The intelligent control algorithms we develop at SR base i.a. on artificial intelligence (AI) and machine learning (ML) approaches which need a large variety of sensors, computational power and direct access to the vehicle dynamics and powertrain actuators. For that reason, the AFM is extensively equipped with sensors, which holistically measure the vehicle states and perceive the surrounding environment, as well as with high performance CPU and GPU computers and a full by-wire control system:
Full Drive-By-Wire Kit (DBW) The drive-by-wire (DBW) kit enables real-time control of the steering, acceleration und braking thus allowing the vehicle to be driven automatically. The system is seamless integrated into the vehicle electronics and communication network, which allows to control all chassis series actuators.
High Performance Rapid Control Prototyping (RCP) System The RCP system is a powerful platform optimized for in-vehicle use. The system provides numerous interfaces for information transfer, e.g. several CAN and Ethernet connectors as well as a multi I/O board to generate and measure both analog and digital signals. All control algorithms that are used to control the DBW kit run on the system. Furthermore, the central data logging with Cloud connectivity takes place here.
Multi GPU accelerated AI Computing Plattform The seven surround cameras and the two lidar sensors are connected to the high performance AI-computer (GPU based) platform to be processed (3D Stereo, lane/sign/object recognition,..) and the data is recorded.
State of the Art Surround Camera System A total of seven high resolution cameras (GMSL – RCCB) are mounted on the roof rack which record the 360° environment completely synchronized in full resolution.
High Resolution Lidar Sensors Two 360° lidar sensors are mounted on the roof rack at the front of the vehicle for scanning surrounding objects and correlate the information to other sensors e.g. the cameras or radar.
Prototype Radar Sensor System (under development) Up to three radar sensors will be integrated in the front of the vehicle which communicate the radar signatures to AI platform where a seamless object detection and tracking is carried out.
Custom Prototype Semi-active Dampers Control System The controlled semi-active dampers regulate the forces, which control the chassis body as well as the wheel load fluctuations.
Contact Free Road Weather Sensor The high precision optical sensor continuously scans the road surface and records various parameters such as the surface temperature or the water film height.
High Precision IMU/GNSS System A high-precision 6D Inertial Measurement Unit (IMU) is installed close to the center of gravity to capture all components of vehicle motion. Two roof antennas enable the fusion of global navigation satellite system (GNSS) measurements.
Real-time Drive Torque and Steering Force Measurement via Strain-gauge Sensors A calibrated strain gauge measuring system is installed on the drive shafts and tie rods. Therefore, drive torques and tie rod forces can be measured during driving maneuvers.
Over Ground Optical Speed Sensor The optical sensor scans the road surface to measure the vehicle’s overground velocity. Both longitudinal and lateral velocity can be measured precisely. On the basis of these measurements the vehicle’s side-slip angle is determined.
Mobile Network Connection (4G) For online controller parameter variation and remote test-drive supervision the vehicle’s network can be accessed via an LTE connection. It also enables the real-time data upload and connection to cloud based applications.
Mobile Base Station for dGPS Signal Generation To increase the accuracy of the satellite measurements (GNSS), a mobile differential GPS (dGPS) base station provides correction data to the IMU/GNSS platform installed in the vehicle.
Intelligent Power Distribution System (PDS) The PDS manages the power supply of all additional electrical components in the vehicle. Due to a big number of installed sensors and actuators, their power supply is required to be intelligently controlled.
In addition to the information obtained from the externally installed sensors presented above, the data provided by the series vehicle sensors, e.g. wheel speeds or information provided by the vehicle IMU, is also accessible. The measured data can be processed and logged on the RCP System synchronously. This extensive prototype vehicle equipment makes the AFM a powerful data collector, algorithm experiment and validation platform for a large manifold of research questions.