiFi-/Bluetooth Module (incl. 802.11ac) Internal Connectors: 6× SATA 6G 1× M.2 (PCIe 3.0 x4) 2× USB 3.0 (one header) 2× USB 2.0 (one header) 1× Fan (4-Pin PWM) http://www.gigabyte.de/Motherboard/GA-Z170N-WIFI-rev-10%23ov 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 10: Graphics Card
PCIe 3.0 Display Support: Maximum Digital Resolution 7680x4320 @ 60Hz 7680x4320 at 60Hz RGB 8-bit with dual DisplayPort connectors or 7680x4320 at 60 Hz YUV420 8- bit with DisplayPort 1.3 connector. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 11: Figure 5: Nvidia Geforce Gtx 1050Ti
DisplayPort 1.2 Certified, DisplayPort 1.3/1.4 Ready 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. http://www.nvidia.de/graphics-cards/geforce/pascal/gtx-1050/ 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 12: Arduino Micro
32 KB (ATmega32u4) (4 KB bootloader) SRAM: 2.5 KB (ATmega32u4) EEPROM: 1 KB (ATmega32u4) Clock Speed: 16 MHz Dimensions (LxW): 48 mm x 18 mm Weight: http://arduino.cc/en/uploads/Main/ArduinoMicroFront_450px.jpg http://arduino.cc/en/uploads/Main/ArduinoMicroFront_450px.jpg 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 13: Figure 7: Hc-Sr04 Ultrasonic Sensor Arduino Micro Pinout
Hardware Figure 7: HC-SR04 Ultrasonic Sensor Arduino Micro Pinout http://arduino.cc/en/uploads/Main/ArduinoMicro_Pinout3.png 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 14: Sensors
0.3cm Measuring Angle: 30° Effectual Angle: <15° Figure 8: HC-SR04 Ultrasonic Dimension (mm): 45 x 20 x 15 Sensor Figure 9: Measuring Angle HC-SR04 (1) HC-SR04 User's_Manual 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 15: 9-Axis Motiontracking Device
Figure 10: MPU-9250 9-axis 3-axis silicon monolithic Hall-effect magnetic sensor Gyro, Accelerometer and with magnetic concentrator Compass Digitally programmable low-pass Gyroscope filter Figure 11: Block Diagram MPU-9250 Invensense MPU-9250 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 16: Hoa0902-11 - Encoder
It fits exactly onto the rear wheels and has 30 slots that result in 60 edges (rising and falling). Figure 13: Encoder Wheel Figure 14: Output Timing Diagram HOA0902-11 (2) Figure 15: Functional Block Diagram HOA0902 (2) 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 17: Actuators
Internal Resistance: 0,005 Ohm / phase Figure 17: Robitronic Speedstar (brushless) Brushless Crawler Dimensions (mm): 40 x 41 x 28.7 Weight: Absima "ACS1615SG" Combat Series Robitronic Speedstar Brushless Crawler 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 18: Motor Hacker Skalar 10
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. Hacker SKALAR 10 21.5T Brushless Motor 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 19: Cameras
FPS: 15, 30, 60 RealSense™ R200 Depth Infrared Stream Resolution (H x V pixels): 640x480, Camera 492x372, 332x252 FOV (V x H x D): 46° x 59° x 70° 30, 60 https://click.intel.com/intel-realsense-developer-kit-r200.html 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 20: Front Camera Basler Daa1280-54Uc
Resolution (H x V pixels): max. 2592 x 1944, min. 160 x 144 FPS: max. 30, min. 7 80° fix focus Figure 23: RearView Camera Delock 96368 http://www.baslerweb.com/en/products/cameras/area-scan-cameras/dart/daa1280-54uc http://www.delock.de/produkte/G_96368/merkmale.html?setLanguage=en 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 21: Power Supply
R7B (male) GST160A24-R7B Dimensions (mm): 175x72x35 (3-pin IEC plug is included in scope of delivery) DC Output Plug: Figure 25 : Pin Assignment of external power supply unit https://www.conrad.de/de/tischnetzteil-festspannung-mean-well-gst160a24-r7b-24-vdc-667-a-160-w-1439251.html http://www.meanwell.com/scripts/resource/pdfJS/web/viewer.html?f=GST160A&pdf=GST160A-SPEC.PDF 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 22: Battery For Powertrain Units
Connection cable: silicon Figure 28: Yuki Model 6S Connection: Deans T-Plug (22.2 V) battery Balancer cable: PVC (JST XH) Dimensions (mm): 137 x 43 x 60 http://www.produktinfo.conrad.com/datenblaetter/1400000-1499999/001439251-da-01-en- MEAN_WELL_GST160A24_R7B_SNT_EXTERN_160W.pdf 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 23: Charger
Please refer to the manual of the charger for a detailed description of charging lithium batteries. http://shop.absima.com/LADETECHNIK/Ladegeraete/Ladegeraet-APC- 1.htm?shop=absima&SessionId=&a=article&ProdNr=4000013&t=25&c=218&p=218 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 24: Printed Circuit Boards (Pcbs)
On the two red pin sockets you are able to connect the ATX power supply on the left side which is plugged in at the mainboard and on the other side there is also a connector for the speed controller. The black 4-pin socket is for the external power supply. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 25: Sensor Pcb
There are also two Arduino micros on the PCB, which are connected on the USB Hub on the right side of the car. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 26: Led_Control
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. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 27: Starting The Car
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. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 28: Connecting The External Power Supply
That enables you to change the Sensors battery without shutting down the PC. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 29: Switching On
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 acceleration of the car. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 30: Connecting Other Devices
Arduino Reset button. After this reset, the speed controller will initialize. NOTE: When setting the Mode to Radio Controlled all the actuators commands from the Arduino and from ADTF are ignored. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 31: Deactivate Remote Radio Controller
Bind Button turn the Power Switch to ON. The red LED on the remote receiver on the car should stop blinking. 6. Now, remove set the Mode Switch back to Autonomous Mode and place the Bind Jumper back to the Bind Jumper Holder position again. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... - Page 32 If you found the correct position the speed controller does some more beeping. Maybe you have to try this multiple times, each time switch the motor on and try another position of the potentiometer. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description...
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Page 33: Calibration
Steering Calibration Filter and is described in the “AADC2017_Software_Description”. Adjustment with Potentiometers On the Actuator Board are two potentiometer mounted which can be used for fine adjustment of the steering servo and the speed controller. 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 34: Figure 37: Potentiometer 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 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 35: Troubleshooting
Troubleshooting 4 Troubleshooting If any errors during using the car occur, please refer to the support forum at https://www.audi-autonomous-driving-cup.com/ 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description... -
Page 36: Bibliography
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.netdna-cdn.com/wp-content/uploads/2015/02/MPU-6000- Datasheet1.pdf. Author: BFFT Gesellschaft für Fahrzeugtechnik mbH Dr.-Ludwig-Kraus-Straße 2 85080 Gaimersheim www.bfft.de 31.05.2017 v1.7 Audi Autonomous Driving Cup 2017 - Hardware Description...
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