Skip to content

Commit ab40d3c

Browse files
hanyang07ycool
hanyang07
authored and
ycool
committed
Add VLP16 installation
1 parent 81ae48d commit ab40d3c

File tree

3 files changed

+73
-45
lines changed

3 files changed

+73
-45
lines changed

‎docs/quickstart/apollo_2_5_hardware_system_installation_guide_v1.md

Lines changed: 73 additions & 45 deletions
Original file line numberDiff line numberDiff line change
@@ -235,6 +235,25 @@ The 64 line LiDAR system **HDL-64E S3** is available from Velodyne LiDAR, Inc.
235235
![online](images/online_icon.png)Webpage for Velodyne HDL-64E S3:
236236
[http://velodynelidar.com/hdl-64e.html](http://velodynelidar.com/hdl-64e.html)
237237

238+
239+
240+
The 16 line LiDAR system VLP-16 is available from Velodyne LiDAR, Inc.
241+
242+
![lidar_image](/Users/hanyang07/apollo/docs/quickstart/images/lidar_pic_16.png)
243+
244+
**Key Features:**
245+
246+
- 16 Channels
247+
- 100m range
248+
- 600,000 Points per Second
249+
- 360° Horizontal FOV
250+
- ±15° Vertical FOV
251+
- Low Power Consumption
252+
- Protective Design
253+
254+
![online](/Users/hanyang07/apollo/docs/quickstart/images/online_icon.png)Webpage for Velodyne VLP-16:
255+
[http://velodynelidar.com/vlp-16.html](http://velodynelidar.com/vlp-16.html)
256+
238257
## Cameras
239258

240259
The cameras used are LI-USB30-AR023ZWDR with standard USB 3.0 case manufactured by Leopard Imaging Inc. We recommend using two cameras with 6 mm lens and one with 25 mm lens to achieve the required performance.
@@ -359,7 +378,6 @@ Follow these steps:
359378
- Set [Fan Max. Trip Temp] to 50
360379
- Set [Fan Start Trip Temp] to 20
361380

362-
363381
![tip_icon](images/tip_icon.png)It is recommended that you use a Digital Visual Interface (DVI) connector on the graphic card for the monitor. To set the display to the DVI port on the motherboard, following is the setting procedure:
364382

365383
- While starting up the computer, press F2 to enter BIOS setup menu.
@@ -496,7 +514,7 @@ Perform these tasks:
496514
- GPS Antenna
497515
- IPC
498516
- GPS Receiver and IMU
499-
- LiDAR
517+
- LiDAR's
500518
- Cameras
501519
- Radar
502520
@@ -509,7 +527,7 @@ The list of prerequisites are as follows:
509527
510528
- The vehicle must be modified for “drive-by-wire” technology by a professional service company. Also, a CAN interface hookup must be provided in the trunk where the IPC will be mounted.
511529
- A power panel must be installed in the trunk to provide power to the IPC and the GPS-IMU. The power panel would also service other devices in the vehicle such as a 4G LTE router. The power panel should be hooked up to the power system in the vehicle.
512-
- A custom-made rack must be installed to mount the GPS-IMU Antenna, the cameras and the LiDAR on top of the vehicle.
530+
- A custom-made rack must be installed to mount the GPS-IMU Antenna, the cameras and the LiDAR's on top of the vehicle.
513531
- A custom-made rack must be installed to mount the GPS-IMU in the trunk.
514532
- A custom-made rack must be installed in front of the vehicle to mount the front-facing radar.
515533
- A 4G LTE router must be mounted in the trunk to provide Internet access for the IPC. The router must have built-in Wi-Fi access point (AP) capability to connect to other devices, such as an iPad, to interface with the autonomous driving (AD) system. A user would be able to use the mobile device to start AD mode or monitor AD status, for example.
@@ -730,6 +748,16 @@ Each HDL-64E S3 LiDAR includes a cable bundle to connect the LiDAR to the power
730748

731749
[http://velodynelidar.com/hdl-64e.html](http://velodynelidar.com/hdl-64e.html)
732750

751+
#### (Optional) Installation of VLP-16 lidar
752+
753+
In Apollo 2.5, map creation service has been opened to the public. To acquire the data necessary for map creation, one would need to install an additional VLP-16 LiDAR on the vehicle. The purpose of this LiDAR is to collect point cloud information for objects above the FOV of the HDL-64 S3 Lidar, such as traffic lights and signs. It requires a customized rack to mount the VLP-16 Lidar on top of the vehicle. The figure below shows one of the possible configurations. ![VLP_16_installation](images/VLP16_install_configuration.jpg)
754+
755+
In this specific configuration, the VLP-16 LiDAR is mounted with an upward tilt of 20±2°. The power cable of the VLP-16 is connected to the DataSpeed power panel. The ethernet connection is connected to the IPC (possibly through an ethernet switch). Similar to HDL-64 S3 LiDAR, the VLP-16 GPRMC and PPS input from the GPS receiver. Ideally, additional hardware should be installed to duplicate the GPRMC and PPS signal from the GPS receiver send to HDL-64 and VLP-16 respectively. However, a simple Y-split cable may also provide adequate signal for both LiDAR's. To distingush from the HDL-64 S3 LiDAR, please follow the VLP-16 manual and use the webpage interface to configure the IP of VLP-16 to 192.168.20.14, the data port to 2369, and the telemetry port to 8309. The pinout for the signal input from GPS receiver can also be found in the manual if you need customized cable.
756+
757+
![online_icon](images/online_icon.png)VLP-16 Manual can be found on this webpage:
758+
759+
[http://velodynelidar.com/vlp-16.html](http://velodynelidar.com/vlp-16.htmll)
760+
733761
### Installing the Cameras
734762

