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Software manual
Mobile 3D Smart Sensor
O3M151
O3M251
O3M161
O3M261
Object Detection
UK
O3M151 3D Smart Sensor Object Detection
Contents
This document is the original manual�
Licences and Registered Trademarks
Microsoft ® , Windows ® , Windows XP ® , Windows Vista ® and Windows 7 ® are registered trademarks of the Microsoft Corporation� All trademarks and company names are subject to the copyright of the respective companies�
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O3M151 3D Smart Sensor Object Detection
1 About these instructions
These instructions explain the 3D O3M151 Smart Sensor's function Object Detection�
For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and
the Programming manual of the ifm Vision Assistant� → "1�3 Other applicable documents"
1.1 Symbols used
►
>
→
Instruction
Reaction, result
Cross-reference
Important note
Failure to observe can result in malfunctions or faults�
Information
Additional note
UK
1.2 Safety instructions
Read the Operating instructions before putting the device into operation� Make sure that the device is suitable for the applications concerned without restriction�
Disregarding operating instructions or technical information can result in injuries and/or damage�
1.3 Other applicable documents
Document
Device manual
Programming manual
Quick guide
Description
Operating Instructions of O3M15x Sensors
Operation instruction of the PC operating program ifm Vision Assistant for carrying out a program update and changing parameters
Quick guide on operating the O3M15x sensor
Item No.
706383
706384
80222723
The software and documents are available on the ifm homepage in the
Download area. → www.ifm.com → my ifm → Download
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O3M151 3D Smart Sensor Object Detection
2 Smart Sensor
2.1 Functions
The O3M151 Smart Sensor is an optical system which measures the distance between the sensor and the next surface� An additional illumination unit illuminates the scene and the sensor process the light reflected by the surface�
The Smart Sensor is optimised and matched to requirements and needs on mobile driven machines� It is intended for use in outdoors and for difficult ambient light situations�
The principle is based on PMD technology for outputting 3D image data� In addition to new options for vehicle automation (AGV, automated guided vehicle), it also provides new assistance functions for automation tasks�
Communication is possible via Ethernet or CAN� System parametrisation and monitoring of the 3D data are carried out via the ifm Vision Assistant. → Ifm Vision Assistant programming manual
The pre-processed functional data are output via the CAN bus, with via CANopen or SAE J 1939�
→ Chapter "7 Interface" on Page 20
The Basic Function with functions such as measurement of minimum, maximum and average distance are available for simple distance tasks�
The Object Detection function provides for automatic object detection of up to 20 objects� This function can, for example, be used as a collision warning�
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O3M151 3D Smart Sensor Object Detection
2.2 Measuring principle
The device measures according to the light runtime method based on a phase measurement with modulated light�
Based on this principle, the following points must be taken into account during the measurements:
● Clean sensor window
– Cleanliness is a basis for the reliable operation of optical sensors� Dirt or liquids reduce the light transmission and cause light scatter� This effect can affect the resolution and the measuring range of the sensor system�
– Water droplets on the sensor glass can lead to unclear detection of the scene� The objects are detected as larger than they are in reality�
► Installation in areas of the system which become heavily soiled must be avoided�
► Keep sensor window clean�
● Illumination/Range
– The measurement of objects is carried out based on the active illumination by the additional illumination unit� The emitted infrared light makes the sensor virtually independent of the ambient lighting conditions� In case of bright sunlight, restrictions in the system range can result due to increased signal noise�
– The measurement range is dependent on the reflectivity of the object to be detected�
– Due to the optical measuring principle the system performance can be considerably increased by using reflective materials (Factor 3)�
● Clear in immediate vicinity
– Objects in the immediate vicinity (1 m distance) can falsify the measured values of the sensor�
– The wall on which the sensor is mounted should not be within the sensor area�
► Keep the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached parts clear�
UK
Sensor
O3M15x
Illumination unit
O3M950
Sensor
O3M15x
Illumination unit
O3M950
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O3M151 3D Smart Sensor Object Detection
2.3 Operating check
