Sensor Integration

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Polaris GEM e4 Electric Vehicle



Platform Actuation and Control Module 2 (PACMod2)

Computing

Nuvo-8108GC Computer
CPU : Intel Xeon E-2278G 3.40GHz x16
GPU : NVIDIA RTX A4500
Memory : 64GB DDR4
PCIe Ethernet Card : PCIe-PoE354at
4G/LTE Internet Card : NSIO-LTE-7455

GNSS-IMU

Septentrio AsteRx Sbi3 Pro+
GNSS Technology:

GPS: L1C/A, L1PY, L2C, L2P, L5

GLONASS: L1CA, L2CA

BeiDou: B1I, B2I, B3I

Galileo: E1, E5a, E5b, E5 AltBoc

SBAS: EGNOS, WAAS, GAGAN, MSAS, SDCM

QZSS: L1C/A, L2C, L5

Interface:

Hi-speed serial ports (RS232)

Ethernet port (TCP/IP, UDP, LAN 10/100 Mbps)

High-speed/full-speed USB device port

FTP server

NTRIP (client)

Sensors

Front Camera (OAK-D Long Range)

Sensor Model: Triple AR0234 2.3MP

Shutter Type: Global

Three Stereo Baselines: 5cm, 10cm, and 15cm

Resolution: 1920 x 1200

Speed: USB3.1 @ 5 Gbps

Front LiDAR (Livox HAP)

Detection Range: 150 m

Field of View: 120^o (Horizontal) × 25^o (Vertical)

Angular Resolution: 0.23^o (Vertical) × 0.18^o (Horizontal)

Point Rate: 452,000 points/s (first or strongest return)

Speed: Ethernet @ 100 Mbps

Top LiDAR (Ouster OS1-128)

Maximum Range: 200 m

Minimum Range: 0.5 m (to be reduced in FW 3.1)

Vertical Resolution: 128 channels

Horizontal Resolution: 512, 1024, or 2048 (configurable)

Rotation Rate: 10 or 20 Hz (configurable)

Field of View: Vertical: 45^o (+22.5^o to -22.5^o) Horizontal: 360^o

Angular Sampling Accuracy: Vertical: ±0.01^o / Horizontal: ±0.01^o

False Positive Rate: 1/10,000

Range Resolution: 0.1 cm

Number of Returns: 2 (strongest, second strongest)

Speed: Ethernet @ 1 Gbps

Corner Camera (LUCID Triton 2.3 MP)

Sensor Model: Sony IMX392 CMOS

Shutter Type: Global

Sensor Size: 7.9 mm (Type 1/2.3″)

Resolution: 1920 x 1200

Framerate: 48.3 FPS @ 2.3 MP

Speed: PoE Ethernet @ 1 Gbps

4D Automotive Radar (Smartmicro DRVEGRD 171, LRR, MRR, SRR)

Detection Range Max: 240 m / 98 m / 42 m

Detection Range Min: 1.2 m / 0.5 m / 0.2 m

Range Separation: ≤ 2.4 m / ≤ 1.0 m / ≤ 0.4 m

Range Accuracy: ≤ 0.6 m / ≤ 0.25 m / ≤ 0.1 m

Speed Min/Max: -400/+200 km/h

Speed Separation: ≤ 0.26 m/s / ≤ 0.52 m/s

Speed Accuracy: ≤ 0.07 m/s / ≤ 0.14 m/s

Field of View Azimuth: -50^o/+50^o

Field of View Elevation: -10^o/+10^o

Angle Accuracy Azimuth: ≤ 0.25^o

Angle Accuracy Elevation: ≤ 0.5^o

Speed: Automotive Ethernet @ 100 Mbps

Copyright to Smartmicro

4D Automotive Radar (Smartmicro DRVEGRD 152, LRR, MRR)

Detection Range Min/Max: 0.9 m to 180 m / 0.33 m to 66 m

Range Separation: ≤ 1.8 m / ≤ 0.66 m

Range Accuracy: ≤ 0.45 m / ≤ 0.16 m

Speed Min/Max: -400/+200 km/h

Speed Separation: < 0.26 m/s

Speed Accuracy: < 0.07 m/s

Field of View Azimuth: -50^o/+50^o

Field of View Elevation: -10^o/+10^o

Angle Accuracy Azimuth: ≤ 0.25^o

Angle Accuracy Elevation: ≤ 0.5^o

Speed: Automotive Ethernet @ 100 Mbps

Copyright to Smartmicro

4D Automotive Radar (Smartmicro DRVEGRD 169, LRR, MRR, SRR, USRR)

Detection Range Max: 130 m / 55 m / 19 m / 9.5 m

Detection Range Min: 1.3 m / 0.6 m / 0.2 m / 0.1 m

Range Separation: ≤ 1.3 m / ≤ 0.6 m / ≤ 0.2 m / ≤ 0.1 m

Range Accuracy: ≤ 0.67 m / ≤ 0.3 m / ≤ 0.1 m / ≤ 0.05 m

Speed Min/Max: -340 km/h to +140 km/h / -60 km/h to +60 km/h

Speed Separation: < 0.3 m/s

Speed Accuracy: < 0.15 m/s

Field of View Azimuth: -65^o/+65^o / -70^o/+70^o

Field of View Elevation: -7.5^o/+7.5^o / -14^o/+14^o

Angle Accuracy Azimuth: ≤ 0.5^o

Angle Accuracy Elevation: ≤ 0.5^o

Speed: Automotive Ethernet @ 100 Mbps

Copyright to Smartmicro

Cradlepoint IBR1700 Mobile Router

Sensors (Archived)

NovAtel ProPak 6 & SPAN-IGM-S1

Reference

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