Design choices by example#
This page provides detailed component specifications for each reference configuration of the Low Speed Autonomy (LSA) guideline. Use these as starting points for your own build. The ODD scenario IDs, for example LSA-CAM-0001, come from the outdoor ODD definition of the LSA guideline.
Configuration overview#
| Configuration | ECU | Primary LiDAR | Localization |
|---|---|---|---|
| Campus | AGX Orin 32/64GB | Ouster OS1-64 | RTK GNSS |
| Indoor | AGX Orin | Ouster OSDome | LiDAR SLAM + markers |
| High-Performance | x86 + RTX 4090 | OS2 + OSDome | GNSS + SLAM fusion |
| Budget | Orin NX 16GB | Ouster OS0-32 | Single GNSS |
| Compact | Orin Nano/NX | Ouster OSDome | Camera SLAM |
Campus configuration#
Balanced configuration for outdoor paved environments with pedestrian interaction.
| Component | Choice | Rationale |
|---|---|---|
| ECU | NVIDIA AGX Orin 32/64GB | Up to 275 TOPS, 15-60W, proven Autoware support |
| LiDAR | Ouster OS1-64 | 120m range, 64 channels, reliable ROS 2 driver |
| Cameras | 2-4 wide-angle | Object classification, sign detection |
| GNSS | Dual-antenna RTK | Cm-level accuracy, heading estimation |
| IMU | Integrated or standalone | Motion estimation, sensor fusion |
Performance Targets:
| Metric | Value |
|---|---|
| LiDAR detection | 10 Hz |
| Camera detection | 15 Hz |
| Planning | 10 Hz |
| Control | 50 Hz |
| End-to-end latency | <200 ms |
| Power (ECU) | <50W |
ODD Coverage: LSA-CAM-0001 to 0040 (normal driving through intersections)
Real World Examples: TalTech iseAuto, NC A&T Aggie Auto
For detailed ECU specifications, see ARM-based ECUs in the LSA guideline.
Indoor configuration#
Optimized for GPS-denied warehouse and indoor structured environments.
| Component | Choice | Rationale |
|---|---|---|
| ECU | AGX Orin | Same compute as Campus |
| LiDAR | Ouster OSDome | 180 deg FOV for narrow aisles, 45m range |
| Cameras | Wide-angle + depth | SLAM features, close-range detection |
| GNSS | None | GPS-denied environment |
| Localization | LiDAR SLAM + markers | AprilTags or reflectors for accuracy |
Key Differences from Campus:
- No GNSS dependency
- Wide-FOV sensors for tight maneuvering
- Marker infrastructure for localization accuracy
- Lower speed limits (5-10 kph typical)
For indoor scenarios, see the indoor ODD of the LSA guideline.
High-performance configuration#
Maximum capability for research and complex scenarios.
| Component | Choice | Benefit |
|---|---|---|
| ECU | x86 Xeon/Core + RTX 4090 | Maximum compute, 24GB VRAM |
| LiDAR | Ouster OS2 (200m) + OSDome | Long range + wide FOV coverage |
| Cameras | 6-8 surround cameras | 360 deg visual coverage |
| GNSS | Multi-constellation RTK | Maximum accuracy |
| Localization | GNSS + LiDAR SLAM fusion | Maximum robustness |
ODD Coverage: Full LSA-CAM-0001 to 0082
Trade-offs: Higher cost, power consumption (150-450W), complexity
Budget configuration#
Cost-optimized with reduced capabilities.
| Component | Choice | Trade-off vs Campus |
|---|---|---|
| ECU | Jetson Orin NX 16GB | Lower compute headroom |
| LiDAR | Ouster OS0-32 or OS1-32 | Shorter range (35-90m), fewer channels |
| Cameras | 1-2 cameras | Reduced coverage |
| GNSS | Single-antenna | Lower heading accuracy |
ODD Limitations: LSA-CAM-0001 to 0020 (basic scenarios only)
Best For: Simple fixed routes, low-traffic environments
Compact configuration#
For small vehicles with space and weight constraints.
| Component | Choice | Rationale |
|---|---|---|
| ECU | Orin Nano or NX | Small form factor, 7-25W |
| LiDAR | Ouster OSDome | Compact, wide FOV |
| Carrier | Integrated board | Minimizes size and cabling |
| Cameras | 1-2 compact modules | Essential coverage |
| Localization | Camera SLAM | No external infrastructure |
Best For: Sidewalk delivery robots, small indoor AGVs
Component selection reference#
ECU selection by criteria#
| Criteria | Recommendation |
|---|---|
| Balanced cost/performance | AGX Orin 32GB |
| Minimum cost | Orin NX 16GB |
| Maximum compute | x86 + RTX 4090 |
| Minimum size/power | Orin Nano |
| Industrial environment | Neousys 9160-GC |
| Wide temperature range | Crystal Rugged AVC series |
For full ECU specifications:
LiDAR selection by application#
| Application | Recommendation | Range | Channels |
|---|---|---|---|
| Outdoor campus | Ouster OS1-64 | 90m | 64 |
| Long-range outdoor | Ouster OS2-128 | 200m | 128 |
| Indoor/warehouse | Ouster OSDome | 20m | 128 (180 deg FOV) |
| Budget outdoor | Ouster OS0-32 | 35m | 32 |
| Compact vehicles | Ouster OSDome | 20m | 128 |
For sensor options, see Sensors and actuators in the LSA guideline and the reference hardware list.
Localization method by environment#
| Environment | Primary Method | Backup/Enhancement |
|---|---|---|
| Outdoor, open sky | RTK GNSS | NDT matching |
| Outdoor, urban canyon | GNSS + LiDAR SLAM | Visual odometry |
| Indoor, structured | LiDAR SLAM | Marker-based (AprilTags) |
| Indoor, featureless | Marker-based | Wheel odometry |
Middleware selection#
| Scenario | Recommendation | Rationale |
|---|---|---|
| Wireless operation | Zenoh | Better packet handling |
| Wired, lowest latency | Cyclone DDS | Minimal overhead |
| Enterprise integration | RTI Connext | Commercial support |
For middleware setup, see Middleware configuration in the LSA guideline.
Next steps#
- Use Find your reference design to see real-world examples for each configuration
- Review the hardware configuration of the LSA guideline for component details
- Follow the software configuration of the LSA guideline for setup guides