With an optical system, detection faults can occur in case of poor visibility (e�g� under very dense fog, a great deal of dust, very heavy snowfall, etc�)� The O3M151 Smart Sensor is equipped with sensory fault detection in the system and generates a message when faults occur�
● the "Blockage Detection" function actively detects relevant soiling, condensation on or icing-up of the sensor;
(This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to activate this function later in a firmware update�)
● The "Diffuse Scene" function actively detects diffuse faults, such as dense fog or clouds of dust in the sensor area�
Internal diagnosis of the hardware for faults → Operating instructions
● Application-specific solutions can result simply and especially conveniently with a controller (e�g�
CR040X) or display (e�g CR108X) based on the functional output�
There are special CODESYS libraries for receiving and interpreting the CAN signals of the O3M151
Smart Sensor� In addition, various application examples on a CODESYS basis are also available�
→ www.ifm.com → my ifm → Download
2.4 Installation position
The following aids are available for positioning the Smart Sensor in dependence on the application:
● Calculation tool for calculating the detection range
● ifm Vision Assistant operating software
● Technical data with performance and values of detection range→ Data sheet
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O3M151 3D Smart Sensor Object Detection
3 Object Detection
3.1 Functions
Object detection
Reflector tracking
Collision prediction
Do not attach sensor at a height of under 50 cm�
Object detection
3D data are used via a CAN interface for object detection�
Up to 20 independent objects are detected and tracked from the measured distance values� A broad range of information is available for each object:
● Position and orientation in the space (x, y, z)
● Size of the object
● Relative speed of the object
● Qualitative evaluation (quality) of this information
Reflector detection
Reflectors can be used for marking and individual tracking of interesting objects� These are detected separately and with a greater range� Depending on the reflectivity, it is possible, for example, to use warning vests as reflectors�
Collision prediction
The Smart Sensor can predict potential collisions very accurately by evaluating the vehicle's own speed and its yaw rate�
This function offers a major advantage compared to collision warnings based purely on a distance measurement� In addition, the speed and direction of the own vehicle and objects are also taken into account�
(This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to activate this function later in a firmware update�)
3.2 Possible applications
● Area monitoring with static attachment and with attachment to a vehicle (from several user-definable areas simultaneously)
● Marking, identification and specific tracking of reflected objects
● Vehicle automation (AGV: automated guided vehicle)
● Collision prediction
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O3M151 3D Smart Sensor Object Detection
4 Commissioning
The Smart Sensor can be operated with various functions�
For information on flashing the firmware → Ifm Vision Assistant programming manual
► Make sure that the correct firmware is loaded on the sensor�
► Carry out commissioning with the menu-guided ifm Vision Assistant PC operating program�
For additional instructions on the sensor update with the ifm Vision Assistant
→ Ifm Vision Assistant programming manual
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O3M151 3D Smart Sensor Object Detection
5 Application examples
5.1 Area monitoring
5.1.1 Introduction
With static attachment and with attachment on a vehicle, the Object Detection function enables area monitoring of several user-defined areas simultaneously�
Functions:
● Monitoring of an area in front of a door or access point
● Control and/or signalling of opening via the controller based on the CAN sensor signals�
● Attachment to a vehicle and monitoring of areas in the driving path
● Selective distinction between normal and reflective objects
● Evaluation of the presence of the object in the sensor's field of vision
● Filtering of the objects by size and speed
● Monitoring of access to tunnel boring machines or to other accessible machines
When using an ifm controller or display, the included CODESYS module can be used to receive and interpret the CAN signals� CODESYS program examples of various applications are available in the
Download area�
→ www.ifm.com → my ifm → Download
UK
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O3M151 3D Smart Sensor Object Detection
5.1.2 Attachment options
Static attachment
The Smart Sensor can be attached opposite or above the area to be monitored� z
A x
B
Attachment position of sensor for access monitoring, side view
A: Attachment from above
B: Frontal attachment
● Pos� A: Attachment a height of over 2 m
> Advantage: The sensor is in an overview position and the visible area is limited by the angle�
● Pos� B: Height between 50 cm and 1�50 m
> Advantage: The visible area is only limited by the system range�
> Disadvantage: The visible area can be blocked by a person�
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O3M151 3D Smart Sensor Object Detection
Attachment on vehicle
Automatic object tracking is also suitable for somewhat difficult and/or rough terrain� It recognises the next 20 objects (adjustable) next to the vehicle and passes on information such as the distance, size and position of each object to the machine controller�
UK
The Object Detection function enables area monitoring by attaching the Smart Sensor to a vehicle�
► Mount the Smart Sensor tilted downward on the vehicle�
► Mounting position values in the ifm Vision Assistant operating software�
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O3M151 3D Smart Sensor Object Detection
5.1.3 Parametrisation
There is a separate template/wizard for area monitoring
→ Ifm Vision Assistant programming manual
Object detection range (height)
A minimal and a maximal object detection height can be defined�
● The minimal height provides for a clear separation between the floor and the objects�
● The maximal height limits the object recognition in the height (height-adjustable objects)�
> The minimal height (Zmin) should be set to 0,5 m and the maximal height (Zmax) should correspond to the vehicle height less a tolerance (~20 cm)�
Frame rate
► Set the frame rate to 33 Hz�
Object detection type
► Set the Object Detection parameter to "Standard Mode"� (Parameter ObjectListCust_ objectDetectionVariant=0)
If a distinction is to be made between normal objects and objects with retro reflectors, the parameter
ObjectListCust_objectDetectionVariant=1 can be set�
► Set noise suppression filter to "Level 2"�
If the load on the CAN bus is too great, it can be reduced with the setting
CAN output cycle Modulo. → Operating instructions
5.1.4 Relevant output
The CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used�
The objects are filtered via the object position for area monitoring� Objects which are located within a critical area result in a reaction, e�g� a warning signal or stopping of the vehicle�
The vehicle's own data are expected on the CAN bus (if parameter egodatamode=2, the data are not expected)�
See Output → Chapter "7 Interface" on Page 20�
5.1.5 Operating property/performance
● The detection performance is dependent on the distance, size and reflectivity of an object�
● For attachment from above:
The minimum detectable object height is dependent on the system parametrisation� Under the poorest conditions, this is 50 cm�
● For frontal attachment:
The minimum range for the detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�
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O3M151 3D Smart Sensor Object Detection
5.2 Reflector tracking of marked driverless vehicles
5.2.1 Introduction
The Object Detection function enables marking and identification of objects with reflectors and their specific tracking�
Driverless transport systems (DTS) in harbour logistics can automatically detect and track other DTSs using the sensor� The distance between the DTSs can be defined depending on the speed difference�
In addition, it is possible to define areas in front of the vehicle and to monitor them for any desired objects�
UK
5.2.2 Attachment options
► Attach Smart Sensor horizontally on vehicle at a height between 50 cm and 1�50 m�
► Mark vehicles with reflectors�
► Mounting position values in the ifm Vision Assistant operating software�
5.2.3 Parametrisation
If the load on the CAN bus is too great, it can be reduced with the setting
CAN output cycle Modulo. → Operating instructions
Frame rate
► Set the frame rate to 33 Hz�
Object detection type
► Set parameter (ObjectListCust_objectDetectionVariant=1) to "Reflector Detection"�
► Set noise suppression filter to "Level 2"�
► Recommended number of objects which are transmitted via CAN: 12
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O3M151 3D Smart Sensor Object Detection
5.2.4 Relevant output
The CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used�
The objects are filtered via the area position for area monitoring� Objects which are located within a critical area result in a reaction, e�g� a warning signal or stopping of the vehicle�
The vehicle's own data are expected on the CAN bus (if parameter egodatamode=2, the data are not expected)�
See Output → Chapter "7 Interface" on Page 20�
5.2.5 Operating property/performance
● The detection performance is dependent on the distance, size and reflectivity of an object�
> Detection performance with reflectors: min� 1 m/max� 60 m
● The minimum range under typical conditions for the detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�
> The relevant speed for this application is typically in the range of +/- 2 km/h
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O3M151 3D Smart Sensor Object Detection
6 Parameters
The parameters can be changed and adjusted in function of the use of the sensor�
For details on the settings and parameters of the device
→ ifm Vision Assistant programming manual�
Parameter Name
CycleTime
BeginHeatingTemperature
StopHeatingTemperature
CANBaudrate
MasterSlaveConfiguration
