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.

Event Profile

Past Events

2021

Car #433

Info

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 Length (mm)	2932
Overall Width (mm)	1422
Overall Height (mm)	1156
Wheelbase (mm)	1530
Track Front (mm)	1220
Track Rear (mm)	1220
Weight Front (kg)	97
Weight Rear (kg)	100
Suspension	A-arms and pushrods, hydraulically actuated, mode decoupled suspension with MRF dampers
Tyres	18.3x7.0-13, Continental C17
Wheels	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	38.44kW
Motor Type	Permanent magnet synchronous inrunners
Max Motor RPM	24000 1/min
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage (V)	462
Electrode Materials	LiCoO2
Accumulator Capacity	6.2kWh
Transmission Ratio Primary	1:18.28
Transmission Ratio Secondary	-

Driverless System

Processing Units	CPU: Intel Quad-Core Xeon E3-1505M V6, GPU: NVIDIA GeForce RTK 3060
Processing Units FLOPS	-
Processing Units Power (W)	210
Cameras	3 Basler cameras with a combined opening angle of 135° and overlapping FOVs
Radar Sensors	-
LiDAR Sensors	Hesai Pandar 20 & 64
Other Sensors	INS with dual antenna GNSS, non-contact optical speed sensor
DV System Highlights	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

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 Length (mm)	2932
Overall Width (mm)	1422
Overall Height (mm)	1156
Wheelbase (mm)	1530
Track Front (mm)	1220
Track Rear (mm)	1220
Weight Front (kg)	97
Weight Rear (kg)	100
Suspension	A-arms and pushrods, hydraulically actuated, mode decoupled suspension with MRF dampers
Tyres	18.3x7.0-13, Continental C17
Wheels	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	38.44kW
Motor Type	Permanent magnet synchronous inrunners
Max Motor RPM	24000 1/min
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage (V)	462V
Electrode Materials	LiCoO2
Accumulator Capacity	6.2kWh
Transmission Ratio Primary	1:18.28
Transmission Ratio Secondary	-

Driverless System

Processing Units	CPU: Intel Quad-Core Xeon E3-1505M V6, GPU: NVIDIA GeForce 1070
Processing Units FLOPS	6660
Processing Units Power (W)	210
Cameras	Two Basler mono cameras with a combined opening angle of 135° enabling cone detections up to 20m
Radar Sensors	-
LiDAR Sensors	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
DV System Highlights	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

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 Length (mm)	2943
Overall Width (mm)	1425
Overall Height (mm)	1159
Wheelbase (mm)	1530
Track Front (mm)	1220
Track Rear (mm)	1220
Weight Front (kg)	90
Weight Rear (kg)	85
Suspension	Double unequal length A-Arms, pushrod actuated air springs and adaptive dampers, heavespri
Tyres	Continental C18 13
Wheels	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	29.4 kW
Motor Type	Permanent excited watercooled synchronous
Max Motor RPM	19200
Motor Controller	Lenze-Schmidhauser Dual DCU
Max System Voltage (V)	470
Accumulator Capacity	2.9 kWh
Transmission Ratio Primary	1:14.4

Driverless System

Processing Units	PIP 39, Jetson TX2
Processing Units FLOPS	3724
Processing Units Power (W)	120
Cameras	3 cameras, 20 m range, 2 stereo 1 mono layout
Radar Sensors	-
LiDAR Sensors	Velodyne Hi-Res
Other Sensors	INS, Absolute Speed Sensor
DV System Highlights	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

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 Length (mm)	2870
Overall Width (mm)	1438
Overall Height (mm)	1139
Wheelbase (mm)	1530
Track Front (mm)	1200
Track Rear (mm)	1180
Weight Front (kg)	82
Weight Rear (kg)	103
Suspension	Double A-Arm Pushrod actuated by spring with custom air chamber and adaptive dampers
Tyres	465 x 191-254 Hoosier R25B (both)
Wheels	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	4 x 37 kW
Motor Type	AMZ M5, self-developed PMSM. inrunner
Max Motor RPM	20000
Motor Controller	Lenze Schmidhauser Dual DCU
Max System Voltage (V)	470
Electrode Materials	LiPo
Accumulator Capacity	6.46 kWh
Transmission Ratio Primary	1:14.5
Transmission Ratio Secondary	-

Driverless System

Processing Units	Robust Master and high-performance Slave
Processing Units FLOPS	368
Processing Units Power (W)	136
Cameras	Self-developed inertial stereo camera based on synchronized grey-scale FLIR Blackly
Radar Sensors	-
LiDAR Sensors	Velodyne Puck VLP-16, mounted above the front wing
Other Sensors	SBG Ellipse-N Inertial Navigation System, Kistler Correvit SFII Velocity Sensor
DV System Highlights	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