diff --git a/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md b/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md index 84f5bd17906..20ba018c816 100644 --- a/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md +++ b/docs/reference-design/DanLawAV/ReferenceDesignforDanLawAV.md @@ -1,83 +1,92 @@ +# Overview -# Overview: +This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. -This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. - -# Design Overview: +# Design Overview ![Meta Chart for DanLaw's AV Design](DanLawAV_Meta.png) ![Tech Chart for DanLaw's AV Design](DanLawAV_Tech.png) +# Who should read + +One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. -# Who should read: -One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. +# References and Resources -# References and Resources: - Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html) - Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html) - # Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors) + ## Core Developers + - Firstname Lastname + ## Contributors + - Firstname Lastname # Community Outreach + - Firstname Lastname # Targeted Use Cases -| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | +| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | # ODD -| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | +| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | -# Automation Level: -| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: | -|F1Tenth | | | | | | | +# Automation Level +| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | +| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | | # System Architecture -F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. +F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. ![[f1tenth_NX.webp]] # Hardware Configuration -## Chassis: -- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530) + +## Chassis + +- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530) - VESC Speed Controllers: # VESC 6 MK III -## Sensors: +## Sensors + - Lidar: choose one - - Hokuyo UTM-30LX - - Hokuyo 10LX + - Hokuyo UTM-30LX + - Hokuyo 10LX - Camera (optional): - - ZED 2 - - Intel Real Sense + - ZED 2 + - Intel Real Sense + +## Computing Platforms -## Computing Platforms: - NVIDIA Jetson Xavier NX - USB Hub (4 ports) - (DEPRECATED) NVIDIA Jetson TX2 ![[together_NX_00.jpeg]] -# Software Configuration +# Software Configuration + - Software on the car: - - Operating System: Linux 20.04 - - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) - - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1) - - [Autoware](https://github.com/autowarefoundation/autoware.git) - - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox -- Tools: - - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html) - - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool) - - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool) + - Operating System: Linux 20.04 + - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) + - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1) + - [Autoware](https://github.com/autowarefoundation/autoware.git) + - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox +- Tools: + - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html) + - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool) + - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool) diff --git a/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md b/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md index 36724865a6f..2dfa713628a 100644 --- a/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md +++ b/docs/reference-design/F1Tenth/ReferenceDesignforF1TenthwithAutoware.md @@ -1,27 +1,30 @@ +# Overview -# Overview: +This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. -This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. - -# Design Overview: +# Design Overview ![Meta Chart for F1Tenth Design](F1Tenth_Meta.png) ![Tech Chart for F1Tenth Design](F1Tenth_Tech.png) +# Who should read + +One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. -# Who