Team Details

KA-RaceIng Driverless

University	Karlsruhe Institute of Technology DE Karlsruhe IT short 57
Location	Karlsruhe, Germany
Homepage	https://www.ka-raceing.de/
Social Media
CV Team	KA-RaceIng Combustion
EV Team	KA-RaceIng Electric
Short Link	tid.fsg.one/786

Team Description

KA-RaceIng is building two cars in the season 2021 with a team of about 75 members. We couldn't finish our cars designed in 2020. Therefore we decided to finalize the cars in 2021 and give them some smaller upgrades on the way. We focus on testing and evaluating the new concepts and designs of the KIT21d and KIT21e. We've built 13 race car with a combustion engine and the KIT21e will be our 11th car with an electric drivetrain. This year we will build a driverless car for the 5th time. The KIT21d will be built on the base of the continuously improved 2015 electric car.

Past Events

2021

Car #421

Info

163x

"One team - two cars": KA-RaceIng is designing and manufacturing an FSD and FSE car in 2021, competing in both classes. In our 5th Driverless generation, we focused on developing a new aerodynamic package and reducing weight to increase the vehicle's performance. A completely new sensor setup combined with software changes increased our perception range and accuracy. New algorithms for SLAM, planning and control improved our dynamic performance significantly. See you on the race track!

Engineering Design Priorities:

oneteamtwocars engineeredexcitement becauseracecar KIT driverless guenther

Car Specifications

General

Frame Construction	CFRP sandwich monocoque, manufacturing method:VARI
Material	HT, IMS and HM carbon fibres, aramid twill, HM Zylon UD, Altropol Neukadur resin
Overall L	2907 mm
Overall W	1455 mm
Overall H	1180 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1150 mm
Weight with 68kg driver (Fr)	106 kg
Weight with 68kg driver (Rr)	104 kg
Suspension	Double unequal length A-Arm. Pull rod actuated ZF damper with coil spring. Tight packaging
Tyres (Fr / Rr)	18.0x7.5-10 Hoosier R25B
Wheels (Fr / Rr)	Carbon rim 7.5¨ wide
Drive Type	Dual - X - Drive
Differential	n/a
Cooling	Radiator cooled motor controller and 4 singel MGU cooling circuits
Brake System	4 floating rotors and two piston calipers on each wheel, pneumatic actuated EBS
Electronics	Full customizable self-developed live telemetry, 4 Highspeed CAN 2.0 A, Baudrate: 1Mbit/s

Powertrain

Number of Motors	4
Motor Location	Front Right, Front Left
Max Motor Power (per motor)	30kW kW
Motor Type	Self developed - KAR S02-18-30
Max Motor RPM (highest)	30000 rpm
Motor Controller	Aradex Ag - Typ PI 750-110×2-12V
Max System Voltage	470V V
Electrode Materials	LiPo
Combined Accumulator Capacity	5,22kWh kWh
Transmission Ratio (Primary)	21 : 1
Transmission Ratio (Secondary)	n/a : 1

Driverless System

Processing unit(s)	Intel Core i7-9700K (8 Core) Google Coral Edge TPU coprocessor
Floating Point Operations Per Second of all processing units that are working for the DV system	36 GigaFLOPS
Power consumption of all processing units that are working for the DV system	100 W
Camera(s)	2x IDS UI-3160CP Rev. 2.1 with 5mm Kowa LM5JCM + 1x Basler dart daA1600-60uc with 5.5mm Evetar
Radar sensor(s)	n/a
Lidar sensor(s)	Hesai Pandar40P
Other sensors	xsens IMU MTi G710, Kistler Correvit SFII ground speed sensor, Maxon EC 32 flat with Hall sensors
Highlights of the DV system	With a 360° LiDAR and 3 cameras, our perception system for detecting cones combines low power use with a high range of 40m and high accuracy. Even in Autocross, with parts of the map still unknown, we optimize our trajectory while driving. Our control system automatically learns from its errors and follows the given path with high precision.

