VectorNav Technologies UNPRECEDENTED PERFOMANCE AT YOUR FINGERTIPS Introducing the all new Tactical Embedded line. The best just got smaller. Tactical-Grade IMU Heading: 0.05° -0.1° Pitch/Roll: 0.015° GNSS: L1/L2/E1/E5 with RTK/PPK VECTORNAV Vectornav.com +1.512.772.6315 fastened while Robobus is running), entering or exiting. A-pillars are visible at the four outermost corners, while B-pillars are concealed behind the glass at the window on one side and the automated sliding door on the other (the side featuring the door depends on which side of the road the vehicles must drive on in the pertinent jurisdiction). The vehicle’s anatomy is at first glance defined by its sensor architecture. Each outer corner features a structural arm extending outwards by roughly 30 cm, with a HD camera integrated at the end of each arm, and a Lidar for covering blind spots at the end of two of the arms. The two forward arms integrate one 64-channel ‘main’ Lidar on each. Additional cameras and ultrasonic sensors are installed at intervals around the body for 360° awareness, obstacle detection and collision avoidance. A GNSS antenna for high-precision localisation sits on the roof, while a millimetre-wave radar is installed at the front bumper. The main compute unit (MU) for self-driving computations is located in the front of the passenger cabin for easy access by technicians and engineers, and a power-control module is installed low in the chassis for proximity with the motor and inverter, as are control modules for the braking and steering systems. The infotainment display and interface sits in the cabin ceiling towards the front, with an additional television screen at the front showing route progress and information to the passengers. A single, central-drive electric motor at the bottom of the chassis handles Robobus’ traction and regenerative braking, while two distinctly smaller e-motors provide dual-redundant steering. “The battery pack and BMS integrated at the rear of the cabin, rather than in the floor, allow us to have a very low floor and ride height,” Liu adds. “That’s important to making it safe and easy for passengers to get on and off the vehicle, especially elders, children and those with special mobility needs. “We also avoided putting it in the roof, as some bus designers do, as that might have lowered the minibus’ roof height and presented another kind of safety or discomfort issue at head level. But maybe even more important was Yutong’s design of a double-wishbone suspension system for minimising the vibrations getting through to passengers, and so maximising their comfort when riding Robobus. It’s also proven great for slowing tyre wear, and hence reducing waste and usage costs over the vehicle’s lifecycle.” Satellite and laser Robobus’ localisation comes from a combination of GNSS for satellite position readings, an inertial sensor to enhance position accuracy with odometry and heading data, and WeRide Robobus | Dossier Tactical-Grade IMU Heading: 0.05°-0.1° Pitch/Roll: 0.015° GNSS: L1/L2/E1/E5 with RTK/PPK UST 1-2 pg_10-08-20.indd 1 10/8/2020 8:23:26 AM
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