should read: -One is interested in building your autonomous racing cars or low-cost platforms to learn Autoware, and looks for the place to start with. +# References and Resources -# References and Resources: - Complete F1Tenth documents: [link](https://f1tenth.readthedocs.io/en/foxy_test/getting_started/intro.html) - Step-By-Step Instructions to deploy Autoware on F1Tenth: [link](https://f1tenth.readthedocs.io/en/foxy_test/autoware/intro.html) - # Contributors: [complete list](https://f1tenth.readthedocs.io/en/foxy_test/support/acknowledgment.html#contributors) + ## F1TENTH Core Developers + - Hongrui (Billy) Zheng - Johannes Betz + ## Contributors + - Matthew O’Kelly - Kim Luong - Haoru Xue @@ -31,62 +34,68 @@ One is interested in building your autonomous racing cars or low-cost platforms - Jim Benson # Community Outreach + - Rahul Mangharam - F1TENTH Clemson and Venkat Krovi - Jaroslav Klapálek # Targeted Use Cases -| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | +| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | # ODD -| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | +| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | -# Automation Level: -| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: | -|F1Tenth | | | | | | | +# Automation Level +| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | +| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | | # System Architecture -F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. +F1Tenth can be used for racing and education purpose. The simplest use case is to avoid colliding into the obstacle on a racing track. Meanwhile, one can also develop the SLAM algorithm to build the map on the fly and finishes the loop in short time. ![[f1tenth_NX.webp]] # Hardware Configuration -## Chassis: -- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530) + +## Chassis + +- Traxxas Slash 4x4 Premium: [link to purchase](https://www.amainhobbies.com/traxxas-slash-4x4-ultimate-rtr-4wd-short-course-truck-orange-tra68077-4-orng/p858530) - VESC Speed Controllers: # VESC 6 MK III -## Sensors: +## Sensors + - Lidar: choose one - - Hokuyo UTM-30LX - - Hokuyo 10LX + - Hokuyo UTM-30LX + - Hokuyo 10LX - Camera (optional): - - ZED 2 - - Intel Real Sense + - ZED 2 + - Intel Real Sense + +## Computing Platforms -## Computing Platforms: - NVIDIA Jetson Xavier NX - USB Hub (4 ports) - (DEPRECATED) NVIDIA Jetson TX2 ![[together_NX_00.jpeg]] -# Software Configuration +# Software Configuration + - Software on the car: - - Operating System: Linux 20.04 - - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) - - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1) - - [Autoware](https://github.com/autowarefoundation/autoware.git) - - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox -- Tools: - - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html) - - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool) - - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool) + - Operating System: Linux 20.04 + - ROS: [ROS2 galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) + - GPU Driver: nVidia: JetPack 5.1.1 (rev. 1) + - [Autoware](https://github.com/autowarefoundation/autoware.git) + - SLAM Toolbox to create and edit map: ros-galactic-slam-toolbox +- Tools: + - Simulator: [f1tenth simulator](https://f1tenth.readthedocs.io/en/foxy_test/going_forward/simulator/index.html) + - VESC Tool for motor control: [link](https://vesc-project.com/vesc_tool) + - Version Control tool: [vcstool](https://github.com/dirk-thomas/vcstool) diff --git a/docs/reference-design/GoKart/ReferenceDesignforGo-KartwithAutoware.md b/docs/reference-design/GoKart/ReferenceDesignforGo-KartwithAutoware.md index db1e3fd1517..09084deb1fa 100644 --- a/docs/reference-design/GoKart/ReferenceDesignforGo-KartwithAutoware.md +++ b/docs/reference-design/GoKart/ReferenceDesignforGo-KartwithAutoware.md @@ -1,75 +1,84 @@ +# Overview -# Overview: +This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. -This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. - -# Design