Audi AADC2017 Guide

Audi Autonomous Driving Cup 2017
Hardware Description
Current version:
1.7
Created:
March 1, 2017
Last changed:
May 31, 2017

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Change Documentation
Title: Manual AADC2017
Version: 1.7
State: release
Theme
Author
Release
Date
Version
File created
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

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II
Contents
CONTENTS.............................................................................................................II
LIST OF FIGURES..................................................................................................IV
ABBREVIATIONS ....................................................................................................V
1HARDWARE...................................................................................................... 6
1.1 Schematic diagram ....................................................................................................7
1.2 Computer...................................................................................................................8
1.2.1 Graphics Card ................................................................................................................9
1.3 Arduino Micro...........................................................................................................11
1.4 Sensors ...................................................................................................................13
1.4.1 HC-SR04 Ultrasonic Sensor..........................................................................................13
1.4.2 9-axis MotionTracking Device .......................................................................................14
1.4.3 HOA0902-11 –Encoder................................................................................................15
1.5 Actuators .................................................................................................................16
1.5.1 Absima "ACS1615SG" Steering Servo...........................................................................16
1.5.2 Robitronic Speedstar Brushless Speed Controller .........................................................16
1.5.3 Motor 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)..................................................................................23
1.8.1 PCB_Center .................................................................................................................23
1.8.2 Sensor PCB .................................................................................................................24
1.8.2.1 SENSOR PCB FRONT...........................................................................................24
1.8.2.2 SENSOR PCB REAR .............................................................................................24
1.8.3 LED_Control.................................................................................................................25
2STARTING THE CAR....................................................................................... 26
2.1 Connecting the batteries ..........................................................................................26
2.2 Connecting the external power supply......................................................................27

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2.3 Switching on ............................................................................................................28
2.4 Connecting other devices.........................................................................................29
2.5 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
3CALIBRATION................................................................................................. 32
3.1 Speed Controller Setup............................................................................................32
3.2 Steering Calibration .................................................................................................32
3.3 Adjustment with Potentiometers ...............................................................................32
4TROUBLESHOOTING...................................................................................... 34
5BIBLIOGRAPHY .............................................................................................. 35

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IV
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..................................................12
Figure 8: HC-SR04 Ultrasonic Sensor...................................................................................13
Figure 9: Measuring Angle HC-SR04 (1) ...............................................................................13
Figure 10: MPU-9250 9-axis Gyro, Accelerometer and Compass ..........................................14
Figure 11: Block Diagram MPU-9250 ....................................................................................14
Figure 12: HOA0902-11 Transmissive Encoder Sensor (2)....................................................15
Figure 13: Encoder Wheel ....................................................................................................15
Figure 14: Output Timing Diagram HOA0902-11 (2)..............................................................15
Figure 15: Functional Block Diagram HOA0902 (2) ...............................................................15
Figure 16: Absima "ACS1615SG" Combat Series..................................................................16
Figure 17: Robitronic Speedstar Brushless Crawler ..............................................................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 Specification of external power supply unit ........................................21
Figure 27: Yuki Model 2S (7.4V) battery ...............................................................................21
Figure 28: Yuki Model 6S (22.2 V) battery.............................................................................21
Figure 29: Absima APC-1 .....................................................................................................22
Figure 30: Batteries (2S & 6S) connected to the charger.......................................................22
Figure 31: Top view batteries................................................................................................26
Figure 32: Connecting the batteries ......................................................................................27
Figure 33: Connector for external power supply ....................................................................28
Figure 34: Switches on the car..............................................................................................28
Figure 35: Switch for RC/autonomous mode .........................................................................29
Figure 36: Radio Controller Buttons ......................................................................................30
Figure 37: Potentiometer in Zero Position .............................................................................33
Figure 38: Modifications with speed controller potentiometer ................................................33

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Abbreviations
AADC Audi Autonomous Driving Cup
LiPo Lithium-Polymer-Accumulator
IMU Inertial Measurement Unit

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1Hardware
Figure 1: The AADC2017 car with AUDI Q2 cover
Figure 2: The AADC2017 car

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1.1 Schematic diagram
Figure 3: Schematic diagram

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1.2 Computer
Built on a GIGABYTE GA-Z170N-WIFI miniITX mainboard, we can offer a wide range of PC
configurations.
Figure 4: Mainboard GIGABYTE GA-Z170N-WIFI
1
Format: Mini-ITX
Chipset: Intel® Z170
Socket: 1151 for 6th generation Intel® CPUs ("Skylake")
RAM: 2× DDR4 in Dual-Channel
Slots (physical):
o1× PCIe 3.0 x16
o1× WiFi-/Bluetooth Module (incl. 802.11ac)
Internal Connectors:
o6× SATA 6G
o1× M.2 (PCIe 3.0 x4)
o2× USB 3.0 (one header)
o2× USB 2.0 (one header)
o1× Fan (4-Pin PWM)
1
http://www.gigabyte.de/Motherboard/GA-Z170N-WIFI-rev-10%23ov

