Ford 4th-generation automated vehicle prototypes have more sensors and are now based on the Escape … [+]
Just over a year after the launch of its third-generation automated driving test prototypes, Ford is iterating again. The new fourth-generation test vehicles are in many ways the biggest change since the program began in earnest in 2013 as Ford moves beyond the Fusion hybrid platform. As Ford and its development partner Argo AI move toward a 2022 commercial launch, the revamped sensor suite and compute platform are now installed on the Escape hybrid platform.
The Fusion hybrid was a popular platform for automated driving (AD) developers for several years because they were readily available and lots of engineers and technicians understood how to tap into the electrical architecture to get power and control the steering, propulsion and braking. With its hybrid powertrain, it was able to provide the necessary electrical power needed by all of the sensors, compute and actuators.
Ford’s 3rd-generation automated vehicle prototype based on the now discontinued Fusion hybrid sedan
But Fusion production has now ended. A number of other AD developers have now followed Waymo in adopting the Chrysler Pacifica plug-in hybrid for many of the same reasons and because the minivan form factor is a better fit for applications like robotaxis and deliveries. FCA also offers an AD ready version of the Pacifica with redundant systems and easy hookups for all the new hardware.
Obviously the Pacifica isn’t an option for Ford. The latest Escape is a step in the right direction as its flexible unibody architecture will also underpin the purpose-built automated vehicle (AV) that Ford is developing. That vehicle will probably look much more like a Transit Connect small van than the crossover Escape, but the point here is to test hardware that is closer to production intent.
“We’re expecting to use an Escape-based product at launch, we clearly need to make some changes to the normal production vehicle to integrate the self-driving technology as well as other items that we need to deliver our class leading experience,” said John Davis, chief engineer Ford Autonomous Vehicles LLC . “But, the Escape will underpin it so that obviously brings some advantages to us, given the scale and the readiness of an architecture to build from.”
Ford 4th-generation automated vehicle prototypes have more sensors and are now based on the Escape … [+]
As Ford moves closer toward a production automated driving system, it has further expanded its sensor suite for the Escape. The changes start at the roof with the structure that Ford calls the tiara. On the current third-generation prototypes, the tiara contains nine cameras and two lidar sensors to provide a 360-degree surround view. The current cars feature two 32-channel Velodyne Ultra Puck sensors which are now replaced by what appears to be the new 128-channel Alpha Prime sensor from the same vendor. The Alpha Prime provides range capability of up to 200 meters and a 40-degree field of view.
In addition to the main tiara, a second structure has been added to the top of the liftgate with rear facing sensors. All of the roof-top cameras have been upgraded with higher resolution and two have been moved to the new rear tiara along with a rear-facing radar sensor.
Ford 4th-generation automated vehicle prototypes have more sensors and are now based on the Escape … [+]
The rear tiara also contains short-range lidar and near-field camera sensors. In addition there are four more of each of these short-range lidar and camera pairs mounted in new pods on the front corners. These are angled to look forward and to the sides and back. Together, these provide a near range 360-degree view out to a range of 30-40 meters. Finally, pods mounted above the front wheel arches each contain a pair of short range radar sensors.
The third-generation cars were the first from Ford to introduce a sensor cleaning system. With the experience gained over the past year, Ford has further enhanced this system with higher pressures and revised spray patterns for faster cleaning. There are also new cleaning systems for the short-range sensors and new hydrophobic coatings for windows on all of the sensors.
With more sensors that also have more resolution, more processing power is also required. While Ford and Argo haven’t yet discussed specifics of the compute hardware they are using, it is known to be a custom configuration including both CPUs and GPUs, likely from Intel
All of this also requires more electrical power to drive it. In order to support this sensing and compute hardware, Ford has upgraded the battery used in the Escape hybrid. The regular production models available from dealers have a 1.1-kWh, liquid cooled lithium ion battery mounted below the floor under the rear seat. That battery has 60 cells, but the AVs get a 72-cell battery with 1.5-kWh and higher power output to supply the dual power systems.
Ford is starting to test the fourth-generation vehicles now and will be gradually deploying them to the main Argo test fleet over the next several months, replacing most of the Fusions. By spring 2021, people in Miami, Austin, Washington DC, Pittsburgh and Detroit should be seeing these on a regular basis.
