G-PAL Software-Hardware Integrated ADAS/Driving Assistance System

Smart Sensing and Intelligent Driving

Driving-Parking Integrated Driving Assistance System Tier 1

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G-PAL SW/HW Integrated
Driving Assistance System

End-to-End Driving Assistance System

The perception module employs an end-to-end network which deeply integrates visual and 4D millimeter-wave imaging radar, achieving multi-modal features alignment and fusion in Bird’s Eye View (BEV) space. The network leverages a Transformer-based cross-modal attention mechanism and integrates an Occupancy Network to accurately model 3D scene occupancy states, significantly enhancing target detection, occlusion awareness, and fine-grained structure reconstruction in complex scenarios. The planning and control module adopts an integrated prediction-decision end-to-end network and an interpretable planning submodule. The prediciton-decision network takes BEV-Occupancy joint representation as input and generates human-like policy trajectories through a cross-attention mechanism, minimizing information loss from perception to decision-making. The planning module integrates velocity covariance of dynamic objects from 4D imaging radar point clouds and road structure information, ensuring both safety compliance and scenario adaptability of control commands. The system is capable of all-weather scenario coverage and mass-production, advancing driving assistance systems to a comprehensive upgrade stage.

Driving-Parking Integrated DC

Beyond traditional modular designs, the G-PAL driving-parking integrated domain controller (DC) innovatively adopts a multi-core computing architecture with high-performance computing engines and ASIL-D FSI, enabling low-latency parallel parsing of raw data streams from multi-channel cameras, 4D mmWave imaging radars and LiDARs through a multi-modal perception hardware abstraction layer, and efficiently computing resource utilization by multi-task dynamic priority scheduling algorithm. The domain controller employs a liquid-cooled structure to enhance heat dissipation efficiency, has obtained ISO 26262 ASIL-B(D) product certification, and supporting flexible computing power scalability (8-560 TOPS).

360 ° Fusion Perception System

Built upon self-developed 4D mmWave imaging radar and vision modules, the system establishes an all-weather cross-modal perception foundation. By employing cross-modal deep fusion algorithms, it achieves centimeter-level perception accuracy and maintains penetration detection capability in rain, snow and haze conditions. The system features a plug-and-play architecture, enabling flexible configuration of LiDAR, ultrasonic sensors and other perception modules. This modular design achieves semantic and geometrical perception co-enhancement in complex lighting conditions while meeting redundancy requirements for driving assistance systems.

Multi-modal Closed-Loop Data System

G-PAL has established a highly-efficient and intelligent closed-loop data system, enabling a full-process pipeline from data collection, automated annotation, model training, model deployment to automated evaluation. This system supports agile algorithm iteration and scenario generalization，and currently encompasses over 10 million frames of professional multimodal data, including images, 4D mmWave imaging point clouds, etc.

Multi-Modal

All-Weather

Low-Cost

Mass-Production-Ready

G-PAL Driving-Parking Integrated Driving Assistance System

For the Mass Adoption of Driving Assistance
To the Future of Accessible Tech Innovation

Through the "camera + 4D mmWave imaging radar" perception information fusion technology and universal and scalable platform, G-PAL system supports flexibly configuring of sensors and computing power. By adopting segmented end-to-end algorithm, the system provides customized solutions spanning premium to economy vehicles, empowering L2 to L4 autonomous driving.

Gaia 2.0 Gaia 3.0 Gaia 4.0

All-Time & All-Weather Performance

High Cost-Effectiveness

Unified Software-Hardware Architecture

High Safety & Reliability

Scalable ODD

Modularized Delivery

High Cost-Effective (Lite HD-Map)

