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Kyle Drake edited this page Oct 3, 2025 · 2 revisions

Architecture

The full system architecture for the Arch Linux–based in-car platform. It outlines the data flow between compute, RF subsystems, optical sensors, vehicle telemetry, networking, and the head unit projection pipeline.

1. High-Level Overview

The system is structured as four interacting layers:

  1. Hardware Layer — Jetson, SDRs, downconverters, photodiodes, OBD, cameras, GPS, iPhone hotspot.
  2. OS & Projection Layer — Arch Linux, custom interface, USB gadget emulation (via Pi Zero).
  3. Signal & Data Processing Layer — GNU Radio, DSP pipelines, sensor fusion, logging.
  4. AI & Autonomy Layer — Local LLMs, adaptive dashboard, event reasoning, future autonomy hooks.

2. Data Flow

  • Jetson Orin Nano acts as the central compute node.
  • RF subsystem captures radar bands via SDR + downconverters, processes in real-time DSP.
  • Optical subsystem detects LIDAR pulses via photodiodes and fast ADC.
  • OBD-II + CAN feed vehicle telemetry into Python-OBD and CAN decoders.
  • Multi-camera vision provides visual context for fusion and UI.
  • iPhone hotspot provides both LTE internet and NMEA GPS feed.
  • Raspberry Pi Zero 2 W bridges Jetson’s UI stream to the car’s head unit via Android Auto emulation.
  • Head unit displays the custom Linux interface, while steering wheel/console buttons forward input events back to Jetson.

3. Detailed Mermaid Diagram

graph TD

%% Core Compute
    J[Jetson Orin Nano - Arch Linux + Custom Interface]

%% Projection Path
    J -->|H.264 Video Stream| P[Raspberry Pi Zero 2 W - USB Gadget Emulation]
    P -->|USB / Android Auto Emulation| HU[Car Head Unit - Display + Controls]

%% Input Feedback
    HU -->|HID / Button Events| P
    P -->|Forwarded Controls| J

%% RF Subsystem
    subgraph RF [RF Subsystem]
        X[X-Band Front-End - Horn + LNA + Downconverter]
        K[K-Band RFbeam Module - IF Out]
        KA[Ka-Band Front-End - Horn + mmWave LNA + Downconverter]
        SDR[SDR - USRP B200/B210]
    end
    X --> SDR
    K --> SDR
    KA --> SDR
    SDR -->|IQ Samples| J

%% Optical Subsystem
    subgraph OPT [Optical Subsystem]
        PD[905 nm Photodiodes + Filters]
        TIA[Fast TIA + ADC]
    end
    PD --> TIA -->|Pulse Data| J

%% Telemetry
    subgraph VEH [Vehicle Telemetry]
        OBD[OBDLink MX+]
        CAN[USB2CAN Adapter]
        IMU[9-DOF IMU Module]
    end
    OBD --> J
    CAN --> J
    IMU --> J

%% Cameras & Vision
    CAM[USB/CSI Cameras] --> J

%% GPS & Net
    IPH[iPhone Hotspot - LTE + GPS] --> J
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4. Summary

  • Central Compute: Jetson orchestrates all subsystems.
  • Projection Path: Jetson → Pi Zero → Head Unit.
  • Sensing: RF (X/K/Ka), optical (laser), cameras, OBD, IMU, GPS.
  • Networking: iPhone hotspot provides internet + GPS feed.
  • Fusion: Jetson aligns multi-modal sensor streams.
  • AI Layer: optional LLM-based agents enhance dashboard and reasoning.

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