2019

Car #419

Info

98x

"One team - three cars!" KA-RaceIng is designing, manufacturing and competing with a FSC, FSE and FSD car every year. With the increase in perfomance, we saw the need for aerodynamics to make further improvements in corner speed possible. The result is impressive: we threw out our sidewings. To increase our performance, we developed a model predictive control, decided to use the raw data of our LiDARs to improve the perception range by 22 meters and implemented a new, more realistic simulation.

Engineering Design Priorities:

oneteamthreecars engineeredexcitement mpc aerodynamics gameofcones Karl

Car Specifications

General

Frame Construction	CFRP sandwich monocoque, manufacturing method:VARI
Material	HT, IMS and HM carbon fibres, aramid twill, HM Zylon UD, Altropol Neukadur resin
Overall L	2710 mm
Overall W	1455 mm
Overall H	1180 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1150 mm
Weight with 68kg driver (Fr)	120 kg
Weight with 68kg driver (Rr)	98 kg
Suspension	Double unequal length A-Arm. Pull rod actuated ZF damper with coil spring.
Tyres (Fr / Rr)	18.0x6-10, Hoosier R25B
Wheels (Fr / Rr)	Carbon rim 7.5¨ wide
Drive Type	n/a
Differential	n/a
Cooling	custom oil pump in every motor
Brake System	4-Disk system
Electronics	selfdesigned Live-Telemetry System

Powertrain

Number of Motors	4
Motor Location	front and rear central
Max Motor Power (per motor)	23kW kW
Motor Type	KAR S02-18-30
Max Motor RPM (highest)	30000 rpm
Motor Controller	Aradex Ag - Typ PI 750-110×2-12V
Max System Voltage	470 V
Electrode Materials	Lithium Polymer
Combined Accumulator Capacity	5,221kWh kWh
Transmission Ratio (Primary)	n/a : 1
Transmission Ratio (Secondary)	n/a : 1

Driverless System

Processing unit(s)	Mini itx Mainboard + Graphics Card
Floating Point Operations Per Second of all processing units that are working for the DV system	n/a GigaFLOPS
Power consumption of all processing units that are working for the DV system	200 W
Camera(s)	2 Basler dart cameras looking forward/to the side and one Basler dart camera looking back
Radar sensor(s)	n/a
Lidar sensor(s)	Four ibeo LUX 2010 with an opening angle of 110°
Other sensors	xsens IMU MTi G710
Highlights of the DV system	The Highlights of our DV system are a high ranged cone detection at 25Hz using LiDAR detections to determine interesting areas in the image planes. In addition, a self developed simulation is used to improve our modelbased trajectory planning and control algorithms.

2018

Car #418

Info

73x

KA-RaceIng is the Formula Student team of the Karlsruhe Institute of Technology, founded in 2006. Since 2010 we are designing, manufacturing and competing with a FSC and FSE car each year and since last year also with a driverless car for the FSD. The KIT18d is KA-RaceIng's secound fully autnomous racecar and is based our the KIT15e. We would like to thank all our supporters for the enormous help throughout the season!

Engineering Design Priorities:

karaceing becauseracecar driverless KIT18d KIT roborace

Car Specifications

General

Frame Construction	CFRP sandwich monocoque
Material	HT and HM fibres, twill and unidirectional plies, kevlar twill
Overall L	2710 mm
Overall W	1455 mm
Overall H	1040 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1150 mm
Weight with 68kg driver (Fr)	120 kg
Weight with 68kg driver (Rr)	98 kg
Suspension	Double unequal length A-Arm. Pull rod actuated damper with coil spring.
Tyres (Fr / Rr)	Hoosier R25B 18.0x7.5-10 / Hoosier R25B 18.0x7.5-10
Wheels (Fr / Rr)	CFRP rim 7.5
Cooling	Three Radiators, Motor controllers water cooled, seperate oil cooling circuit per motor
Brake System	4 floating disks and two piston calipers on each wheel
Electronics	Live-Telemetry, Traction Control, Torque Vectoring, modular hardware design