Domain Controller ×1

30~100TOPS

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Domain Controller ×1

30~100TOPS

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Surround View Camera ×4

3MP/200°

≥30m

Surround View Camera ×4

3MP/200°

≥30m

Rear View Camera ×1

3MP/100°

≥150m

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

Long-Focal Camera ×1

8MP/30°

≥250m

4D Imaging Radar ×1

120°

0.15m~300m

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4D Imaging Radar ×1

120°

0.15m~300m

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4D mmWave Radar ×4

160°

0.2m~170m

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4D mmWave Radar ×4

160°

0.2m~170m

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Wide-Angle Camera ×1

8MP/ 120°

≥150m

Wide-Angle Camera ×1

8MP/ 120°

≥150m

High Performance & HD-Map Free

Side View Camera ×4

3MP/100°

≥100m

Side View Camera ×4

3MP/100°

≥100m

Domain Controller ×1

100+TOPS

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Domain Controller ×1

100+TOPS

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Rear View Camera ×1

3MP/100°

≥150m

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

Long-Focal Camera ×1

8MP/30°

≥250m

Surround View Camera ×4

3MP/200°

≥30m

Surround View Camera ×4

3MP/200°

≥30m

4D Imaging Radar ×1

120°

0.15m~300m

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4D Imaging Radar ×1

120°

0.15m~300m

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4D Imaging Radar ×4

160°

0.15m~175m

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4D Imaging Radar ×4

160°

0.15m~175m

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Wide-angle Camera ×1

8MP/ 120°

≥150m

Wide-angle Camera ×1

8MP/ 120°

≥150m

Conditional Autonomous Driving

Wide-angle Camera ×1

8MP/ 120°

≥150m

Wide-angle Camera ×1

8MP/ 120°

≥150m

Solid-State LiDAR ×N

120°

≥200m

Solid-State LiDAR ×N

120°

≥200m

Side View Camera ×4

3MP/100°

≥100m

Side View Camera ×4

3MP/100°

≥100m

Domain Controller ×1

200+TOPS

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Domain Controller ×1

200+TOPS

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4D Imaging Radar ×4

160°

0.15m~175m

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4D Imaging Radar ×4

160°

0.15m~175m

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4D Imaging Radar ×1

120°

0.15m~300m

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4D Imaging Radar ×1

120°

0.15m~300m

Learn more

Surround View Camera ×4

3MP/200°

≥30m

Surround View Camera ×4

3MP/200°

≥30m

Rear View Camera ×1

3MP/100°

≥150m

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

Long-Focal Camera ×1

8MP/30°

≥250m

Domain Controller ×1

30~100TOPS

Learn more

Surround View Camera ×4

3MP/200°

≥30m

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

4D Imaging Radar ×1

120°

0.15m~300m

Learn more

4D mmWave Radar ×4

160°

0.2m~170m

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Wide-Angle Camera ×1

8MP/ 120°

≥150m

7V+5R Mid-Low Compute Domain Controller (30~100TOPS)

7 Visions

Front: 8MP*2

Rear: 3MP*1

Surround: 3MP*4

5 Radars

Front: 4D imaging radar(FR6C)*1

Corner: 4D mmWave radar(CR5C)*4

Funcitons：

Urban LCC+

Highway NOA

Auto Parking Assist

Construction Zone Avoidance

Auto On/Off-Ramp

Auto Lane Change

...

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*Note: The sensor is a recommended configuration and can be customized for matching
4D millimeter wave imaging radar, abbreviated as "4D imaging radar"

Side View Camera ×4

3MP/100°

≥100m

Domain Controller ×1

100+TOPS

Learn more

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

Surround View Camera ×4

3MP/200°

≥30m

4D Imaging Radar ×1

120°

0.15m~300m

Learn more

4D Imaging Radar ×4

160°

0.15m~175m

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Wide-angle Camera ×1

8MP/ 120°

≥150m

11V+5R Mid-High Compute Domain Controller (100+TOPS)

11 Visions

Front: 8MP*2

Rear: 3MP*1

Surround: 3MP*4

Side: 3MP*4

5 Radars

Front: 4D imaging radar(FR6C)*1

Corner: 4D imaging radar(CR6C)*4

Funcitons：

Door-to-Door Navigation

Urban NOA

Highway NOA

Roundabout Navigation

General Obstacle Avoidance

Enhanced All-weather Active Safety

...

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*Note: The sensor is a recommended configuration and can be customized for matching
4D millimeter wave imaging radar, abbreviated as "4D imaging radar"

Wide-angle Camera ×1

8MP/ 120°

≥150m

Solid-State LiDAR ×N

120°

≥200m

Side View Camera ×4

3MP/100°

≥100m

Domain Controller ×1

200+TOPS

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4D Imaging Radar ×4

160°

0.15m~175m

Learn more

4D Imaging Radar ×1

120°

0.15m~300m

Learn more

Surround View Camera ×4

3MP/200°

≥30m

Rear View Camera ×1

3MP/100°

≥150m

Long-Focal Camera ×1

8MP/30°

≥250m

11V+5R+NL Dual-Redundant Domain Controller (200+TOPS)

11 Visions

Front: 8MP*2

Rear: 3MP*1

Surround: 3MP*4

Side: 3MP*4

5 Radars

Front: 4D imaging radar(FR6C)*1

Corner: 4D imaging radar(CR6C)*4

N LiDAR

Solid-State LiDAR*N

Funcitons：

Conditional Autonomous Driving for Specific Scenarios

Platooning

Remote Driving

Intelligent Dispatching

Vehicle to Everything

Functional Safety Redundancy

...

