Vehicle
The most obvious piece of hardware that we utilize is our Lexus RX450h. It’s not your average SUV, however, as it is equipped with all the sensors that are a prerequisite for basic autonomy. The car and hardware were adapted by AutonomouStuff and everything is running on our in-house software.
Velodyne VLP-32C lidar
The long-range lidar helps to detect far-away obstacles, e.g., cars and pedestrians. The Velodyne VLP-32C has 32 lidar beams and has a detection range of about 80 meters. Ground removal and clustering is applied to extract obstacles from the point cloud. Alternatively, a special neural network can be used to detect other vehicles and pedestrians.
For some of the more tech-savvy amongst you, here is a list of all the major pieces of hardware and sensors that we use:
Ouster OS1-128 lidar
- Vertical resolution: 128 channels
- Horizontal resolution: 512, 1024, or 2048
- Horizontal FOV: 360°
- Horizontal angular resolution: min 0.17°
- Vertical angular resolution: 0.35°
- Range: 120 meters
- Precision: ±0.7-5 cm
- Frame rate: 10 or 20 Hz
Velodyne VLP-32C lidar
- Vertical resolution: 32 channels
- Horizontal resolution: 900-3600
- Horizontal FOV: 360°
- Vertical FOV: 40°
- Horizontal angular resolution: 0.1°-0.4°
- Vertical angular resolution: min 0.33°
- Range: 200 meters
- Precision: ±3 cm
- Frame rate: 5 Hz to 20 Hz
2x Allied Vision Mako G-319C cameras
- Resolution: 2064 × 1544
- Max frame rate: 37.6 fps
- Left camera FOV: 25.3°
- Right camera FOV: 32.8°
NovAtel PwrPak7D-E2 GNSS device
- Signal tracking: GPS, GLONASS, BeiDou, Galileo
- Accuracy: 1 cm + 1 ppm (in practice 5-10 cm)
- INS rate: max 200 Hz
- RTK service: ESTPOS
Aptiv’s multimode ESR 2.5 radar
Long-range
- Range: 174 m
- FOV: ±10°
- Update rate: 50 ms
- Range rate: -100-25 m/s
Mid-range
- Range: 60 m
- FOV: ±45°
- Update rate: 50 ms
- Range rate: -100-25 m/s
4x Sekonix cameras
(3x SF3324, 1x SF3325)
- Resolution: 1928 x 1208
- Max frame rate: 27 Hz
- SF3324 FOV: 120°
- SF3325 FOV: 60°
PACMod by-wire kit
- Software control of steering, the throttle and the brake
- Controllable over CAN bus
- ROS drivers available
AStuff Spectra computer
- CPU: Intel Xeon
- Memory: 32GB
- Storage: 1TB SSD
- GPU: NVIDIA RTX2080Ti
- Networking: 6x Gigabit Ethernet
- OS: Ubuntu 18.04
NVIDIA DRIVE AGX Xavier computer
- Two Xavier Systems-on-a-Chip
- Deep Learning Accelerators
- Built-in efficient video encoders and decoders
- 16x GMSL camera ports (4 in use for Sekonix cameras)
- 2 Ethernet ports
- 6 CAN buses
Comma three devkit (dashcam)
- Cameras: wide road-facing, narrow road-facing, driver-facing
- Lane Keeping
- Lane Departure Warning
- Driver Monitoring
- Connectivity: LTE, Wi-Fi, GPS, CAN bus via OBD-C