This paper presents an overview of the KerubLess, the driverless vehicle of E- Team Squadra Corse. It contains design choices in terms of hardware components (i.e. sensors, actuators, control units) and software modules that define the driverless vehicle. It also gives an overview of the main tools and approaches used by the team to develop the entire design of the vehicle, transforming the 2019 combustion vehicle into a fully autonomous one. All design choices that led to the actual vehicle were subject to several constraints. A racing vehicle must be fast, so weight is a concern; moreover, sensors, actuators and control units must be small and fit on the 2019 vehicle, which was not developed considering any driverless extension; power-efficiency is also another critical issue since on-board power is limited; finally, team budget is also limited and choices keeping in mind a cost/performance trade-off must be made. The team won the Engineering Design Event at Formula SAE (Society of Automotive Engineers) Italy 2021.
KerubLess - Design of a Driverless Formula SAE Vehicle
Baris G.
;Mugnai M.;Avizzano C. A.;
2022-01-01
Abstract
This paper presents an overview of the KerubLess, the driverless vehicle of E- Team Squadra Corse. It contains design choices in terms of hardware components (i.e. sensors, actuators, control units) and software modules that define the driverless vehicle. It also gives an overview of the main tools and approaches used by the team to develop the entire design of the vehicle, transforming the 2019 combustion vehicle into a fully autonomous one. All design choices that led to the actual vehicle were subject to several constraints. A racing vehicle must be fast, so weight is a concern; moreover, sensors, actuators and control units must be small and fit on the 2019 vehicle, which was not developed considering any driverless extension; power-efficiency is also another critical issue since on-board power is limited; finally, team budget is also limited and choices keeping in mind a cost/performance trade-off must be made. The team won the Engineering Design Event at Formula SAE (Society of Automotive Engineers) Italy 2021.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