735763
This section provides guidelines for the camera installation procedure.
@@ -877,27 +905,27 @@ EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000
877905
878906
879907
LOG COM2 GPRMC ONTIME 1.0 0.25
880-
LOG GPGGA ONTIME 1.0
881-
882-
log bestgnssposb ontime 1
883-
log bestgnssvelb ontime 1
884-
log bestposb ontime 1
885-
log INSPVAXB ontime 1
886-
log INSPVASB ontime 0.01
887-
log CORRIMUDATASB ontime 0.01
888-
log RAWIMUSXB onnew 0 0
889-
log mark1pvab onnew
890-
891-
log rangeb ontime 1
892-
log bdsephemerisb
893-
log gpsephemb
894-
log gloephemerisb
895-
log bdsephemerisb ontime 15
896-
log gpsephemb ontime 15
897-
log gloephemerisb ontime 15
898-
899-
log imutoantoffsetsb once
900-
log vehiclebodyrotationb onchanged
908+
LOG USB1 GPGGA ONTIME 1.0
909+
910+
log USB1 bestgnssposb ontime 1
911+
log USB1 bestgnssvelb ontime 1
912+
log USB1 bestposb ontime 1
913+
log USB1 INSPVAXB ontime 1
914+
log USB1 INSPVASB ontime 0.01
915+
log USB1 CORRIMUDATASB ontime 0.01
916+
log USB1 RAWIMUSXB onnew 0 0
917+
log USB1 mark1pvab onnew
918+
919+
log USB1 rangeb ontime 1
920+
log USB1 bdsephemerisb
921+
log USB1 gpsephemb
922+
log USB1 gloephemerisb
923+
log USB1 bdsephemerisb ontime 15
924+
log USB1 gpsephemb ontime 15
925+
log USB1 gloephemerisb ontime 15
926+
927+
log USB1 imutoantoffsetsb once
928+
log USB1 vehiclebodyrotationb onchanged
901929
 
902930
SAVECONFIG
903931
@@ -930,27 +958,27 @@ EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000
930958
931959
932960
LOG COM2 GPRMC ONTIME 1.0 0.25
933-
LOG GPGGA ONTIME 1.0
934-
935-
log bestgnssposb ontime 1
936-
log bestgnssvelb ontime 1
937-
log bestposb ontime 1
938-
log INSPVAXB ontime 1
939-
log INSPVASB ontime 0.01
940-
log CORRIMUDATASB ontime 0.01
941-
log RAWIMUSXB onnew 0 0
942-
log mark1pvab onnew
943-
944-
log rangeb ontime 1
945-
log bdsephemerisb
946-
log gpsephemb
947-
log gloephemerisb
948-
log bdsephemerisb ontime 15
949-
log gpsephemb ontime 15
950-
log gloephemerisb ontime 15
951-
952-
log imutoantoffsetsb once
953-
log vehiclebodyrotationb onchanged
961+
LOG USB1 GPGGA ONTIME 1.0
962+
963+
log USB1 bestgnssposb ontime 1
964+
log USB1 bestgnssvelb ontime 1
965+
log USB1 bestposb ontime 1
966+
log USB1 INSPVAXB ontime 1
967+
log USB1 INSPVASB ontime 0.01
968+
log USB1 CORRIMUDATASB ontime 0.01
969+
log USB1 RAWIMUSXB onnew 0 0
970+
log USB1 mark1pvab onnew
971+
972+
log USB1 rangeb ontime 1
973+
log USB1 bdsephemerisb
974+
log USB1 gpsephemb
975+
log USB1 gloephemerisb
976+
log USB1 bdsephemerisb ontime 15
977+
log USB1 gpsephemb ontime 15
978+
log USB1 gloephemerisb ontime 15
979+
980+
log USB1 imutoantoffsetsb once
981+
log USB1 vehiclebodyrotationb onchanged
954982
 
955983
SAVECONFIG
956984
```

‎docs/quickstart/images/VLP16_install_configuration.jpg

119 KB
Loading

‎docs/quickstart/images/lidar_pic_16.png

174 KB
Loading

0 commit comments

Comments
 (0)