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28 fields of view, a 0.33 º vertical resolution and features designed to minimise false positives. Another addition is a set of Scala Lidars from Valeo, which are mounted on the corners of the vehicle and at the front, at valance level. The Gen 3 sensor suite also features stereo instead of mono cameras, adding passive 3D depth perception through binocular vision. The company has also integrated IMUs from various sources, including Continental and Xsens. “We are testing several sensor sets, and the market is evolving fast,” Pairot says. “For now, we are using what we think gives us the best information on every part of our environment, both close to the vehicle and at longer ranges.” Complementing the Lidars, the stereo cameras provide input into EasyMile’s deep learning effort, which is centred at its Singapore office and consists of a separate team that adds another layer in terms of software redundancy. EasyMile’s own programmers write the algorithms that interpret sensor data and apply deep learning techniques to them. Navigation and comms Originally, the satellite navigation portion of the EZ10’s navigation and localisation system used only GPS, but the latest iteration is a multi-GNSS system that processes GLONASS as well, and will soon add Galileo and Beidou. The system’s precision is enhanced by real-time kinematic processing. The GNSS position is also used in conjunction with information from the 3G/4G grid. “We use it very much for correction,” Pairot explains. The overall navigation and positioning system is accurate to a few centimetres, he says, enabled by the combination of GNSS, the Lidars, cameras, inertial system and odometry, which also provide redundancy and graceful degradation in case the system loses the GNSS signal. The EZ10 communicates with EasyMile’s cloud-based supervision centre via the 3G/4G network. With a view to implementing 5G, the company is working with a number of providers around the world including SFR in France, Verizon in the US, Ericsson in Scandinavia and Saudi Telecom. In the short to medium term, 5G promises faster feedback from deployed EZ10 fleets. It will also boost machine learning and r&d, allow vehicles to update faster with large data sets, and April/May 2020 | Unmanned Systems Technology Only the central computer has the right to speak to everyone. It is the brain of the vehicle and is where we put the most security Sensor coverage overlaps to enhance safety through redundancy, while obstructions such as parked cars are circumvented through the use of algorithms in the high-level control software