Season 2022

The FR-22D is the vehicle developed by the Firenze Race Team in 2022, representing a significant advancement over the previous model. It features several major upgrades, including OZ magnesium alloy wheels with Pirelli tires, the introduction of a passive pre-chamber, an improved braking system, and aerodynamic enhancements. This dedicated work was rewarded with a victory in Class 3 of Formula ATA.

TEAM NAME Firenze Race Team

UNIVERSITY University of Florence

CHASSIS TYPE Steel tubular space frame in AISI 4130

WHEELBASE 1550 mm

FRONT - REAR TRACK WIDTH1250 mm - 1230 mm

OVERALL LENGTH 2920 mm

WEIGHT DISTRIBUTION 44% Front - 56% Rear (without driver)

DRY WEIGHT 220 kg

WHEELS OZ Formula Student magnesium alloy rims 7” x 13”, Pirelli 185/40-13 tires

ENGINE Beta RR 498cc, increased to 518cc

PASSIVE PRE-CHAMBER 6 holes of 1.1 mm

FUEL INJECTION Indirect, single injector

FORCED INDUCTION Garrett MGT-1238Z turbocharger with electronic wastegate

MAX TORQUE 61 Nm @ 8000 rpm

POWER 77 hp / 57 kW @ 9000 rpm

TRANSMISSION Electro-pneumatically actuated sequential gearbox

DIFFERENTIAL Limited slip differential

BRAKING SYSTEM 4 floating discs with 4-piston radial calipers, balance bar and proportional valve

AERODYNAMICS Frontal area 1.1 m², Downforce 750 N, Drag 355 N @ 80 kph

ELECTRONICS Custom ECUs and BSPD

CONTROL UNIT Cincoze GM 1000 with RTX 3000 and Intel i7-9700 E

VISION SENSOR Intel RealSense D455 RGBD Camera

REAL-TIME SYSTEM ROS Noetic

VISION ALGORITHM ORB-SLAM + YOLOv5 for cone detection

CONTROL ALGORITHM Adaptive MPC using centerline trajectory / optimized trajectory with LSTM

AUTONOMOUS STEERING Rack-and-pinion actuation with ball screw, 150 W brushless motor, closed-loop position control

AUTONOMOUS BRAKING 24 V linear electric actuator, mounted under the pedal box, operating the master cylinders via a lever

EMERGENCY BRAKE SYSTEM Two redundant pneumatic systems, each powering an actuator that directly acts on the brake pedal