> For the complete documentation index, see [llms.txt](https://dev.solid-run.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://dev.solid-run.com/renesas/rz-v2n/rz-v2n-other-articles/rz-v2n-ai-autonomous-car-demo/autonomous-car-on-hb-iiot-setup-and-assembly.md).

# Autonomous Car on HB-IIoT – Setup & Assembly

<figure><img src="/files/ReKZu7FPPLHd6XhGBGxc" alt=""><figcaption></figcaption></figure>

### Introduction

This document describes the mechanical and electrical assembly of the autonomous vehicle drive system.

The guide covers chassis preparation, DC motor installation, encoder wiring, and Arduino-based motor control using a dedicated motor shield.

### Kit Contents

#### V2N

The RZ/V2N SOM is the compute module used throughout this demo. See the [RZ/V2N SOM Hardware User Manual](https://developer.resources.solid-run.com/wiki/spaces/developer/pages/1709178894/RZ+V2N+SOM+Hardware+User+Manual) for full specifications.

#### V2N EVK

The HummingBoard-IIoT (HB-IIoT) carrier paired with the RZ/V2N SOM serves as the main compute platform for the car. See the [HummingBoard IIOT & RZ/V2N SOM Quick Start Guide](https://developer.resources.solid-run.com/wiki/spaces/developer/pages/1526005761/HummingBoard+IIOT+RZ+V2N+SOM+Quick+Start+Guide).

#### V3 Robot Car DIY Kit

**Order link:** <https://a.aliexpress.com/_c4FHlaaR>

Verify that all components are available before starting the assembly process.

| Part Name                                                     | Link                                             | Image                                                               |
| ------------------------------------------------------------- | ------------------------------------------------ | ------------------------------------------------------------------- |
| 4 × DC geared motors with integrated A/B encoders             | [AliExpress](https://a.aliexpress.com/_c4FHlaaR) | <img src="/files/C5FjdBK2x7lpl5GCRHBk" alt="" data-size="original"> |
| Vehicle chassis with pre-drilled motor mounting holes (M1–M4) | —                                                | <img src="/files/VWwdHQJbYCQrCw7Pxuh5" alt="" data-size="original"> |
| Wheels compatible with 6 mm D-shaft                           | —                                                | <img src="/files/Zqxjz2qsJnBcVrseZQ9S" alt="" data-size="original"> |
| Motor mounting screws                                         | —                                                | <img src="/files/xa7glfSLz5JLnKqXBeb3" alt="" data-size="original"> |
| Arduino UNO                                                   | —                                                | <img src="/files/M34fqIAo2QrJB9ufhlPW" alt="" data-size="original"> |
| Motor Shield V5.3                                             | —                                                | <img src="/files/anplv0mpx2GrsDtfWFCK" alt="" data-size="original"> |
| 4 × Encoder cables (PH2.0)                                    | —                                                | <img src="/files/roNxzcDggIdur4IBl03k" alt="" data-size="original"> |

#### RPLIDAR

| Part Name       | Link                                             | Image                                                               |
| --------------- | ------------------------------------------------ | ------------------------------------------------------------------- |
| RPLIDAR A1M8-R6 | [AliExpress](https://a.aliexpress.com/_c34tAd51) | <img src="/files/TnsGXrwBbawBToe1cK2A" alt="" data-size="original"> |

#### Screen

| Part Name                                             | Notes                                                                                                                                                                                                                        | Image                                                               |
| ----------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
| 7″ TFT with MIPI interface (SolidRun P/N **DS00007**) | Ships as part of the HB-IIoT RZ/V2N EVK. See the [HummingBoard RZ/V2N IIOT SBC product page](https://www.solid-run.com/embedded-industrial-iot/renesas-rz-family/hummingboard-rz-series-sbcs/hummingboard-rz-v2n-iiot-sbc/). | <img src="/files/uvEaWpF6Vb3N51vaVwFJ" alt="" data-size="original"> |

#### Camera

| Part Name | Link | Image |
| --------- | ---- | ----- |
|           |      |       |

#### Battery

| Part Name                                                 | Link                                                                                                                                                                      | Notes                                                         |
| --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------- |
| 3 \* Nitecore NL1840HP 4000mAh Rechargeable 18650 Battery | [nitecorestore](https://nitecorestore.com/products/nitecore-nl1840hp-4000mah-rechargeable-18650-battery?srsltid=AfmBOoqZyHOUVgADKxB_Gkm33x-Y0-D_Q2JcTk7rH3Ag68Y1vSOLz7QN) | Battery pack powering both the EVK and the Motor Shield V5.3. |

#### Mechanical Components

| Part Name                                                | Link                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | Image                                                               |
| -------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
| Spacers: M3×100 mm ×5, M3×80, M3×70                      | [AliExpress](https://a.aliexpress.com/_c4tcjSs7)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | <img src="/files/1TH3Zkxdz7m8vMtVtRIK" alt="" data-size="original"> |
| M3 screws set (option 2510), or 4 pcs M3×10 mm screws    | [AliExpress](https://a.aliexpress.com/_c3I0472T)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | <img src="/files/m9K3Kn07NEbpMlGQSJat" alt="" data-size="original"> |
| Push Button Mini Switch 6A-10A 110V 250V KCD1 21MM\*15MM | [AliExpress](https://he.aliexpress.com/item/1005011824866050.html?src=google\&src=google\&albch=shopping\&acnt=272-267-0231\&isdl=y\&slnk=\&plac=\&mtctp=\&albbt=Google_7_shopping\&aff_platform=google\&aff_short_key=UneMJZVf\&gclsrc=aw.ds\&albagn=888888\&ds_e_adid=740337195588\&ds_e_matchtype=search\&ds_e_device=c\&ds_e_network=g\&ds_e_product_group_id=296303633664\&ds_e_product_id=he1005011824866050\&ds_e_product_merchant_id=5762056048\&ds_e_product_country=IL\&ds_e_product_language=iw\&ds_e_product_channel=online\&ds_e_product_store_id=\&ds_url_v=2\&albcp=22367044726\&albag=175489853663\&isSmbAutoCall=false\&needSmbHouyi=false\&gad_source=1\&gad_campaignid=22367044726\&gbraid=0AAAAAoukdWPyzwkz0OEUqw95KoSG7sHaV\&gclid=Cj0KCQjwrs7RBhDuARIsAIVfBD375-i6OHIis6O_XG7_QyWJQkBfb4UmTI_-jAJ0gWAlnAlX_wtQkI0aAs7WEALw_wcB\&gatewayAdapt=glo2isr) | <img src="/files/2RxjYPN7QEFscH4dGZjv" alt="" data-size="original"> |