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*Note: The sensor is a recommended configuration and can be customized for matching
4D millimeter wave imaging radar, abbreviated as "4D imaging radar"

Application

标题栏删除

Note: The G-PAL Driving Assistance System involves combined driving assistance functionalities. All demonstrated
operations were conducted by professionals under secure conditions, and reproduction attempts are strictly prohibited.

About G-PAL

Founded in October 2018, Shanghai Geometrical Perception and Learning Co., Ltd. (hereinafter referred to as "G-PAL") focuses on the mass production and implementation of SW/HW integrated driving system for L2 highway/urban driving assistance, L3 conditional autonomous driving and L4 high level autonomous driving based on fusion perception and intelligent decision. As a high-tech Specialized and Sophisticated Enterprise, G-PAL integrates R&D, manufacturing, sales and ecological construction of advanced driving system, bringing together first-class technical experts with full experience in smart driving system, software, algorithm, automotive sensor and domain controller.

Mission

Safer, more efficient and more comfortable driving experience for users

Values

Technical Innovation, Benefit Customer,
Integrity & Sincerity, Win-Win Collaboration

Vision

Become a global Tier 1 of ADAS

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Enterprise Honors

Government Honors

National Key R&D Program Excellence Award

Shanghai Technology Innovation Center of Integrated Perception and Intelligent Decision

Shanghai Center for Enterprise Technology

2023 WAIC SAIL Award - SAIL Star TOP10

Specialized and Sophisticated Enterprise in Shanghai

Shanghai Key Unicorn Enterprises

Shanghai Smart City Development Competition - Third Prize

Shanghai S&T Little Giant Enterprise

Shanghai SMEs - Most Growth Value Brand

Shanghai Innovative Products Catalog

Enterprise R&D Institution of Pudong New Area

Entrepreneurship & Innovation Award for Private Enterprises in Pudong New Area - Top 10

etc.

Industry Honors

The Third Prize of CSAE S&T Progress Award

SAE International - Perception and Positioning Excellent Enterprise

SAE International - Innovative Technology Award

SAE International - Outstanding Technical Papers

TOP 10 China SME Technology Innovation Brands

China Auto Parts Industry Awards- Smart Driving Excellence Award

Gasgoo Awards 2024 - Best Technical Practice Award

Gasgoo Awards 2022/2023 - Most Growth Value Award

Top 10 Synced "AI China" Smart Vehicle Leading Enterprises

Automobile & Parts Development and Innovation Award

Top 100 GGII Innovative ICV Enterprises

AIIA Awards - Leading Enterprise in Automotive MMV Radar

etc.

Social Honors

36Kr WISE

FORTUNE China - Most Socially Impactful Startups

VIGOROUS 100

Zero2IPO 2021 Venture 50

CLS STAR Market First Anniversary Summit - S&T Innovation Future Stars

KPMG China 2023 Leading Auto-tech Enterprises 50

China Insights Consultancy - CIC Stars

CYZONE 100 Future Unicorns

WIA 2021 - Top 10 Most Investible Enterprises in China's Automotive and Mobility Industry

China Entrepreneur 2023 Rising Stars 100

GuruClub Outstanding Companies List 2022 - Most Growth Value Unicorns

etc.

High-tech Enterprise Accreditation

Shanghai Technology Innovation Center

Shanghai Center for Enterprise Technology

Shanghai S&T Little Giant Enterprise

Specialized and Sophisticated Enterprise in Shanghai

2023 WAIC SAIL Award - SAIL Star TOP10

National Key R&D Program Excellence Award

Shanghai Smart City Development Competition - Third Prize

Shanghai Key Unicorn Enterprises

Entrepreneurship & Innovation Award- Top 10

The Third Prize of CSAE S&T Progress Award

SAE International - Innovative Technology Award

China Auto Parts Industry Awards- Smart Driving Excellence Award

Gasgoo Awards 2024 - Best Technical Practice Award

Automobile & Parts Development and Innovation Award

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Innovating Forward, Advancing Together

With a technical route highly aligned with market demand and robust R&D and implementation capabilities, G-PAL has earned widespread recognition from clients. In passenger vehicles, G-PAL Driving Assistance System products have been deployed across multiple mass-production platforms of leading automakers, including SAIC and JAC, and are undergoing testing and pre-installation for over 10 OEM models. In commercial vehicles, G-PAL’s integrated solution has been deployed in multiple intelligent heavy-duty trucks, flatbed transporters, mining trucks, and other vehicle models, achieving mass production and commercialization.

...

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Navigating with G-PAL, Intergrowing in Fusion

Pioneering L2 to L4 autonomous driving,
G-PAL redefines smart mobility with innovation.
Embrace the new era of
Automobile technology with G-PAL,
Unlock a splendid future.

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