Powertrain

Number of Motors	4
Motor Location	Mounted on the chassis
Max Motor Power (per motor)	23kW kW
Motor Type	internal permanent magnet synchronous motor
Max Motor RPM (highest)	30.000 rpm
Motor Controller	Aradex Vectopower
Max System Voltage	470V V
Electrode Materials	Lithium-Polymer
Combined Accumulator Capacity	5.2 kWh kWh

Driverless System

Processing unit(s)	nvidia gtx 1060, intel i7-6700, self designed main control unit
Floating Point Operations Per Second of all processing units that are working for the DV system	4700 GigaFLOPS
Power consumption of all processing units that are working for the DV system	80 W
Camera(s)	2 Basler dart cameras looking forward/to the side and one Basler dart camera looking back
Lidar sensor(s)	4 ibeo LUX 2010 with a total opening angle of 160°
Other sensors	xsens IMU Mit G710; novatel PwrPak 7D-E1
Highlights of the DV system	Completely redundandt camera and lidar system, simulation of the whole AS, ability to drive locally but also to create a map and calculate global trajectory, vehicle is optimized for lidar and camera perception

2017

Car #417

Info

74x

KA-RaceIng is the Formula Student team of the Karlsruhe Institute of Technology, founded in 2006. Since 2010 we are designing, manufacturing and competing with a FSC and FSE car each year and since this year also with a driverless car for the FSD. The KIT17d is KA-RaceIng's first fully autnomous racecar and is based our the KIT15e. We would like to thank all our supporters for the enormous help throughout the season!

Engineering Design Priorities:

KIT driverless reliability dual-x-drive Karlsruhe

Car Specifications

General

Frame Construction	CFRP sandwich monocoque, motor-gear-units mounted underneath
Material	HT and HM fibres, twill and unidirectional plies, kevlar twill
Overall L	2907 mm
Overall W	1455 mm
Overall H	1566 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1150 mm
Weight with 68kg driver (Fr)	120 kg
Weight with 68kg driver (Rr)	98 kg
Suspension	Double unequal length A-Arm. Pull rod actuated KAZ damper with coil spring
Tyres (Fr / Rr)	Hoosier 18.0x7.5-10 R25B
Wheels (Fr / Rr)	Hoosier 18.0x7.5-10 R25B
Cooling	Three Radiators, Motor controllers water cooled, seperate oil cooling circuit per motor
Brake System	4 floating disks and two piston calipers on each wheel
Electronics	Live-Telemetry, Traction Control, Torque Vectoring, modular hardware design

Powertrain

Number of Motors	4
Motor Location	Mounted on the chassis
Max Motor Power (per motor)	23kW kW
Motor Type	internal permanent magnet synchronous motor
Max Motor RPM (highest)	30.000 rpm
Motor Controller	Aradex Vectopower
Max System Voltage	588V V
Electrode Materials	Lithium-Polymer
Combined Accumulator Capacity	6.5kWh kWh
Transmission Ratio (Primary)	1:21 : 1

Driverless System

Processing unit(s)	Nvidia Drive PX 2 and existing Main Control Unit in car
Floating Point Operations Per Second of all processing units that are working for the DV system	16000 GigaFLOPS
Power consumption of all processing units that are working for the DV system	150 W
Camera(s)	one forward looking with 60° opening angle; two side looking with 100°
Radar sensor(s)	N/A
Lidar sensor(s)	two Ibeo LUX; combined opening angle of 160° at angular resolution of 0.25°
Other sensors	Tightly Coupled GPS/INS
Highlights of the DV system	- fully redundant emergency brake system - cone detection with Deep Neuronal Network - completely self developped framework - Software in the Loop simulation with IPG Carmaker - self-developed interface to IPG carmaker