Skip to content

Technical Reference#

This section provides detailed technical specifications, wiring diagrams, and component details for the AutoSDV platform. This information supplements the model-specific guides with in-depth technical documentation.

Contents#

Core Components#

Advanced Topics#

Quick Reference Tables#

Power Requirements#

Component Voltage Current (Typical) Current (Peak)
Jetson AGX Orin 9-20V 2.5A @ 12V 4A @ 12V
Velodyne VLP-32C 9-32V 1A @ 12V 1.5A @ 12V
Robin-W LiDAR 12-24V 0.7A @ 12V 1A @ 12V
Cube1 LiDAR 12-24V 0.7A @ 12V 1A @ 12V
ZED X Mini 12V 0.5A 0.8A
5G Module 12V 1.2A 2A

Communication Interfaces#

Interface Purpose Protocol Bandwidth
Ethernet (GbE) LiDAR data UDP 1 Gbps
USB 3.0 Camera data USB 5 Gbps
CAN Bus Vehicle control CAN 2.0B 1 Mbps
I2C Sensors I2C 400 kbps
UART GPS/IMU Serial 115200 baud

Environmental Specifications#

Parameter Operating Range Storage Range
Temperature -10°C to +50°C -20°C to +60°C
Humidity 10% to 90% RH 5% to 95% RH
Vibration 2G RMS 5G RMS
Shock 15G peak 30G peak
Ingress Protection IP54 (with enclosure) -

System Architecture#

Data Flow#

Sensors → Processing → Decision → Control → Actuators
   ↓          ↓           ↓         ↓          ↓
LiDAR    Perception   Planning   Commands   Motors
Camera   Localization  Safety    Validation  Steering
IMU/GPS  Fusion        Behavior  Monitoring  Brakes

Software Stack#

Application Layer:     User Applications
     ↓
Autoware Layer:       Perception, Planning, Control
     ↓
ROS 2 Middleware:     DDS Communication
     ↓
Driver Layer:         Sensor/Actuator Drivers
     ↓
OS Layer:            Ubuntu 22.04 + RT Kernel
     ↓
Hardware Layer:       Jetson AGX Orin

Maintenance Schedule#

Daily Checks#

  • Visual inspection of components
  • Battery voltage check
  • Sensor lens cleaning

Weekly Maintenance#

  • Connector inspection
  • Wheel bearing check
  • Software updates

Monthly Service#

  • Full system diagnostic
  • Calibration verification
  • Performance benchmarking

Annual Overhaul#

  • Complete disassembly and inspection
  • Bearing replacement (if mechanical LiDAR)
  • Sensor recalibration
  • Structural integrity check

Troubleshooting Quick Reference#

Common Issues#

Symptom Likely Cause Solution
No LiDAR data Network config Check IP settings
Poor localization Map mismatch Regenerate map
Erratic motion IMU calibration Recalibrate IMU
Short battery life High load Check CPU usage
Communication loss Interference Check wireless channels

Safety Specifications#

Emergency Stop#

  • Hardware E-stop button
  • Software emergency brake
  • Remote kill switch (5G model)
  • Automatic fault detection

Operating Limits#

  • Maximum speed: 15 km/h
  • Maximum payload: 5 kg
  • Maximum incline: 15°
  • Minimum lighting: 10 lux (with lights)

Compliance & Certification#

Standards#

  • ROS 2: REP-2000 compliant
  • Safety: ISO 26262 ASIL-B capable
  • EMC: FCC Part 15 Class B
  • Environmental: MIL-STD-810G tested

Documentation#

  • Full schematics available
  • Open-source software
  • Hardware design files
  • Test reports

Additional Resources#