Overview: +# Design Overview ![Meta-Info Radar Chart for Go-Kart Design](MetaRadarChart-GoKart.png) -## Note +## Note + - Maturity: Currently the go-kart has only been tested by us in closed regions. HUMDA is replicating our vehicle and will be testing in closed regions once they finish building (maturity will become 1). - Hardware Requirement: The current design uses a laptop for computing though we are considering the options of switching to a Jetson Orin Nano or an OpenAD Kit enabled platform. - Software Requirement: No containerization is required. ![Tech Feature Radar Chart for Go-Kart Design](TechRadarChart-GoKart.png) -## Note: + +## Note + - Distance between Disengagement: We have not specifically tested the distance between disengagement. In a closed track it may go indefinitely until the battery runs out. - Power Consumption: Typical power consumption in our test is less than 1000W though the vehicle can technically go much faster and draw more power. The best we have achieved was having no disengagement for 5 laps at the Purdue Grand Prix Track ( > 2km total distance) at the competition. We stopped the vehicle because it reached the lap limit though it could go farther if not stopped." -# Who should read: -One is interested in building your small size autonomous vehicles and looks for the place to start with. +# Who should read + +One is interested in building your small size autonomous vehicles and looks for the place to start with. + +# References and Resources -# References and Resources: - Complete Go-Kart with Autoware documents: [link](https://go-kart-upenn.readthedocs.io/en/latest/) - ROS2 Foxy setup and autonomous code: [link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_foxy_purepursuit) - + - ROS2 Humble setup and autonomous code: [Link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_humble_purepursuit) - + - STM32 nucleo controller code: [link](https://github.com/mlab-upenn/gokart-mechatronics/tree/main/STM32%20Control) -# Contributors: --  Autoware Center of Excellence (under Prof. Rahul Mangharam) +# Contributors + +- Autoware Center of Excellence (under Prof. Rahul Mangharam) # Targeted Use Cases -| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | +| :--------: | :-------------------------------: | :-------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | # ODD -| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|F1Tenth | | | | | | +| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | +| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | -# Automation Level: -| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: | -|F1Tenth | | | | | | | +# Automation Level +| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | +| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | +| F1Tenth | | | | | | | # System Architecture -Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware. +Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware. ![System-Architecture](avev_gokart.png) # Hardware Configuration -## Chassis: -- TopKart: [link to purchase]() -## Sensors: +## Chassis + +- TopKart: [link to purchase]() + +## Sensors + - Lidar: Ouster LIDAR OS1 and Velodyne M1600 - Camera: OAK-D camera - GNSS: RTK-GNSS -## Computing Platforms: +## Computing Platforms + - X86 laptop with nVidia GPU ![GoKart-ComputeSensing.png](GoKart-ComputeSensing.png) -# Software Configuration +# Software Configuration The Go-Kart project has significant planning and other high level navigation components which require understanding of the compute system and how it’s setup. The required software includes the following: diff --git a/docs/reference-design/ITRIBus/ReferenceDesignforITRIBus.md b/docs/reference-design/ITRIBus/ReferenceDesignforITRIBus.md index 96ebc863818..e8187b6cdb4 100644 --- a/docs/reference-design/ITRIBus/ReferenceDesignforITRIBus.md +++ b/docs/reference-design/ITRIBus/ReferenceDesignforITRIBus.md @@ -1,53 +1,56 @@ +# Overview -# Overview: +This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. -This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. - -# Design