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| Sensor | Model | Frequency | Typical Resolution | |--------|-------|-----------|---------------------| | LiDAR | Velodyne HDL‑64E | 10 Hz | 0.1° angular, 2 m range | | Radar | Continental ARS‑408‑21 | 20 Hz | 0.5 ° azimuth, 200 m range | | Stereo Camera | ZED 2 | 30 Hz | 1920 × 1080 px | | GNSS/IMU | NovAtel OEM7‑GPS + Xsens MTi‑30 | 100 Hz | 0.02 m position, 0.01 ° orientation | | CAN‑bus | OEM‑specific (BMW, VW, Hyundai) | 500 Hz | Full vehicle actuation signals (throttle, brake, steering angle) |

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