CANMaxNumberOfObjects
CANProtocol
CANopenNodeAddress
CANOutputCycleModulo
J1939SourceAddress
Ipv4AddressCamera
SubnetMask
Ipv4AddressDestination destinationUDPPort
40
Parameter Value
0
8
0
10
1
5
8
250000 uint8 uint8 uint8
239 uint8
192 168 1 1
255 255 255 0
255 255 255 255 uint8 uint8 uint8
42000 uint16 uint8 sint8 sint8 uint32 uint8 uint8
4
4
4
1
Param. Array Length
1
1
1
1
1
1
1
1
1
1
0
0
1
1
1
0
0
0
20
-128
40
127
Internal cycle time of the camera
(20ms/30ms/40ms)� Every cycle time a new 3D image is captured and processed�
Temperature at which the sensor window heating is turned on (in °C)
-128 127 Temperature at which the sensor window heating is turned off (in °C)� Should be higher than turn on with hysteresis�
125000 1000000 CAN Baudrate of the sensor� Possible values
125kbs 250kbs 500kbs
1000kbs
0 8
0
20
1
127
3
253
255
255
255
65535
If multiple sensor are used with overlapping viewing areas and on the same
CAN network they can be synchronized with this parameter� Not supported in firmware at SOP� Will be made available by firmware update�
Configuration of maximum number of objects in Object List available on CAN
(J1939 only, CANOpen is configured with CANOpen
Master)
CAN protocol: 0 = J1939, 1
= CANopen
CANopen Node value (only in case of CANOpen)
Defines the cycletime of can messages: every n-th camera cycle can messages are sent� With this setting the CAN bus load can be limited�
J1939 source address
(only in case of J1939)
Ipv4 address of sensor
Subnet mask of camera
Ipc4AddressDestination of the UDP packets
Destination UDP port for the UDP packets
Application → Image Settings → Frame Rate (value as frequency instead of cycle time)
Device Settings → Window
Heating On Temperature
Is set by the system automatically as Begin Heating
Temperature + 3 °C
CAN → Baudrate
Device Settings → Synchronisation of multiple sensors
CAN → Max Number of
Objects
CAN → CAN Protocol
CAN → Node ID
CAN → Output Cycle
Modulo
CAN → Source Address
Ethernet → IP address
Ethernet → Subnet Mask
Ethernet → IP Destination
Ethernet → UDP Port
UK
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O3M151 3D Smart Sensor Object Detection
16
Parameter Name
EthernetOutputConfiguration 0
Parameter Value
EthernetLoadConfiguration
DistanceImageOnSwitch
1
1
VehicleDim_xMin
VehicleDim_xMax
VehicleDim_yMin
VehicleDim_yMax
VehicleDim_zMax
-1
1
-1
1
2
PMDExtrCalib_camCal_transX 0
PMDExtrCalib_camCal_transY 0
PMDExtrCalib_camCal_transZ 1 uint8 1
Param. Array Length
0 uint8 uint8
1
1
1
0 float32 1 -20 float32 1 -20 float32 1 -20 float32 1 -20 float32 1 0 float32 1 -10 float32 1 -10 float32 1 -10
1
4
1
20
20
20
20
10
10
10
10
PMDExtrCalib_camCal_rotX
PMDExtrCalib_camCal_rotY
PMDExtrCalib_camCal_rotZ
-1�57E+00
1�57E+00
0 float32 float32 float32
1
1
1
-3�14
-3�14
-3�14
3�14
3�14
3�14
0 is customer output (up to
6MBit/s),
1 is ifm development debug output (up to 60MBit/s)
Only changeable if used for recording of sequences. Monitor → Record
Options → Debug Data
On/Off
– EthernetOutput only every n-th system cycle
Distace data over ethernet can be de-activated with this parameter� 0 is
DistanceImage off, 1 is
DistanceImage on� (If deactivated only functional results will be transmitted over ethernet)
Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane� (Only necessary for intelligent crash prediction)
Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane� (Only necessary for intelligent crash prediction)
Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane� (Only necessary for intelligent crash prediction)
Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane� (Only necessary for intelligent crash prediction)
Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane� (Only necessary for intelligent crash prediction)
Position of sensor in world:
X translation [m]� Please refer to Manual O3M15x for details�
Position of sensor in world:
Y translation [m]� Please refer to Manual O3M15x for details�
Position of sensor in world:
Z translation [m]� Please refer to Manual O3M15x for details�
Orientation of sensor in world: X rotation [rad]
Orientation of sensor in world: Y rotation [rad]
Orientation of sensor in world: Z rotation [rad]
Ethernet Settings → Distance Image On Switch
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Calibration → follow instructions
Calibration → follow instructions
Calibration → follow instructions
Calibration → follow instructions
Calibration → follow instructions
Calibration → follow instructions
O3M151 3D Smart Sensor Object Detection
Parameter Name Parameter Value
PMDExtrCalib_IlluCal_transX 0�047
PMDExtrCalib_IlluCal_transY 0�085
PMDExtrCalib_IlluCal_transZ 0�948
ObjectListCust_sprayRemovalSensitivity
0
ObjectListCust_pixelPlausibilizationThresholds
2
ObjectListCust_blockageSensitivity
0
ObjectListCust_spatialFilterXMin
-100
ObjectListCust_spatialFilterX-
Max
100
ObjectListCust_spatialFilterYMin
-100
ObjectListCust_spatialFilterYMax
100
ObjectListCust_spatialFilter-
ZMin
-100
ObjectListCust_spatialFilter-
ZMax
100 float32 1
Param. Array Length
-10 10 float32 1 -10 10 float32 1 -10 10 uint8 1 0 uint8 uint8
