TECHNOLOGY

Shared Driverless Vehicles

Our software makes self-driving vehicles of all types operate smoothly and safely in changing conditions. The completely in-house developed LiDAR-based technology is modular by nature. This means it can be integrated to all existing autonomous driving systems.

How do we do what we do?

Let’s face it. Completely autonomous self-driving vehicles are not here yet. A society that can rely on self-driving vehicles 100% might be even decades away.

This being said, Sensible 4 self-driving technology is something like never before. Autonomous driving anywhere, anytime. Software that enables vehicles of all types drive year around – even on the most challenging icy roads in the middle of a snow white landscape minimal visibility.

More than just word, our in-house developed stack of proprietary algorithms achieve a robust autonomous driving system. It is the result of several decades of meticulous development and testing in bad weather conditions.

This is how it works.

THE SDV SYSTEM

Positioning Stack

Sensible 4’s LiDAR-based positioning software.

Obstacle Detection

Powerful Obstacle detection for all environments

Control Stack

Next level MPC-based self-driving traction control

Fleet Operations

Secure, real-time remote control for self-driving fleet

Positioning stack

“If you cannot see you should not be driving”. This rule of thumb goes for self-driving cars too.

The magic behind Sensible 4’s solution is our smart, LiDAR-based positioning software. LiDAR is an optical radar that helps self-driving cars detect the world around them and act accordingly in a safe and smart manner.

To achieve a truly accurate positioning in all conditions, we use our proprietary 3D mapping and map-based localization algorithms. We generate a 3D map of the surroundings from 3D LiDAR data. However, instead of using raw lidar data or recognising physical features from the data, we present the environment as something we call “volumetric probabilistic distributions.”

This gives us a very humanlike positioning. We look at the surroundings with our 3D LiDAR and derive where we are. In practice, this is done by matching the lidar measurements to the probabilistic distributions (the 3D-map). Probabilistic mapping and map matching generate several competitive factors. Outliers in the air such as snow, rain are automatically filtered out without any pre-filtering.

Small changes in the environment such as snow, foliage, parked cars and so on are tolerated. The same map created in summertime can also be used during winter. 

The S4 Positioning Stack can map and localize in urban, sub-urban, rural and highway surroundings. The positioning is a result of fusing together different inputs such as Global Navigation Satellite System (GNSS), radar and other methods to provide global position accuracy.

Even we consider 3D-lidar as the best sensor for positioning, our algorithm works also with radar data only. Proving the unique robustness of our system.

Positioning Stack

Sensible 4’s LiDAR-based positioning software.

Obstacle detection stack

Our self-driving technology utilizes a set of sensors to detect and recognize obstacles even when the visibility is low. It’s based on multimodal sensor data and our positioning system, which provides both accurate position of the vehicle and a 3D model of the surrounding environment.

Several sensors – lidars, radars and cameras – accumulate the detection’s probability. Position 3D map helps us to reject outliers – such as snow and rain – as wells as extract obstacles from the background while tracking the speed of moving obstacles. The detected obstacles are classified through deep learning by their category, position, size and speed while predicting their future motion. Finally, all the acquired observations are integrated into a multi-object traffic tracker, which provides the best available situational awareness prediction for the control system.

 

Obstacle Detection

Powerful Obstacle detection for all environments

Control stack

Self-driving vehicles need to control traction. In our technology, this is done by getting measurements from all wheels. The vehicles uses MPC-based (motion predictive control) trajectory control which optimizes the vehicle’s control actions over the sequence of trajectory points. This means we can predict the vehicle’s movement few seconds in advance so it can adjust its steering, acceleration and deceleration to reach the highest level of safety and comfort.

The S4 Position stack provides an automatic traversability index map. This makes it possible for the vehicle to deviate from routes when needed. It is performing detection of road conditions in real-time. This allows the vehicle to detect inconvenient obstacles such as potholes and other road damages. The stack also continuously estimates the friction of the road.

Control Stack

Next level MPC-based self-driving traction control

Fleet operations stack

As for today, an SAE level 4 self-driving system needs humans. But only as a fallback mechanism. This is why our solution includes a control and monitor system for a whole fleet of self-driving cars. It gives a remote operator information on the vehicle’s status and position in real-time.

A secure wireless connection lets the operator communicate with the vehicles in a smooth manner. A visualization of all relevant data is processed locally with only situational awareness view transmitted for the admin to check.

The remote operator station receives a 24/7 fleet view, an alarm system and the possibility for direct remote control of the fleet in safe mode with a possibility to re-route vehicles. We do route optimization for fleet routes in real-time.

Fleet Operations

Secure, real-time remote control for a whole fleet

Interested?

Learn more about Sensible 4’s unique technological approach.

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