Overview: +# Design Overview ![Meta Chart for ITRI Bus Design](ITRIBus_Meta.png) ![Tech Chart for ITRI Bus Design](ITRIBus_Tech.png) +# Who should read -# Who should read: -One is interested in building your autonomous bus, and looks for the place to start with. +One is interested in building your autonomous bus, and looks for the place to start with. -# References and Resources: -- (To-be-added) +# References and Resources +- (To-be-added) # Contributors: [complete list]() -- (To-be-added) +- (To-be-added) # Targeted Use Cases -| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|ITRI Bus | | | | | | +| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | +| :--------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| ITRI Bus | | | | | | # ODD -| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -|ITRI Bus | | | | | | +| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | +| :------: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| ITRI Bus | | | | | | -# Automation Level: -| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: | -|ITRI Bus | | | | | | | +# Automation Level +| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | +| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: | +| ITRI Bus | | | | | | | # System Architecture (To-be-Added) # Hardware Configuration -## Chassis: + +## Chassis + - (To-be-added) -## Sensors: + +## Sensors + - (To-be-added) -## Computing Platforms: +## Computing Platforms -# Software Configuration: \ No newline at end of file +# Software Configuration diff --git a/docs/reference-design/LeoTaxi/ReferenceDesignforLeoTaxi.md b/docs/reference-design/LeoTaxi/ReferenceDesignforLeoTaxi.md index 32bfc2bda84..2908def2649 100644 --- a/docs/reference-design/LeoTaxi/ReferenceDesignforLeoTaxi.md +++ b/docs/reference-design/LeoTaxi/ReferenceDesignforLeoTaxi.md @@ -1,48 +1,52 @@ +# Overview -# Overview: +This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. -This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available. - -# Design Overview: +# Design Overview ![Meta Chart for LeoDrive RoboTaxi Design](LeoTaxi_Meta.png) ![Tech Chart for LeoDrive RoboTaxi Design](LeoTaxi_Tech.png) +# Who should read + +One is interested in building autonomous cars for taxi service and looking for a place to start with. -# Who should read: -One is interested in building autonomous cars for taxi service and looking for a place to start with. +# References and Resources -# References and Resources: - Complete LeoDrive RoboTaxi design documents: [link](https://leodrive.atlassian.net/wiki/spaces/MD/pages/97583105/Overview+of+Reference+Design) - Feature list of LeoDrive RoboTaxi: [link](https://leodrive.atlassian.net/wiki/spaces/MD/pages/104071185/Autonomous+Driving+Feature+List) # Contributors: [complete list]() + ## Core Developers + - Mert Çolak ## Contributors + - (To be added.) # Community Outreach + - (To be added.) # Targeted Use Cases -| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -| LeoDrive RoboTaxi | | | | | | +| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production | +| :---------------: | :-------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | :-------------------------------: | +| LeoDrive RoboTaxi | | | | | | # ODD -| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | -| LeoDrive RoboTaxi | | | | | | +| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot | +| :---------------: | :---------------------------------: | :--------------------------------: | :-------------------------------: | :---------------------------------: | :---------------------------------: | +| LeoDrive RoboTaxi | | | | | | -# Automation Level: -| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | -|:--------: | :--------:| :---------: | :---------: |:---------: | :---------: | :---------: | -| LeoDrive RoboTaxi | | | | | | | +# Automation Level +| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 | +| :---------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :--------------------------------: | :--------------------------------: | :---------------------------------: | +| LeoDrive RoboTaxi | | | | | | | # System Architecture @@ -51,27 +55,32 @@ The Robo-Taxi Reference Design is designed to offer efficient, safe, and conveni ![LeoTaxi.png](LeoTaxi.png) # Hardware Configuration -## Chassis: + +## Chassis + - (To-be-added) - + ![LeoTaxi_SysArchitecture.png](LeoTaxi_SysArchitecture.png) -## Sensors: +## Sensors + (To-be-Updated) + - Lidar: -- Camera: -- GPS-RTK: +- Camera: +- GPS-RTK: - IMU: - + ![[LeoTaxi_Sensors.png]] -## Computing Platforms: -(To-be-Updated) +## Computing Platforms +(To-be-Updated) ![LeoTaxi_SysArchitecture.png](LeoTaxi_SysArchitecture.png) -# Software Configuration +# Software Configuration + - Software on the car: - Tools: -![LeoTaxi_Software.png](LeoTaxi_Software.png) + ![LeoTaxi_Software.png](LeoTaxi_Software.png) diff --git a/docs/reference-design/index.md b/docs/reference-design/index.md index 2eda94d43ab..516bbcda259 100644 --- a/docs/reference-design/index.md +++ b/docs/reference-design/index.md @@ -5,15 +5,17 @@ Autoware has been developed and deployed in several autonomous vehicle projects. Two spider/radar charts are provided for each project to provide high-level overview of the design and technologies used in each project. The metrics for the chart are defined on [this page](metrics.md). ## Bus + - [ITRI Bus](ITRIBus/ReferenceDesignforITRIBus.md) ## Prototypes + - [DanLaw AV](DanLawAV/ReferenceDesignforDanLawAV.md) - [LeoDrive RoboTaxi](LeoTaxi/ReferenceDesignforLeoTaxi.md) ## Racing Vehicle + - [Go-Kart](GoKart/ReferenceDesignforGo-KartwithAutoware.md) - [F1Tenth](F1Tenth/ReferenceDesignforF1TenthwithAutoware.md) ## Turing Taiwan Low Speed Utility vehicles - diff --git a/docs/reference-design/metrics.md b/docs/reference-design/metrics.md index 3dec4d04f44..b089c7d708c 100644 --- a/docs/reference-design/metrics.md +++ b/docs/reference-design/metrics.md @@ -1,171 +1,181 @@ -# Metrics for Meta-info and Tech-info Charts. +# Metrics for Meta-info and Tech-info Charts Meta-Info and Tech-Info charts are provided for each project to provide a high-level overview of the design and technologies used in each project. The metrics for the chart are defined on this page. ## Meta-Info Charts -- ### **Openness**: + +- ### **Openness** + the adaptation of using open-source software. - -| Value | Definition | -|:---:|---| -| 0 | Complete proprietary software | -| 1 | Mostly proprietary software ( >80%) and few open source software ( <20%) | -| 2 | Majority are proprietary software ( >60%) and the others are open source ( <40%) | -| 3 | Less than half are proprietary software ( >40%) and the majority are open source ( <60%) | -| 4 | Few proprietary software ( <20%) and mostly open source software (<80%) | -| 5 | Complete (100%) open source software. | - -- ### **Vehicle Size**: + +| Value | Definition | +| :---: | ---------------------------------------------------------------------------------------- | +| 0 | Complete proprietary software | +| 1 | Mostly proprietary software ( >80%) and few open source software ( <20%) | +| 2 | Majority are proprietary software ( >60%) and the others are open source ( <40%) | +| 3 | Less than half are proprietary software ( >40%) and the majority are open source ( <60%) | +| 4 | Few proprietary software ( <20%) and mostly open source software (<80%) | +| 5 | Complete (100%) open source software. | + +- ### **Vehicle Size** + the length of the size. - -| Value | Definition | -|:---:|---| -| 0 | Shorter than 1m | -| 1 | Between 1m and 3m | -| 2 | Between 3m and 5m | -| 3 | Between 5m and 7m | -| 4 | Between 7m and 9m | -| 5 | Longer than 9m | + +| Value | Definition | +| :---: | ----------------- | +| 0 | Shorter than 1m | +| 1 | Between 1m and 3m | +| 2 | Between 3m and 5m | +| 3 | Between 5m and 7m | +| 4 | Between 7m and 9m | +| 5 | Longer than 9m | - **Hardware Requirement**: the complexity of required computation hardware. - -| Value | Definition | -|:---:|---| -| 0 | Single Core CPU Only | -| 1 | Multi-core CPU | -| 2 | Multi-core CPU and Customized