Sensor Integration


Polaris GEM e4 Electric Vehicle

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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: 120o (Horizontal) × 25o (Vertical)
  • Angular Resolution: 0.23o (Vertical) × 0.18o (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: 45o (+22.5o to -22.5o) Horizontal: 360o
  • Angular Sampling Accuracy: Vertical: ±0.01o / Horizontal: ±0.01o
  • 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: -50o/+50o
  • Field of View Elevation: -10o/+10o
  • Angle Accuracy Azimuth: ≤ 0.25o
  • Angle Accuracy Elevation: ≤ 0.5o
  • 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: -50o/+50o
  • Field of View Elevation: -10o/+10o
  • Angle Accuracy Azimuth: ≤ 0.25o
  • Angle Accuracy Elevation: ≤ 0.5o
  • 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: -65o/+65o / -70o/+70o
  • Field of View Elevation: -7.5o/+7.5o / -14o/+14o
  • Angle Accuracy Azimuth: ≤ 0.5o
  • Angle Accuracy Elevation: ≤ 0.5o
  • Speed: Automotive Ethernet @ 100 Mbps

    • Copyright to Smartmicro


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