Team Details

AMZ Driverless

University	ETH Zürich CH Zürich ETH short 94
Location	Zürich, Switzerland
Homepage	https://amzracing.ch
Social Media
CV Team	Akademischer Motorsportverein Zürich
EV Team	AMZ Racing Team
Short Link	tid.fsg.one/785

Team Description

The Academic Motorsports Club Zurich (AMZ) was founded in 2006 by students of ETH Zurich and has produced a prototype to compete in various «Formula Student» competitions in Europe every year since then. After having built three combustion powered cars, AMZ moved forward to developing fully electric racing cars in 2010. With the introduction of the Formula Student Driverless class in 2017, AMZ became a pioneer in developing autonomous race cars. Since then, AMZ engineers a new driverless race car on the basis of a vehicle from previous years in addition to the new electric one every season.

Past Events

2021

Car #433

Info

49x

AMZ Racing was founded in 2006 by students of ETH Zurich. Since 2010 AMZ focuses on electric vehicles and collaborates with the Lucerne University of Applied Science and Arts. AMZ took the opportunity to transform their electric vehicles into autonomous race cars, when Driverless was first introduced in 2017. The 2019 driverless team consists of an diverse and international team of Master's students from Robotics, Electrical Engineering, Mechanical Engineering, and Computer Science.

Engineering Design Priorities:

Hardware reliability Software reliability Lap time reduction Innovative design Complexity reduction Simulation

Car Specifications

General

Frame Construction	Single piece CFRP monocoque
Material	CFRP & AFRP pre-preg (Twill and UD), aluminum honeycomb sandwich
Overall L	2932 mm
Overall W	1422 mm
Overall H	1156 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1220 mm
Weight with 68kg driver (Fr)	97 kg
Weight with 68kg driver (Rr)	100 kg
Suspension	A-arms and pushrods, hydraulically actuated, mode decoupled suspension with MRF dampers
Tyres (Fr / Rr)	18.3x7.0-13, Continental C17
Wheels (Fr / Rr)	OZ Racing Aluminum 7Jx13
Drive Type	Self-developed AMZ M7 motors
Differential	-
Cooling	Single water circuit with two pumps and two radiators for motors, inverters, and computing units
Brake System	Self-developed aluminum calipers, adjustable brake balance, proportional valve in the rea
Electronics	Self-developed optical AMS, CAN nodes, and 868MHz telemetry system

Powertrain

Number of Motors	4
Motor Location	On all wheels
Max Motor Power (per motor)	38.44kW kW
Motor Type	Permanent magnet synchronous inrunners
Max Motor RPM (highest)	24000 1/min rpm
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage	462 V
Electrode Materials	LiCoO2
Combined Accumulator Capacity	6.2kWh kWh
Transmission Ratio (Primary)	1:18.28 : 1
Transmission Ratio (Secondary)	-

Driverless System

Processing unit(s)	CPU: Intel Quad-Core Xeon E3-1505M V6, GPU: NVIDIA GeForce RTK 3060
Floating Point Operations Per Second of all processing units that are working for the DV system	-
Power consumption of all processing units that are working for the DV system	210 W
Camera(s)	3 Basler cameras with a combined opening angle of 135° and overlapping FOVs
Radar sensor(s)	-
Lidar sensor(s)	Hesai Pandar 20 & 64
Other sensors	INS with dual antenna GNSS, non-contact optical speed sensor
Highlights of the DV system	Fully redundant sensor pipelines providing robustness against single sensor failure. Multi-level estimation methods leverage probabilistic cone observations. Different control algorithms are optimized to meet the requirements of the respective dynamic disciplines.

2019

Car #433

Info

126x

AMZ Racing was founded in 2006 by students of ETH Zurich. Since 2010 AMZ focuses on electric vehicles and collaborates with the Lucerne University of Applied Science and Arts. AMZ took the opportunity to transform their electric vehicles into autonomous race cars, when Driverless was first introduced in 2017. The 2019 driverless team consists of an diverse and international team of Master's students from Robotics, Electrical Engineering, Mechanical Engineering, and Computer Science.