***

#### 3D printing parts

| Part Name          | Link                                                                                    |
| ------------------ | --------------------------------------------------------------------------------------- |
| Screen stand       | <div data-gb-custom-block data-tag="file" data-src="/files/XE8P03r98LABiO9nXMBK"></div> |
| Camera stand       | <div data-gb-custom-block data-tag="file" data-src="/files/e0Oxeahjpbc40TtTDr8E"></div> |
| Top mounting plate | <div data-gb-custom-block data-tag="file" data-src="/files/I9hrT0kHwE4GSsKn2fSf"></div> |

### Mechanical Assembly

#### Motor Placement on Chassis

<figure><img src="/files/Mb3phQKEbH4yqetNafCT" alt="" width="188"><figcaption></figcaption></figure>

The chassis supports four motors positioned symmetrically. Each motor is wired to two PWM channels on the Motor Shield V5.3 — one for forward rotation, one for reverse.

| Motor ID | Position    | IN1 pin (forward PWM) | IN2 pin (reverse PWM) |
| -------- | ----------- | --------------------- | --------------------- |
| **M1**   | Front-Left  | CH8                   | CH9                   |
| **M2**   | Rear-Left   | CH10                  | CH11                  |
| **M3**   | Rear-Right  | CH14                  | CH15                  |
| **M4**   | Front-Right | CH12                  | CH13                  |

<figure><img src="/files/B6Fw2pVSuUDJWTlCaIrE" alt="" width="188"><figcaption></figcaption></figure>

Ensure that the motor shafts face **outward** and the gearboxes face **inward**.

#### Mounting Procedure

Follow the sequence in Assembling The Car below. The 3D printing parts (attached at the bottom of this page) should be printed before beginning assembly.

#### Assembling The Car

<figure><img src="/files/qeqbQy7sZh7bbqP5nr5E" alt=""><figcaption></figcaption></figure>

1. **Attach encoder cables.** Connect the encoder cable connector to the designated connector at the rear of each motor until a click is felt, indicating a fully seated connection. Verify that the connector is firmly attached and not loose. Repeat for all four motors.

<figure><img src="/files/3HRhbaFiNEZqyVzfnAUB" alt="" width="160"><figcaption></figcaption></figure>

2. **Install the front swing-arm bracket.** Secure it using 3×6 screws.
3. **Install the small brackets.** Pay attention to top and bottom orientation — do not install them upside down.
4. **Fix the shaft in place.**

   * Use the retaining screw to secure the shaft from the inside.
   * Press and hold the through-column while installing.
   * Install the motor on the opposite side as well, ensuring that the small bracket on that side is facing the correct direction.
   * Secure the assembly using M4 screws.

   Do not tighten the screws fully at this stage — they will need to be adjusted later.

<figure><img src="/files/4uzVsdDRW7Xb9b7bMSQG" alt=""><figcaption></figcaption></figure>

5. **Secure the front swing arm** to the bottom plate.
6. **Mount the two rear motors.** Secure the two additional motors to the rear brackets, then attach the brackets to the bottom plate.
7. **Attach the Arduino board** to the car chassis using the designated screws.
8. **Install the Motor Shield V5.3.** Connect the shield to the Arduino Uno, then connect the encoder cables and the power cables to the board.

<figure><img src="/files/cWj8gtW3iz2ASTmruySS" alt=""><figcaption></figcaption></figure>

9. **Attach the top plate** using the appropriate screws.
10. **Install the wheels** in their positions — pay attention to wheel orientation.

#### Assembling sensors

1. Attach the top mounting plate and the screen stand to the car’s top plate

<figure><img src="/files/rT4jmj0nlHGbq0vEjydo" alt=""><figcaption></figcaption></figure>

2. Secure the LiDAR sensor and RZ/V2N EVK to the top mounting plate using **M2.5×14** screws and spacers M3×30 mm.
3. Secure the screen to its mounting bracket using the screws provided in the kit.
4. Secure the battery housing at the designated location.
5. Insert the switch into the designated hole.
6. Insert the camera into its mounting bracket and attach it to the top mounting plate.

<figure><img src="/files/Nsp86GUYGLwUEpPJ2Wps" alt=""><figcaption></figcaption></figure>

7. **Connect the RPLIDAR** to the EVK using the designated USB cable.
8. **Connect the Arduino Uno** to the EVK using the designated USB cable.
9. **Connect the camera** to the EVK using a USB cable.
10. **Wire** the battery, switch, EVK, and Motor Shield V5.3 as shown in the circuit diagram.

<figure><img src="/files/6AYqTGZpgsdSSr0otEJv" alt="" width="375"><figcaption></figcaption></figure>

**Do not connect the batteries directly to the Arduino Uno.** The Arduino is powered through USB from the EVK.


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