Apollo 2.0 Hardware and System Installation Guide 02 May …

1 Apollo Hardware and System Installation Guide02 May 2018 Table of Contents About This Guide .. 3 Document 3 Introduction .. 4 Documentation .. 4 Key Hardware Components .. 5 Additional Components Required .. 5 Onboard Computer System - IPC .. 5 IPC Configuration .. 5 IPC Front and Side Views .. 6 Controller Area Network (CAN) Card .. 7 Global Positioning System (GPS) and Inertial Measurement Unit (IMU) .. 7 Option 1: The NovAtel SPAN-IGM-A1 .. 8 Option 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1 .. 8 The GPS Receiver/Antenna .. 9 Light Detection and Ranging System (LiDAR) .. 10 Cameras .. 11 RADAR .. 11 Overview of the Installation Tasks.

2 12 Steps for the Installation Tasks .. 13 At the Office .. 13 Prepare the IPC .. 13 Installing the software for the IPC .. 18 In the Vehicle .. 21 Prerequisites .. 21 Diagrams of the Major Component Installations .. 22 Installing the GPS Receiver and Antenna .. 23 Installing the Light Detection and Ranging System (LiDAR).. 27 Installing the Cameras .. 32 Installing the RADAR .. 33 Installing the IPC .. 33 Configuring the GPS and IMU .. 39 Setting up the Network .. 41 Recommendations .. 41 Additional Tasks Required .. 42 Next Steps .. 43 About This Guide The Apollo Hardware and System Installation Guide provides the instructions to install all the Hardware components and System software for the ** Apollo Project **.

3 The System Installation information included pertains to the procedures to download and install the Apollo Linux Kernel. Document Conventions The following table lists the conventions that are used in this document: Icon Description Bold Emphasis Mono-space fontCode, typed data Italic Titles of documents, sections, and headings Terms used Info Contains information that might be useful. Ignoring the Info icon has no negative consequences. Tip. Includes helpful hints or a shortcut that might assist you in completing a task. Online. Provides a link to a website where you can get more information. Icon Description Warning. Contains information that must not be ignored, or you risk failure when you perform a certain task or step.

4 Introduction The Apollo Project is an initiative that provides an open, complete, and reliable software platform for Apollo partners in the automotive and autonomous driving industries. The aim of this project is to enable these entities to develop their own self-driving systems based on Apollo software stack. Documentation The following set of documentation describes Apollo : [ Apollo Hardware and System Installation Guide ] Provides the instructions to install the Hardware components and the System software for the vehicle: Vehicle: Industrial PC (IPC) Global Positioning System (GPS) Inertial Measurement Unit (IMU) Controller Area Network (CAN) card GPS Antenna GPS Receiver Light Detection and Ranging System (LiDAR) Camera RADARS oftware: Ubuntu Linux Apollo Linux Kernel NVIDIA GPU Driver[ Apollo Quick Start Guide ] A combination tutorial and roadmap that provide the complete set of end-to-end instructions.

5 The Quick Start Guide also provides links to additional documents that describe the conversion of a regular car to an autonomous-driving vehicle. Key Hardware Components The key Hardware components to install include: Onboard computer System AStuff Spectra Controller Area Network (CAN) Card ESD CAN-PCIe/402-B4 General Positioning System (GPS) and Inertial Measurement Unit (IMU) You canselect one of the following options:oNovAtel SPAN-IGM-A1oNovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1 Light Detection and Ranging System (LiDAR) Velodyne HDL-64E S3 Cameras Leopard Imaging LI-USB30-AR023 ZWDR with USB case RADAR DEPLHI ESR Components Required You need to provide these additional components for the Additional Tasks Required.