Engineering Design Priorities:

Hardware reliability Lap time reduction Robust algorithms Simulation Redundant sensor setup Early failure detection

Car Specifications

General

Frame Construction	Single piece CFRP monocoque
Material	CFRP & AFRP pre-preg (Twill and UD), aluminum honeycomb sandwich
Overall L	2932 mm
Overall W	1422 mm
Overall H	1156 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1220 mm
Weight with 68kg driver (Fr)	97 kg
Weight with 68kg driver (Rr)	100 kg
Suspension	A-arms and pushrods, hydraulically actuated, mode decoupled suspension with MRF dampers
Tyres (Fr / Rr)	18.3x7.0-13, Continental C17
Wheels (Fr / Rr)	OZ Racing Aluminum 7Jx13
Drive Type	Self-developed AMZ M7 motors
Differential	-
Cooling	Single water circuit with two pumps and two radiators for motors, inverters, and computing units
Brake System	Self-developed aluminum calipers, adjustable brake balance, proportional valve in the rear
Electronics	Self-developed optical AMS, CAN nodes, and 868MHz telemetry system

Powertrain

Number of Motors	4
Motor Location	On all wheels
Max Motor Power (per motor)	38.44kW kW
Motor Type	Permanent magnet synchronous inrunners
Max Motor RPM (highest)	24000 1/min rpm
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage	462V V
Electrode Materials	LiCoO2
Combined Accumulator Capacity	6.2kWh kWh
Transmission Ratio (Primary)	1:18.28 : 1
Transmission Ratio (Secondary)	-

Driverless System

Processing unit(s)	CPU: Intel Quad-Core Xeon E3-1505M V6, GPU: NVIDIA GeForce 1070
Floating Point Operations Per Second of all processing units that are working for the DV system	6660 GigaFLOPS
Power consumption of all processing units that are working for the DV system	210 W
Camera(s)	Two Basler mono cameras with a combined opening angle of 135° enabling cone detections up to 20m
Radar sensor(s)	-
Lidar sensor(s)	Two Velodyne ULTRA Pucks with a horizontal field of view of 180° enabling cone detections up to 25m
Other sensors	INS with dual antenna GNSS, non-contact optical speed sensor
Highlights of the DV system	Fully redundant sensor pipelines providing robustness against single sensor failure. Multi-level estimation methods leverage probabilistic cone observations. Different control algorithms are optimized to meet the requirements of the respective dynamic disciplines.

2018

Car #433

Info

149x

The AMZ Racing team was founded in 2006 by students of ETH Zurich. In 2010 AMZ switched to electric vehicles and started an ongoing collaboration with the University of Lucerne. In 2017, Formula Student Driverless started and AMZ competed with two cars for the first time, electric and driverless.AMZ driverless designs and adapts previous fully autonomous formula cars. The team consists of MSc students from ETH Zürich, ranging from Robotics, Electric, Mechanical to Computer Science.

Engineering Design Priorities:

power lightweight efficiency reliability maintainability stiffness

Car Specifications

General

Frame Construction	CFRP monocoque
Material	CFRP pre-preg (twill and UD), aluminium honeycomb core
Overall L	2943 mm
Overall W	1425 mm
Overall H	1159 mm
Wheelbase	1530 mm
Track (Fr)	1220 mm
Track (Rr)	1220 mm
Weight with 68kg driver (Fr)	90 kg
Weight with 68kg driver (Rr)	85 kg
Suspension	Double unequal length A-Arms, pushrod actuated air springs and adaptive dampers, heavespri
Tyres (Fr / Rr)	Continental C18 13
Wheels (Fr / Rr)	7x13, 24.64 mm offset, Aluminium
Drive Type	Planetary-drive, with staged planets
Differential	-
Cooling	Motor and controllers water cooled, 2 aluminium cross flow radiators
Brake System	4 CMC (C-SiC) floating disks, adjustable brake balance, AP racing calipers
Electronics	Feedback traction control, dynamic torque vectoring, multifunctional steering wheel