ECU | -| 3 | Multi-core CPU and Single GPU | -| 4 | Multi-core CPU and Multi GPU | -| 5 | Multi-core CPU, Multi GPU, and Customized (Safety) Processors. | - -- **Software Requirement**: the complexity of required software. - -| Value | Definition | -|:---:|---| -| 0 | Embedded OS / Proprietary OS | -| 1 | Linux (including ROS 1, Autoware.ai) | -| 2 | Linux + ROS 2 (including Autoware.auto) | -| 3 | Linux + ROS 2 + Autoware.core/universe | -| 4 | Linux + ROS 2 + Autoware.core/universe + Containerization | -| 5 | Linux + ROS 2 + Autoware.core/universe + Containerization + SOAFEE | - -- ### **Automation Level**: + +| Value | Definition | +| :---: | -------------------------------------------------------------- | +| 0 | Single Core CPU Only | +| 1 | Multi-core CPU | +| 2 | Multi-core CPU and Customized ECU | +| 3 | Multi-core CPU and Single GPU | +| 4 | Multi-core CPU and Multi GPU | +| 5 | Multi-core CPU, Multi GPU, and Customized (Safety) Processors. | + +- **Software Requirement**: the complexity of required software. + +| Value | Definition | +| :---: | ------------------------------------------------------------------ | +| 0 | Embedded OS / Proprietary OS | +| 1 | Linux (including ROS 1, Autoware.ai) | +| 2 | Linux + ROS 2 (including Autoware.auto) | +| 3 | Linux + ROS 2 + Autoware.core/universe | +| 4 | Linux + ROS 2 + Autoware.core/universe + Containerization | +| 5 | Linux + ROS 2 + Autoware.core/universe + Containerization + SOAFEE | + +- ### **Automation Level** + compatibility to the level of automation. - -| Value | Definition | -|:---:|---| -| 0 | Level 0 | -| 1 | Level 1 | -| 2 | Level 2 | -| 3 | Level 3 | -| 4 | Level 4 | -| 5 | Level 5 | - -- **Sensors**: configuration of required sensors (unordered). - -| Value | Definition | -|:---:|---| -| 0 | RGB Camera | -| 1 | RGB Camera + GPS SNSS | -| 2 | RGB Camera + GPS SNSS + IMU | -| 3 | RGB Camera + GPS SNSS + IMU + 2D Lidar | -| 4 | RGB Camera + GPS SNSS + IMU + 3D Lidar | -| 5 | RGB Camera + GPS SNSS + IMU + Radar + 3D Lidar | - -- ### **Maturity of the systems**: - the maturity of the complete system - -| Value | Definition | -|:---:|---| -| 0 | Tested in closed/pre-defined region without other mobile objects | -| 1 | Tested by third parties in closed/pre-defined region without other mobile objects | -| 2 | Tested in closed/pre-defined region along with other mobile objects | -| 3 | Tested by third parties in closed/pre-defined region along with other mobile objects | -| 4 | Tested in open regions, including other vehicles | -| 5 | Tested by third parties in open regions, including other vehicles | - -- ### **Availability**: - the availability to be acquired. - -| Value | Definition | -|:---:|---| -| 0 | No, only one set. | -| 1 | Multiple customized vehicles. | -| 2 | Off-the-shelf parts but build-by-yourself. | -| 3 | Retrofit existing vehicles using off-the-self parts | -| 4 | Available for purchase but limited supply. | -| 5 | Available for purchase but limited supply. | -## Tech-Info Charts +| Value | Definition | +| :---: | ---------- | +| 0 | Level 0 | +| 1 | Level 1 | +| 2 | Level 2 | +| 3 | Level 3 | +| 4 | Level 4 | +| 5 | Level 5 | + +- **Sensors**: configuration of required sensors (unordered). + +| Value | Definition | +| :---: | ---------------------------------------------- | +| 0 | RGB Camera | +| 1 | RGB Camera + GPS SNSS | +| 2 | RGB Camera + GPS SNSS + IMU | +| 3 | RGB Camera + GPS SNSS + IMU + 2D Lidar | +| 4 | RGB Camera + GPS SNSS + IMU + 3D Lidar | +| 5 | RGB Camera + GPS SNSS + IMU + Radar + 3D Lidar | + +- ### **Maturity of the systems** + + the maturity of the complete system + +| Value | Definition | +| :---: | ------------------------------------------------------------------------------------ | +| 0 | Tested in closed/pre-defined region without other mobile objects | +| 1 | Tested by third parties in closed/pre-defined region without other mobile objects | +| 2 | Tested in closed/pre-defined region along with other mobile objects | +| 3 | Tested by third parties in closed/pre-defined region along with