controller
In the early algorithm pre research stage, it is recommended to use industrial PC (IPC) as the most direct controller solution. Because the industrial computer is more stable and reliable than the embedded equipment, and the community support and supporting software are also richer. Baidu's open source Apollo recommends an industrial computer containing GPU, the model is nuvo-5095gc, as shown in the figure below.
When the algorithm research is more mature, the embedded system can be used as the controller, such as zfas jointly developed by Audi and tttech. At present, it has been applied to the latest Audi A8 mass production vehicle.
2.Can card
The interaction between industrial computer and automobile chassis must be through a special language - can. To obtain the current vehicle speed and steering wheel angle and other information from the chassis, it is necessary to analyze the data sent by the chassis to the CAN bus; After the industrial computer calculates the steering wheel angle and expected vehicle speed through the information of the sensor, it should also transcode the message into a signal that can be recognized by the chassis through the can card, and then the chassis responds. The can card can be directly installed in the industrial computer, and then connected with the CAN bus through the external interface. The can card used by Apollo is ESD can-pcie / 402, as shown in the figure below.
3.Global positioning system (GPS) + inertial measurement unit (IMU)
When driving from point a to point B, humans need to know the map from point a to point B and their current position, so as to know whether to turn right or go straight to the next intersection. The same is true for the driverless system. Depending on the GPS+IMU, you can know where you are going (in the latitude and longitude), and which direction you are heading (course). Of course, IMU can provide more abundant information such as yaw rate and angular acceleration. This information helps to locate and make decision control of the autopilot car. Apollo's GPS model is novatel gps-703-ggg-hv and IMU model is novatel span-igm-a1.
4.Sensing sensor
There are many kinds of sensing sensors, including vision sensor, laser sensor, radar sensor and so on.
Vision sensor is the camera, which is divided into monocular vision and binocular (stereo) vision. Well known visual sensor providers include Mobileye in Israel, pointgrey in Canada and pike in Germany. The laser sensor is divided into single line, multi line and 64 line. For each multi line, the cost increases by 10000 RMB. Of course, the corresponding detection effect is also better.
Well known laser sensor suppliers include velodyne and quanergy in the United States, ibeo in Germany, etc. There are Sagitar juchuang and Hesai technology in China. Radar sensor is the strength of Tier1, because radar sensor has been widely used in cars. Of course, the well-known suppliers are Bosch, Delphi, electric equipment, etc.