Apollo ADS platform study_HWs

ASU-Apollo sensor unit

• 输入：各种传感器数据： GPS/IMU, Camera,lidar, radar etc， HD-map， Vehicle CAN

视频接口（5）： FAKRA connectors for FPD Link II （LVDS）cameras  *5

Lidar (4) : FLL, RCL*2,  TCL  (前向， 2个角， 一个顶部）

网口 （2）：100 Base-TX/1000 Base-T Ethernet Port (2 Ports)  ， 地图应该用网口

 

CAN （4）: 

• 功能： 做数据同步，处理，数据融合
• 输出: 融合后的数据。 给IPC, 接口 PCI Express 

未来会扩展5G, WIFI etc.

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关于摄像头

recommend using two cameras with 6 mm lens and one with 25 mm lens to achieve the required performance for traffic light detection application-- USB 连接方式不好，颠簸，信号会断。还是用特用的LVDS好。

. If you currently use the ASU, you could integrate any of the camera's below, if not, only the Leopard Camera would work with Apollo  --- 好坏！！！

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option2. 为森Wissen 的摄像头：http://www.wissenstar.com/web/index.php?s=/About/index.html

high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on AR230 sensor (1080P) and AP0202 ISP from ON Semiconductor.

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option3 :Argus 

 recommend using three cameras, one with 6 mm lens, one with 12 mm lens and the last one with 2.33 mm  (应该写错了，23.3mm)  to achieve the required performance for the traffic light detection application

The Argus camera features high dynamic range (HDR 120dB), internal/external trigger and OTA firmware update. It is well supported by the Apollo Sensor Unit. This line of product is based on ON Semiconductor MARS.

安装：

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Guideline_sensor_Installation_apollo_2.5.md

apollo以后轴为中心，安装完成后，在XYZ 坐标系下的摄像头安装初始位置 （已知）输入给标定模块

标定后：The orientation of all three cameras should be all zeros.X,Y,Z 三个方向的旋转角度应该趋近于0

如何验证标定效果？，如果不是，需要标定摄像头的内外参数。

Figure 4. An example of an image after camera installation. The horizon should be at the half of image height and not tilted. The vanishing point should be also at the center of the image. The red lines show the center of the width and the height of the image.

The example of estimated translation parameters is shown below.

header:
    seq: 0
    stamp:
        secs: 0
        nsecs: 0
    frame_id: white_mkz
child_frame_id: onsemi_obstacle
transform:
    rotation:
        x:  0.5
        y: -0.5
        z:  0.5
        w: -0.5
    translation:	
        x: 1.895
        y: -0.235
        z: 1.256 

If angles are not zero, they need to be calibrated and represented in quarternion (see above stransformation->rotation).

 

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关于激光雷达

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关于77Ghz 雷达

 

Continental 产品图：（官网有）https://www.conti-engineering.com/en-US/Industrial-Sensors/Sensors

安装要求： 射线不能被地面挡住,--会产生鬼影。安装过程可以调整加塞一些东西。https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Radar/Continental_ARS408-21_Radar_Installation_Guide.md

ARS-408-21

 

spec: 特点能够分辨静止目标..

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GPS

安装：TBC ,建议首先了解应用。

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Navigation/README.md

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Processor 

• ASUS GTX1080 GPU-A8G-Gaming GPU Card --超强性能的显卡！！

• 32GB DDR4 RAM

• PO-280W-OW 280W AC/DC power adapter

• 2.5" SATA Hard Disk 1TB 7200rpm

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/IPC/Nuvo-6108GC_Installation_Guide.md

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软件

需要安装Linux OS+APOLLO

https://github.com/ApolloAuto/apollo/blob/master/docs/specs/Software_and_Kernel_Installation_guide_cn.md