other mobile objects | +| 4 | Tested in open regions, including other vehicles | +| 5 | Tested by third parties in open regions, including other vehicles | + +- ### **Availability** + + the availability to be acquired. + +| Value | Definition | +| :---: | --------------------------------------------------- | +| 0 | No, only one set. | +| 1 | Multiple customized vehicles. | +| 2 | Off-the-shelf parts but build-by-yourself. | +| 3 | Retrofit existing vehicles using off-the-self parts | +| 4 | Available for purchase but limited supply. | +| 5 | Available for purchase but limited supply. | -- ### **Payload**: -Design Payload. - -| Value | Definition | -|:---:|---| -| 0 | < 100 KG | -| 1 | Between 100 kg and 500 Kg | -| 2 | | -| 3 | | -| 4 | | -| 5 | | - -- **Cost**: Building cost excluding vehicle itself. - -| Value | Definition | -|:---:|---| -| 0 | < 1K USD | -| 1 | Between 1K and 5K USD | -| 2 | Between 5K and 100K USD | -| 3 | Between 100K and 1M USD | -| 4 | Between 1M and 10M USD | -| 5 | > 10M USD | - -- ### **Communicaiton**: -Communication Capability. - -| Value | Definition | -|:---:|---| -| 0 | CAN | -| 1 | CAN + On-Vehicle Ethernet | -| 2 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving | -| 3 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving + V2I | -| 4 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving + V2I + V2V | -| 5 | (Undefined) | - -- ### **Vehicle Speed**: -Tested Vehicle Speed. - -| Value | Definition | -|:---:|---| -| 0 | < 5 KMH | -| 1 | Between 5 and 30 KMH | -| 2 | Between 30 and 60 KMH | -| 3 | Between 50 and 100 KMH | -| 4 | Between 100 and 300 KMH | -| 5 | > 300KMH | - -- ### **Distance between Disengagement**: -The average distance between disengagement. - -| Value | Definition | -|:---:|---| -| 0 | < 100m | -| 1 | Between 100m and 1KM | -| 2 | Between 1KM and 10KM | -| 3 | Between 10KM and 100KM | -| 4 | Between 100KM and 1000KM | -| 5 | > 1000KM | - -- ### **Power Consumption**: -Required power consumption for ECU, Sensors, and Actuators. - -| Value | Definition | -|:---:|---| -| 0 | < 100W | -| 1 | Between 100W and 500W | -| 2 | Between 500W and 1000W | -| 3 | Between 1000W and 3000W | -| 4 | Between 3000W and 6000W | -| 5 | > 6000W | +## Tech-Info Charts +- ### **Payload** + +Design Payload. + +| Value | Definition | +| :---: | ------------------------- | +| 0 | < 100 KG | +| 1 | Between 100 kg and 500 Kg | +| 2 | | +| 3 | | +| 4 | | +| 5 | | + +- **Cost**: Building cost excluding vehicle itself. + +| Value | Definition | +| :---: | ----------------------- | +| 0 | < 1K USD | +| 1 | Between 1K and 5K USD | +| 2 | Between 5K and 100K USD | +| 3 | Between 100K and 1M USD | +| 4 | Between 1M and 10M USD | +| 5 | > 10M USD | + +- ### **Communicaiton** + +Communication Capability. + +| Value | Definition | +| :---: | ------------------------------------------------------------ | +| 0 | CAN | +| 1 | CAN + On-Vehicle Ethernet | +| 2 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving | +| 3 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving + V2I | +| 4 | CAN + On-Vehicle Ethernet + DSRC/C-V2X Receiving + V2I + V2V | +| 5 | (Undefined) | + +- ### **Vehicle Speed** + +Tested Vehicle Speed. + +| Value | Definition | +| :---: | ----------------------- | +| 0 | < 5 KMH | +| 1 | Between 5 and 30 KMH | +| 2 | Between 30 and 60 KMH | +| 3 | Between 50 and 100 KMH | +| 4 | Between 100 and 300 KMH | +| 5 | > 300KMH | + +- ### **Distance between Disengagement** + +The average distance between disengagement. + +| Value | Definition | +| :---: | ------------------------ | +| 0 | < 100m | +| 1 | Between 100m and 1KM | +| 2 | Between 1KM and 10KM | +| 3 | Between 10KM and 100KM | +| 4 | Between 100KM and 1000KM | +| 5 | > 1000KM | + +- ### **Power Consumption** + +Required power consumption for ECU, Sensors, and Actuators. + +| Value | Definition | +| :---: | ----------------------- | +| 0 | < 100W | +| 1 | Between 100W and 500W | +| 2 | Between 500W and 1000W | +| 3 | Between 1000W and 3000W | +| 4 | Between 3000W and 6000W | +| 5 | > 6000W |