You might remember a few weeks ago we had reports on a self-driving Audi TT which is programmed to tackle Pikes Peak rally all on its own! Now Audi has released more details on this car which is nicknamed “Shelley” in honor of Michele Mouton, arguably the most successful female rally driver to date who played a significant part in Audi’s racing history. The car is the result of joint project between Volkswagen Electronics Research Lab, Stanford Dynamics Design Lab and Sun Microsystems.

Shelley uses a very cool technology with lots of censors and highly advanced but mind-numbingly boring algorithms to not only be able to drive itself up the hills, but also to keep it safe. It is fitted with safety systems that can shut down the car automatically if things got dangerous. There is also a system by which the operator can shut it down remotley from 20 miles away!

Vehicle:

• Make and model: 2009 Audi TTS
• Engine: 2.0L Turbocharged I4 DOHC
• Transmission: 6-Speed S tronic automatic transmission
• Fuel Consumption: City: 21 mpg
• Highway: 29 mpg
• Combined: 24 mpg
• Power: 265 hp @ 6000 rpm
• Torque: 258 lb-ft. @ 2500 – 5000 rpm
• Top speed: 155 (249km/h),
• Acceleration: 0-60mph: 4.9sec
• Weight incl. sensor: ~ 1470kg.

Drive-By-Wire:

• Steering: Modified ”APA-BS” (Axially Parallel Actuation-Braun-Schweig), a new production electric power steering system with direct by-wire control through custom ERL Electronics.
• Throttle: Electronics from VW ERL reproduce signals to emulate a driver pressing on the throttle.
• Brakes: Active brake booster from Continental with by-wire control through ERL Electronics.
• Gear: Modification of signals exchanged between transmission and gear shifter using custom ERL electronics on production hardware.
• Parking brake: Use of stock electric parking brake from VW Passat through a custom ERL electronic interface utilized on Junior.

Vehicle Control:

• Hardware : Two independent systems are being used in the Pikes Peak TTS, the initial controller development is being done on an XPC target using Matlab and Simulink which are the standard research tools from Stanford’s DDL. The final vehicle controls are being run on ruggedized custom built solutions running a Core2Duo CPU and Solaris operating system that is being developed in collaboration with Sun Microsystems.
• Software : The Stanford University Dynamics Design Lab is developing cutting edge control algorithms that look to optimize the ability to control the vehicle under the most demanding circumstances. As these algorithms are finalized they will be merged into a new framework being developed at the ERL based that shares many components with other ERL Autonomous driving projects.