muc019+ (Englisch)

muc019+

Our vehicle of the season 2020

Since 2018, the participating teams in the Shell Eco Marathon have also been able to compete in driverless disciplines. From the beginning the TUfast Eco Team was interested in developing an autonomous vehicle. With muc018 this was successfully implemented for the first time and we were able to achieve the 2nd place in the autonomous category.

This season's goal is now to equip the latest car with an autonomous system that offers new functionalities to cope with new and more demanding tasks.

Such a project is interdisciplinary in many respects and requires a perfect interaction of software and hardware.

For example, it is very important to install and commission the appropriate actuators. The vehicle muc019 is to be extended by a steering motor and an autonomous brake system. The precise calibration of the motors and their control is particularly important. The previously calculated trajectory of the vehicle should be run as accurately as possible. It is very important that the dynamics of the car are also taken into account, so that the vehicle behaves as desired regardless of external influences.

The further development towards muc019+, as we have christened our project, is already in full swing and attempts are being made to combine a highly efficient design with autonomous functionalities through clever packaging. In addition, muc019+ is to be equipped with various environment sensors. The main component is the three cameras that will be mounted on the roof. One camera is equipped with a 190° wide-angle lens to cover the entire area in front of the vehicle. The other two together form a stereo camera, which makes it possible to estimate the distance to objects in front.

The LiDAR sensor on the bonnet, which outputs a 3D point cloud of the environment, is also of particular importance. The sensor is positioned so that it can cover objects in front of the vehicle and a large part of the road ahead.

The fusion of camera and LiDAR data is intended to combine the best of both worlds to create an accurate model of the environment. For example, image recognition provides information about the type of object and the LiDAR sensor provides information about where exactly this object is located in space.

In addition, ultrasonic sensors are to be installed all around the vehicle. These can detect objects at a very close distance and should, for example, make it possible to park in a parking space.

The main goal of this season is to participate in the "Autonomous Urban Concept" competition within the Shell Eco Marathon, as well as to participate in the efficiency competition of the Shell Eco Marathon. The "Autonomous Urban Concept" competition requires the car to independently master various driving disciplines without human intervention, such as driving on a track with gangs, identifying obstacles or parking.

Competitions

Shell Eco Marathon Europe

- Cancelled due to the Covid-19 pandemic

Shell Eco-Marathon Challenger Event

- Cancelled due to the Covid-19 pandemic

Key Data

• Load-bearing carbon fiber composite monocoque
• Length: 2.5m
• Mass: approx. 63 kg
• Maximum speed: 45 km/h
• Two electric motors in the steered front axle
• Lithium polymer batteries
1. Competition battery: has a capacity of 190 Wh
2. Battery for test/ for autonomous operation: has a capacity of 480Wh
• With efficiency value from the Shell Eco Marathon (130.4km/kWh)
1. Competition battery: 25km range
2. Battery for test/autonomous operation: 64km range

Power Train

• Power: 860 W (2x 430 W)
• Motors: permanent-magnet synchronous motors
• Self-developed GaN converter
• Maintenance-optimized, pluggable PCB design
• Cable-reduced design (total 33 m)
• E-paper memory display as GUI
• CAN bus for communication between control units

Autonomous

• Perception bases on sensor fusion
• Modular integration into the platform
• New components specialized for specific applications
• Simplification of the hardware architecture (reduction of components and
wiring harness)
• Image recognition by means of neural networks trained on computer-generated
images
• More efficient trajectory planning with better support for dynamic scenarios and
more complex manoeuvres
• Trajectory following control with state estimation for precise execution of the
planned trajectory
• More extensive testing through the use of continuous integration and multiple
Simulation Pipelines
• Self-developed steering and brake actuators

Chassis

• Innovative package, entire drive train and all computing units in the front end, spacious interior
and trunk
• Entire body in carbon fibre composite construction and use of novel joining methods
• Closed and load-optimized monocoque, one-piece sandwich structure
• Non-structural, aerodynamic components such as multi-part front end, doors, underbody panelling
and rear spoiler
• In-house production of fibre composites with requirement-oriented processes (MTI, VAP,
prepreg autoclave)

Suspension

• Uprights optimised for robustness
• MacPherson front axle with elastokinematic suspension and damping
• Double wishbone rear axle with air suspension and hydraulic damping
• Cable operated steering system
• Four hydraulic disc brakes
• Hydraulically controlled autonomous braking system
• Spindle driven steering motor for more precise control