Powertrain

Number of Motors	4
Motor Location	On the wheel
Max Motor Power (per motor)	29.4 kW kW
Motor Type	Permanent excited watercooled synchronous
Max Motor RPM (highest)	19200 rpm
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage	470 V
Combined Accumulator Capacity	2.9 kWh kWh
Transmission Ratio (Primary)	1:14.4 : 1

Driverless System

Processing unit(s)	PIP 39, Jetson TX2
Floating Point Operations Per Second of all processing units that are working for the DV system	3724 GigaFLOPS
Power consumption of all processing units that are working for the DV system	120 W
Camera(s)	3 cameras, 20 m range, 2 stereo 1 mono layout
Radar sensor(s)	-
Lidar sensor(s)	Velodyne Hi-Res
Other sensors	INS, Absolute Speed Sensor
Highlights of the DV system	Fully redundant sensor pipeline, robust against single sensor failure. Combined visual-LiDAR SLAM. Colour independent on-line track boundary estimation. Nonlinear Model Predictive Contouring Control

2017

Car #433

Info

194x

The AMZ Racing team was founded in 2006 by students of ETH Zurich. In 2010 AMZ switched to electric vehicles and started an ongoing collaboration with the University of Lucerne. For the first time in 2017, the team enters the competition with a second vehicle: flüela driverless. Based on the 2015 car a fully autonomous vehicle is designed and tested. The team consists of former electric members as well as new students from Robotics, Systems and Controls.

Engineering Design Priorities:

powerful lightweight efficient reliability maintainability stiffness

Car Specifications

General

Frame Construction	CFRP single piece monocoque with integrated suspension brackets
Material	Intermediate and high modular CFRP-prepreg (twill and UD) with aluminium honeycomb core
Overall L	2870 mm
Overall W	1438 mm
Overall H	1139 mm
Wheelbase	1530 mm
Track (Fr)	1200 mm
Track (Rr)	1180 mm
Weight with 68kg driver (Fr)	82 kg
Weight with 68kg driver (Rr)	103 kg
Suspension	Double A-Arm Pushrod actuated by spring with custom air chamber and adaptive dampers
Tyres (Fr / Rr)	465 x 191-254 Hoosier R25B (both)
Wheels (Fr / Rr)	10‘‘ self developed single piece carbon rim, centerlocked (both)
Drive Type	planetary gear with staged planets
Differential	None
Cooling	Single serial cooling circuit with two radiators mounted in the sidepods.
Brake System	Self developed floating rotors, 190mm diameter, adjustable brake balance
Electronics	self programmed VCU and telemetry system, CAN communication via self developed mini can mo

Powertrain

Number of Motors	4
Motor Location	wheel hub mounted
Max Motor Power (per motor)	4 x 37 kW kW
Motor Type	AMZ M5, self-developed PMSM. inrunner
Max Motor RPM (highest)	20000 rpm
Motor Controller	Lenze Schmidhauser Dual DCU
Max System Voltage	470 V
Electrode Materials	LiPo
Combined Accumulator Capacity	6.46 kWh kWh
Transmission Ratio (Primary)	1:14.5 : 1
Transmission Ratio (Secondary)	-

Driverless System

Processing unit(s)	Robust Master and high-performance Slave
Floating Point Operations Per Second of all processing units that are working for the DV system	368 GigaFLOPS
Power consumption of all processing units that are working for the DV system	136 W
Camera(s)	Self-developed inertial stereo camera based on synchronized grey-scale FLIR Blackly
Radar sensor(s)	-
Lidar sensor(s)	Velodyne Puck VLP-16, mounted above the front wing
Other sensors	SBG Ellipse-N Inertial Navigation System, Kistler Correvit SFII Velocity Sensor
Highlights of the DV system	Custom computing and sensor setup, robust against single sensor failure, LiDAR SLAM, Visual-Inertial SLAM, Nonlinear Model Predictive Contouring Control, total weight of DV system: 12 kg