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docs: update the reference design guideline (#783)
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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‎docs/reference-design/get-started/.pages‎

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nav:
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- Find Your Reference Design: find-your-reference-design.md
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- Design Choices by Example: build-examples.md
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- Example Builds:
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- RoboRacer: RoboRacer
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- Go-Kart: GoKart
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- AutoSDV: AutoSDV

‎docs/reference-design/get-started/AutoSDV/images/logo_brand_black.png‎

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‎docs/reference-design/get-started/AutoSDV/index.md‎

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# Overview
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<p align="center">
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<img src="images/logo_brand_black.png" alt="AutoSDV Logo" width="300"/>
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</p>
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The AutoSDV project (Autoware Software-Defined Vehicle) is an affordable 1/10 scale autonomous driving platform developed by NEWSLab at National Taiwan University. It provides a complete stack from hardware specifications to software implementation for educational and research institutes.
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## Platform Models
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| Feature | Base | 360° LiDAR | Solid-State | Connected |
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| ---------------- | ----------- | --------------------- | ------------------ | ------------------ |
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| **LiDAR** | None | Velodyne VLP-32C | Seyond Robin-W | Seyond Robin-W |
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| **LiDAR FOV** | - | 360° × 40° | 120° × 25° | 120° × 25° |
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| **LiDAR Range** | - | 100m | 150m | 150m |
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| **Localization** | Vision only | NDT (full autonomous) | Development needed | Development needed |
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| **Connectivity** | Standard | Standard | Standard | 5G (Ataya/MOXA) |
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| **Battery Life** | 40 min | 40 min | 40 min | 40 min |
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<table align="center" border="0" style="margin: 2em 0;">
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<tr>
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<td align="center" valign="bottom">
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<img src="https://github.com/NEWSLabNTU/AutoSDV/blob/6a5099b8f098cb0b0eac59fe72e6b6a7af006898/figures/model_robin-w.webp?raw=true" alt="Robin-W Solid-State LiDAR Kit" width="80%"/>
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</td>
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<td align="center" valign="bottom">
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<img src="https://github.com/NEWSLabNTU/AutoSDV/blob/6a5099b8f098cb0b0eac59fe72e6b6a7af006898/figures/model_velodyne_32c.webp?raw=true" alt="Velodyne 32C LiDAR Kit" width="80%"/>
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</td>
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<td align="center" valign="bottom">
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<img src="https://github.com/NEWSLabNTU/AutoSDV/blob/6a5099b8f098cb0b0eac59fe72e6b6a7af006898/figures/model_cube1_moxa-5g.webp?raw=true" alt="MOXA 5G Kit" width="80%"/>
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</td>
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</tr>
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<tr>
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<td align="center"><b>Solid-State LiDAR</b></td>
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<td align="center"><b>360° LiDAR</b></td>
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<td align="center"><b>5G Connected</b></td>
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</tr>
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</table>
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## Core Components
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| Component | Specification |
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| ------------ | ---------------------------- |
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| **Chassis** | Tekno TKR9500 (16×11×5 inch) |
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| **Computer** | NVIDIA Jetson AGX Orin 64GB |
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| **Storage** | 1TB NVMe SSD |
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| **Camera** | ZED X Mini Stereo |
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| **IMU** | MPU9250 9-axis |
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| **Motor** | Brushless 4274/1500kv |
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## Software
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AutoSDV runs on Autoware with ROS 2, providing autonomous navigation capabilities for outdoor environments.
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| Component | Details |
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| --------------- | ----------------------------------------------- |
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| **Autoware** | Autoware.universe |
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| **ROS** | ROS 2 Humble |
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| **Source Code** | [GitHub](https://github.com/NEWSLabNTU/AutoSDV) |
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## Resources
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- **Documentation**: [AutoSDV Book](https://newslabntu.github.io/autosdv-book/)
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- **Source Code**: [GitHub Repository](https://github.com/NEWSLabNTU/AutoSDV)
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- **Issues**: [GitHub Issues](https://github.com/NEWSLabNTU/AutoSDV-book/issues)
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## Contributors
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- NEWSLab, National Taiwan University (Hsiang-Jui Lin, Chi-Sheng Shih)

‎docs/reference-design/get-started/Delivery/Autoware_Delivery_Vehicle_Prototype.pdf‎

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‎docs/reference-design/get-started/Delivery/index.md‎

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# Autoware Delivery Vehicle
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This section describes the design of delivery vehicles based on Autoware.
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## Documentation
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- [Autoware Delivery Vehicle Prototype (PDF)](Autoware_Delivery_Vehicle_Prototype.pdf)

‎docs/reference-design/get-started/GoKart/images/GoKart-ComputeSensing.png‎

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‎docs/reference-design/get-started/GoKart/images/MetaRadarChart-GoKart.png‎

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‎docs/reference-design/get-started/GoKart/index.md‎

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## Overview
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This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
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## Design Overview
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![Meta-Info Radar Chart for Go-Kart Design](images/MetaRadarChart-GoKart.png)
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![Tech Feature Radar Chart for Go-Kart Design](images/TechRadarChart-GoKart.png)
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## Who should read
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One is interested in building your small size autonomous vehicles and looks for the place to start with.
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## References and Resources
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- Complete Go-Kart with Autoware documents: [link](https://go-kart-upenn.readthedocs.io/en/latest/)
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- ROS 2 Foxy setup and autonomous code: [link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_foxy_purepursuit)
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- ROS 2 Humble setup and autonomous code: [Link](https://github.com/mlab-upenn/gokart-sensor/tree/ros2_humble_purepursuit)
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- STM32 nucleo controller code: [link](https://github.com/mlab-upenn/gokart-mechatronics/tree/main/STM32%20Control)
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## Contributors
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-  Autoware Center of Excellence (under Prof. Rahul Mangharam)
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## Targeted Use Cases
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| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
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| :--------: | :-------------------------------: | :-------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: |
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| Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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## ODD
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| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
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| :-----: | :---------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: | :---------------------------------: |
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| Go-Kart | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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## Automation Level
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| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
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| :--------------: | :--------------------------------: | :--------------------------------: | :-------------------------------: | :--------------------------------: | :---------------------------------: | :---------------------------------: |
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| Go-Kart | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" checked /> | <input type="checkbox" disabled /> | <input type="checkbox" disabled /> |
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## System Architecture
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Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
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![System Architecture](https://raw.githubusercontent.com/mlab-upenn/Go-Kart/45e3f067209b3805c7d544e4d88beb27d8ee5934/docs/source/avev_gokart.png)
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## Hardware Configuration
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### Chassis
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- TopKart: [link to purchase](https://go-kart-upenn.readthedocs.io/en/latest/Bom.html)
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### Sensors
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- Lidar: Ouster LIDAR OS1 and Velodyne M1600
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- Camera: OAK-D camera
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- GNSS: RTK-GNSS
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### Computing Platforms
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- X86 laptop with nVidia GPU
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## Software Configuration
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![GoKart-ComputeSensing.png](https://github.com/mlab-upenn/Go-Kart/blob/45e3f067209b3805c7d544e4d88beb27d8ee5934/docs/source/Build-the-Kart/imgs/Software/compute.png?raw=true)

‎docs/reference-design/get-started/RoboRacer/images/RadarChart-F1Tenth.png‎

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