2015 Nissan Leaf S Electric Vehicle
Fully autonomous driving capability (automated acceleration/ braking/ steering)
Environmental perception: Velodyne VLP-16 Lidar/TI AWR1642BOOST radar/ Camera/ Acoustic
Localization: xens MTi-30-DK IMU, GNSS RTK-GPS/INS
V2X (V2I/ V2V): LTE modem, Dedicated Short Range Communication (DSRC) on-board unit (OBU) and roadside unit (RSU)
Used in eco-driving research for connected vehicles in busy traffic and intersections
dSPACE MicroAutoBox II 1401/1511
IBM PowerPC running at 900MHz
Ethernet I/O interface
Two dual CAN interfaces; 4 CAN channels
Analog Input: 16 16-bit channels
Analog Output: 4 12-bit channels
Digital I/O: 40 inputs, 40 outputs
Velodyne VLP-16 Puck Lidar
16 Channels
Measurement Range: 100 m
Range Accuracy: Up to 3 cm (Typical)1
Field of View (Vertical): +15.0 to -15.0 (30 )
Angular Resolution (Vertical): 2.0
Field of View (Horizontal): 360
Angular Resolution (Horizontal/Azimuth): 0.1 – 0.4
Rotation Rate: 5 Hz – 20 Hz
Integrated Web Server for Easy Monitoring and Configuration
Piksi Multi GNSS RTK-GPS Receiver and Swift GNSS Antenna
GNSS signal tracking: GPS L1/L2, GLONASS G1/G2, BeiDou B1/B2, Galileo E1/E5b for RTK measurements and positioning and SBAS for robust sub-meter positioning in non-RTK mode.
Onboard 6DOF, MEMS based inertial measurement unit (IMU).
Flexible Interfaces Including UART, Ethernet, CAN and USB
Max rate resolution: 10Hz
Integrated MEMS oscillator technology enhances robustness under vibration and shock.
TI AWR1642BOOST mm wave radar
Two 20-pin LaundPad connectors that leverages the ecosystem of the TI LaunchPad
XDS110 based JTAG emulation with a serial port for onboard QSPI flash programming
Back-channel UART through USB-to-PC for logging purposes
Onboard antenna
60-pin, high-density (HD) connector for raw analog-to-digital converter (ADC) data over LVDS and
trace-data capability
Onboard CAN-FD transceiver
One button and two LEDs for basic user interface
5-V power jack to power the board
Sciamble Motor/ Generator Set
42V 5A three 3Φ-Inverters with on-board controller, programmer and data-logger.
40V 5A DC motor with 2048 line encoder
36V 7A PMAC motor
24V 2A Induction motor
Electroencephalogram (EEG) Set
OpenBCI Cyton Board
TDE-201/210 electrodes
TDE-430 ear clips