MuCAR-3 Sensor Setup

MuCAR-3 is based on a Volkswagen Touareg. The vehicle is fully equipped with drive-by-wire capabilities:

  •  electro-mechanical steering actuator
  •  electronic trottle interface
  •  electro-hydraulic brake actuator ('brake boost')
  •  electro-mechanical gearbox actuator
  •  electro-mechanical parking brake actuator


Many sensors were integrated to perceive the environment as well as the vehicle's state:

  •  Velodyne VLS-128 LiDAR sensor
  •  Oxford RT3003 INS
  • 360° color camera
  •  MarvEye-8 camera platform equipped with color and NIR cameras
  •  FLIR thermal camera
  •  SMS Radar

A so-called 'high-level computer' runs all sensor data processing, path planning and behavior algorithms.
The low-level control and electrical interfaces to the actuators are realized using a real-time capable dSPACE Autobox.