aDDa Vehilce

Currently the main aDDa vehicle is Mercedes-Benz S-450. The aDDa research vehicle has been equipped with a variety of sensors to percieve the environment.

Hardware Description

Type Quantity Location
Lidar 1 On the rooftop on the telescope profile
Lidar 2 One is in the front of the car and another one in the rear
Stereo Camera 1 Front inside the car on the ceiling
Stereo Camera Lens 2 (two cameras as stereo camera) Front inside the car on the ceiling
WideAngle Camera Front 1 Front inside of the car on the ceiling
WideAngle Camera Front Lens 1 Mounted to the wide angle front camera
WideAngle Camera Back 1 Front inside of the car on the ceiling
WideAngle Camera Back Lens 1 Mounted to the wide angle back camera
Fisheye Camera 2 Right and left side of the car on the rooftop
Fisheye Camera Lens 2 Mounted to the fisheye cameras
Microphones 6 Positioned circular on the rooftop mounting
IMU 1 In the middle back of the car in the item construction
GPS 2 On top of the car mounted to the rooftop
Radar 1 In the front of the car

Software of the aDDa vehicle

Robot Operating System (ROS) is a framework which is used for programming different components for the vehicle. ROS is used because ROS provides the required tool to easily access and process sensors data, generate an appropriate response for the motors and other actuators. ROS was designed to be fully distributed in terms of computation, so different computers can take part in the control processes, and act together as a single entity. Due to that ROS is a perfect tool for self-driving cars.

ROS version which is used within the team – ROS Melodic which operates on Ubuntu 18.04. The main programming languages are Python and C++.