6 A 4G router for Internet access A USB hub for extra USB ports A monitor, keyboard, and mouse for debugging at the car onsite Cables: A Digital Visual Interface (DVI) cable (optional), a customized cable for GPS-LiDAR time synchronization Apple iPad Pro: , Wi-Fi (optional)The features of the key Hardware components are presented in the subsequent sections. Onboard Computer System - IPC The onboard computer System is an industrial PC (IPC) for the autonomous vehicle and uses the AStuff Spectra that is powered by a sixth-generation Intel Xeon E3 1275 V5 CPU. The AStuff Spectra is the central unit of the autonomous driving System (ADS). IPC Configuration Configure the IPC as follows: ASUS GTX1080 GPU-A8G-Gaming GPU Card 32GB DDR4 RAM PO-280W-OW 280W AC/DC power adapter " SATA Hard Disk 1TB 7200rpmIPC Front and Side Views The front and rear views of the IPC are shown with the Graphics Processing Unit (GPU) installed in the following pictures: The front view of the Spectra: The side view of the Spectra: For more information about the Spectra, see: AStuff Spectra Product Page: AStuff Spectra -Manual: [Link unavailable yet] Controller Area Network (CAN) Card The CAN card to use with the IPC is ESD CAN-PCIe/402-B4.

7 For more information about the CAN-PCIe/402-B4, see: ESD CAN-PCIe/402 Product Page: Positioning System (GPS) and Inertial Measurement Unit (IMU) There are two GPS-IMU options available and the choice depends upon the one that most fits your needs: Option 1: NovAtel SPAN-IGM-A1 Option 2: NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1 Option 1: The NovAtel SPAN-IGM-A1 The NovAtel SPAN-IGM-A1 is an integrated, single-box solution that offers tightly coupled Global Navigation Satellite System (GNSS) positioning and inertial navigation featuring the NovAtel OEM615 more information about the NovAtel SPAN-IGM-A1, see: NovAtel SPAN-IGM-A1 Product Page: 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1 NovAtel ProPak6 is a standalone GNSS receiver.

8 It works with a separate NovAtel- supported IMU (in this case, the NovAtel IMU-IGM-A1) to provide localization. The ProPak6 provides the latest and most sophisticated enclosure product manufactured by NovAtel. The IMU-IGM-A1 is an IMU that pairs with a SPAN-enabled GNSS receiver such as the SPAN ProPak6. For more information about the NovAtel SPAN ProPak6 and the IMU-IGM-A1, see: NovAtel ProPak6 Installation & Operation Manual: NovAtel IMU-IGM-A1 Product Page: #overview The GPS Receiver/Antenna The GPS Receiver/Antenna used with the GPS-IMU component is the NovAtel GNSS-502. **NOTE: **The GPS NovAtelGPS-703-GGG-HV works with either model of the two GPS-IMU options that are described in the previous section, Global Positioning System (GPS) and Inertial Measurement Unit (IMU).

9 For more information about the NovAtel GNSS-502, see: NovAtel GNSS-502 Product Page: Detection and Ranging System (LiDAR) The 64-line LiDAR System HDL-64E S3 is available from Velodyne LiDAR, Inc. 120m range Million Points per Second 360 Horizontal FOV Vertical FOV angular resolution (azimuth) <2cm accuracy ~ Vertical Resolution User selectable frame rate Rugged DesignWebpage for Velodyne HDL-64E S3: Cameras The cameras used are LI-USB30-AR023 ZWDR with standard USB case manufactured by Leopard Imaging Inc. We recommend using two cameras with 6 mm and 25 mm lenses respectively to achieve the required performance. You can find more information at Leopard Imaging Inc.

10 Website: Features: 64 Channels You can find more information can be found on the product page: Overview of the Installation TasksInstalling the Hardware and the software components involves these tasks: AT THE OFFICE: and install the Controller Area Network (CAN) card by first repositioning theCAN card termination jumper before you insert the card into the the hard drive (if none was pre-installed) in the can also choose to replace a pre-installed hard drive if you prefer. Recommendations: Install a Solid-State Drive (SSD) for better reliability. Use a high-capacity drive if you need to collect driving the IPC for powering up: a. Attach the power cable to the power connector (terminal block).