# AutoSDV

## Overview

The AutoSDV project (Autoware Software-Defined Vehicle) is an affordable 1/10 scale autonomous driving platform developed by NEWSLab at National Taiwan University. It provides a complete stack from hardware specifications to software implementation for educational and research institutes.

## Platform models

| Feature | Base | 360° LiDAR | Solid-State | Connected |
| --- | --- | --- | --- | --- |
| **LiDAR** | None | Velodyne VLP-32C | Seyond Robin-W | Seyond Robin-W |
| **LiDAR FOV** | \- | 360° × 40° | 120° × 25° | 120° × 25° |
| **LiDAR Range** | \- | 100m | 150m | 150m |
| **Localization** | Vision only | NDT (full autonomous) | Development needed | Development needed |
| **Connectivity** | Standard | Standard | Standard | 5G (Ataya/MOXA) |
| **Battery Life** | 40 min | 40 min | 40 min | 40 min |

|  |  |  |
| :---: | :---: | :---: |
|  |  |  |
| **Solid-State LiDAR** | **360° LiDAR** | **5G Connected** |

## Core components

| Component | Specification |
| --- | --- |
| **Chassis** | Tekno TKR9500 (16×11×5 inch) |
| **Computer** | NVIDIA Jetson AGX Orin 64GB |
| **Storage** | 1TB NVMe SSD |
| **Camera** | ZED X Mini Stereo |
| **IMU** | MPU9250 9-axis |
| **Motor** | Brushless 4274/1500kv |

## Software

AutoSDV runs on Autoware with ROS 2, providing autonomous navigation capabilities for outdoor environments. The AutoSDV repository defines all version dependencies in its [`versions.yaml`](<https://github.com/NEWSLabNTU/AutoSDV/blob/main/versions.yaml>) file.

| Component | Details |
| --- | --- |
| **Autoware** | Autoware 2025.02 (AutoSDV v0.1.0) |
| **JetPack** | 6.0 |
| **ROS** | ROS 2 Humble |
| **Source Code** | [GitHub](<https://github.com/NEWSLabNTU/AutoSDV>) |

AutoSDV v0.1.0 is based on Autoware 2025.02, a release from before Autoware 2.0.0. The AutoSDV [`develop` branch](<https://github.com/NEWSLabNTU/AutoSDV/blob/develop/versions.yaml>) is AutoSDV 0.2.0, which is still in development. It uses Autoware 1.5.0 and JetPack 6.2.2 or newer.

## Resources

- **Documentation**: [AutoSDV Book](<https://newslabntu.github.io/autosdv-book/>)
- **Source Code**: [GitHub Repository](<https://github.com/NEWSLabNTU/AutoSDV>)
- **Issues**: [GitHub Issues](<https://github.com/NEWSLabNTU/AutoSDV-book/issues>)

## Contributors

- NEWSLab, National Taiwan University (Hsiang-Jui Lin, Chi-Sheng Shih)