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oPower/Reset/LED/Front-Audio
External Connectors:
o1× PS/2 Keyboard/Mouse
o4× USB 3.0
o2 x Intel® GbE LAN chips (10/100/1000 Mbit)
oWi-Fi 802.11 a/b/g/n/ac, supporting 2.4/5 GHz Dual-Band
o2× WiFi Antenna (in bundle)
o2× HDMI 1.4b
o1× DVI
o1× S/PDIF (optical)
o5× Audio (7.1 Realtek ALC1150)
For this year’s competition, the mainboard is equipped with an Intel® Core i3-6100T CPU (3.2 GHz), a
single 8 GB DDR4 PC-2133 RAM and a 128GB M.2 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:
oBase Clock (MHz) 1290
oBoost Clock (MHz) 1392
oNVIDIA CUDA®Cores 768
Memory Specs:
oMemory Speed 7 Gbps
oStandard Memory Config 4 GB GDDR5
oMemory Interface Width 128-Bit
oMemory Bandwidth 112 GB/sec
Technology Support:
oNVIDIA GPU Boost™3.0
oMicrosoft DirectX 12 API with feature level 12_1
oOpenGL 4.5
oBus Support PCIe 3.0
Display Support:
oMaximum Digital Resolution
2
7680x4320 @ 60Hz
2
7680x4320 at 60Hz RGB 8-bit with dual DisplayPort connectors or 7680x4320 at 60 Hz YUV420 8-
bit with DisplayPort 1.3 connector.

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oStandard Display Connectors DP 1.4
3
, HDMI 2.0b, DL-DVI
oMulti Monitor yes
oHDCP 2.2
Dimensions:
oHeight 4.38
oLength 5.7
oWidth 2 Slot
Thermal Power Specs:
oMaximum GPU Temperature 97 °C
oGraphics Card Power 75 W
oRecommended System Power
4
300W
Figure 5
5
: 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/geforce/pascal/gtx-1050/

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1.3 Arduino Micro
“The Arduino Micro is a microcontroller board based on the ATmega32u4 (datasheet), developed in
conjunction with Adafruit. It has 20 digital input/output pins (of which 7 can be used as PWM outputs
and 12 as analog inputs), a 16 MHz crystal oscillator, a micro USB connection, an ICSP header, and a
reset button. It contains everything that is needed to support the microcontroller - getting started simply
by connecting it to a computer via a micro USB cable. It has a form factor that enables it to be easily
placed 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 Micro
7
Microcontroller: ATmega32u4
Operating Voltage: 5V
Input Voltage (recommended): 7-12V (limits 6 - 20 V)
Digital I/O Pins: 20
PWM Channels: 7
Analog Input Channels: 12
DC Current per I/O Pin: 40 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 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: 13g
6
http://arduino.cc/en/uploads/Main/ArduinoMicroFront_450px.jpg
7
http://arduino.cc/en/uploads/Main/ArduinoMicroFront_450px.jpg

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Figure 7: HC-SR04 Ultrasonic Sensor Arduino Micro Pinout
8
8
http://arduino.cc/en/uploads/Main/ArduinoMicro_Pinout3.png

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1.4 Sensors
1.4.1 HC-SR04 Ultrasonic Sensor
Figure 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

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1.4.2 9-axis MotionTracking Device
Figure 10: MPU-9250 9-axis
Gyro, Accelerometer and
Compass10
MPU-9250 MotionTracking Device
Digital-output X-, Y-, and Z-axis angular 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 Diagram MPU-9250
10
Invensense MPU-9250

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1.4.3 HOA0902-11 –Encoder
Figure 12: HOA0902-11
Transmissive Encoder Sensor
(2)
Figure 13: Encoder Wheel
Honeywell HOA0902-11 –Transmissive Encoder
Sensor
Operating voltage: 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)
Figure 15: Functional Block Diagram HOA0902 (2)

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1.5 Actuators
1.5.1 Absima "ACS1615SG" Steering Servo
Figure 16: Absima "ACS1615SG"
Combat Series11
Absima "ACS1615SG" Combat Series
Operating voltage: 4 .8V to 6.0V
Pulling Force: 13kg to 15kg
Regulating 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
Absima "ACS1615SG" Combat Series
12
Robitronic Speedstar Brushless Crawler

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1.5.3 Motor Hacker Skalar 10
Figure 18:Hacker SKALAR 10
21.5 Brushless Motor13
Hacker SKALAR 10 21.5 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

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Figure 19: Absima CR2S V.2 Radio
Transmitter
Figure 20: Absima CR2S V.2 Radio
Receiver
Absima CR2S V.2 Radio Transmitter
Channels: 2
RF power: less than 20 dbm
Modulation: GFSK
Code type: digital
Sensitivity: 1024
Low voltage warning: yes (less than 4,5 V)
Power: 6 V (1.5V AA *4)
ANT length: 26 mm
Dimensions (mm): 220 x 150 x 100
Weight: 328 g
Absima 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
oResolution (H x V pixels): 1920x1080,
640x480
oFOV (V x H x D): 43° x 70° x 77°
oFPS: 15, 30, 60
Infrared Stream
oResolution (H x V pixels): 640x480,
492x372, 332x252
oFOV (V x H x D): 46° x 59° x 70°
o30, 60
14
https://click.intel.com/intel-realsense-developer-kit-r200.html

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Depth Stream
oResolution (H x V pixels): 628x468,
480x360, 320x240
oFPS: 30, 60
Infrared Projector
oFOV (V x H x D): 60° x 60° x 80°
1.6.2 Front Camera Basler daA1280-54uc
Especially for road sign and lane detection, the car is equipped with an additional front camera.
Figure 22: Front Camera
Basler daA1280-54uc 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: max. 30, min. 7
80° fix focus
15
http://www.baslerweb.com/en/products/cameras/area-scan-cameras/dart/daa1280-54uc
16
http://www.delock.de/produkte/G_96368/merkmale.html?setLanguage=en