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.

Core Components

Core Components Specification - Detailed specifications for all base platform components
Wiring Diagrams - Electrical connections and power distribution

Advanced Topics

5G/LTE Deployment - Detailed guide for cellular connectivity setup
Sensor Components and Drivers - Low-level sensor integration
Sensor Kit Configuration - ROS 2 sensor configuration details
Vehicle Interface - CAN bus and actuator control

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