Season 2022

The FR-22D is the car developed by the Firenze Race Team in 2022, representing an advancement over the previous model. It features several significant modifications, including wheels with Oz magnesium alloy rims and Pirelli tires, the introduction of a passive pre-chamber, advancements in the braking system, and aerodynamic updates. This dedication to the project was rewarded with victory in Class 3 of the Formula ATA.

• Team Name Firenze Race Team
• University Università degli Studi di Firenze
• Chassis type Truss made of AISI 4130 steel tubes
• Wheelbase 1550 mm
• Front track - Rear track 1250 mm - 1230 mm
• Overall lenght 2920 mm
• Mass distribution 44% Front - 56% Rear without driver
• Mass (dry) 220 kg
• Wheels J7” x 13” Oz Formula Student magnesium rims, Pirelli 185/40-13 tires
• Engine Beta RR 498 cc, increased to 518 cc
• Passive Prechamber 6x1.1 mm holes
• Injection Indirect single injector
• Supercharger Garrett MGT-1238Z turbocharger with electronic WasteGate
• Maximum torque 61 Nm @ 8000 rpm
• Power 77 hp / 57 kW at 9000 rpm
• Gear system Electro-pneumatic actuated sequential gear box
• Differential Limited slip self-locking
• Braking system 4 floating discs with 4-pistons radial calipers, balance bar and prop. valve
• Aerodynamics Frontal area: = 1.1m², Downforce 750N, Drag 355N @ 80kph
• Electronics Custom-made ECUs and BSPD
• Control unit Cincoze GM 1000 with RTX 3000 and i7-9700E
• Vision Sensor Intel RealSense D455 RGBD Camera
• RealTime Environment ROS Noetic
• Vision Algorithm ORB-SLAM + YOLOv5 for Cone Detection
• Control Algorithm AdaptiveMPC using Center Line trajectory / LSTM optimized trajectory
• Autonomous Steering Rack actuation with ball screw, 150 W brushless motor and closed loop position control
• Autonomous Braking 24 V linear electric actuator, positioned under the pedal box, that actuates the master cylinders through a lever
• Emergency Brake System Two redundant pneumatic systems, each one powering an actuator that acts directly on the brake pedal