1 0
1 0
3
2
3 float32 1 -100 100 float32 1 -100 100 float32 1 -100 100 float32 1 -100 100 float32 1 -100 100 float32 1 -100 100
Position of illumination in world: X translation [m]�
Please refer to Manual
O3M15x for details�
Position of illumination in world: Y translation [m]�
Please refer to Manual
O3M15x for details�
Position of illumination in world: Z translation [m]�
Please refer to Manual
O3M15x for details�
Filters pixels for diffuse optical disturbances�
0=off; 1=weak; 2=medium;
3=strong
Filters pixels for distance noise� 0=off; 1=weak;
2=medium; 3=strong
Sensor can actively scan for blockage of screen
(with e�g� ice, condensation, dirt)� Not supported in firmware at SOP� Will be made available by firmware update�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Minimum value in x-direction�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Maximum value in x-direction�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Minimum value in y-direction�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Maximum value in y-direction�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Minimum value in z-direction�
Spatial filter on the cartesian coordinates� Only pixels within this range will be taken into account� Maximum value in z-direction�
Calibration → follow instructions
Calibration → follow instructions
Calibration → follow instructions
Application → Image Settings → Spray removal
Application → Image Settings → Noise reduction filter
Application → Image
Settings → Blockage detection
Application → Image Settings → Expert Mode
Application → Image Settings → Expert Mode
Application → Image Settings → Expert Mode
Application → Image Settings → Expert Mode
Application → Image Settings → Expert Mode
Application → Image Settings → Expert Mode
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O3M151 3D Smart Sensor Object Detection
Parameter Name
ObjectListCust_reflector-
ThresholdValue
0
Parameter Value
ObjectListCust_autocalibrationMode
ObjectListCust_objectDetectionVariant
ObjectListCust_ObjectDetectionZMin
ObjectListCust_ObjectDetectionZMax
ObjectListCust_CrashPredictorSensitivity
ObjectListCust_EgoMotionDynamics
ObjectListCust_UseCaseApproach
0
1
0
2
0
2
1
, 5 float32 uint8 uint8
1
Param. Array Length
1
1
0
0
0 float32 1 -10 float32 uint8 uint8 uint8
1
1
1
1
-10
0
0
0
1
42
1
10
10
3
2
1
Value for setting the reflectivity threshold to detect retroreflectors� The default setting 0 means high sensitivity for reflectors with possible detection of nonreflectors� The maximum setting of 1 means low sensitivity for reflectors�
Autocalibration Mode (0: disabled, 1: enabled); if ground is visible, small changes in rotation angles are corrected automatically
Object detection variant selection (0: standard object list (all objects are detected, no special tracking of reflectors, crash predictor can be used,
1: Retroreflector mode
(all objects are detected, reflectors are specially tracked and priorized in output))
Minimum z coordinate
(height) for normal object detection� All objects below this threshhold are ignored
("can be driven over")�
Maximum z coordinate
(height) for normal object detection� All objects below this threshhold are ignored
("can be driven under", e�g� bridge)�
Customization of crash predictor (0: low sensitivity,
1: low sensitivity without
"driver active" filter, 2: low sensitivity without filter heuristics, 3: high sensitivity (Only necessary for intelligent crash prediction)
Characterization of ego motion dynamics for crash predictor (0: low dynamics, e�g� AGVs, 1: medium dynamics, e�g� construction vehicles, 2: high dynamics, e�g� cars) (Only necessary for intelligent crash prediction)
Customization of UseCase approach for crash predictor (0: disabled, 1: enabled) (Only necessary for intelligent crash prediction)
Application → Image
Settings → Reflector
Threshold Value (4 possible values: Max, Med,
Low, Min)
Application → Object Detection → Auto Calibration
Mode
Application → Object Detection → Object Detection
Type
Application → Object
Detection → Min Height of
Detection
Application → Object
Detection → Max Height of
Detection
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
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O3M151 3D Smart Sensor Object Detection
Parameter Name
ObjectListCust_accBrake 10
Parameter Value
ObjectListCust_delayBrake 0�2
ObjectListCust_egoVMin 0
ObjectListCust_egoVMax 0
ObjectListCust_EgoDataMode 2
AutoCalibParam_ numberOfPatterns
0
AutoCalibParam_xPattern 0
AutoCalibParam_yPattern 0
AutoCalibParam_zPattern 0
AutoCalibParam_patternType 0 float32 1
Param. Array Length
0 float32 1 0 float32 1 -200 200 uint8 1 0 uint8 1 0 float32 8 -30 30 float32 8 -30 30 float32 8 -30 30 uint8 8 0
30
2 float32 1 -200 200
2
8
10
Definition of brake acceleration for crash predictor
(Only necessary for intelligent crash prediction)
Definition of brake delay for crash predictor (Only necessary for intelligent crash prediction)
Definition of minimal ego velocity for calculating crash events (Only necessary for intelligent crash prediction)
Definition of maximal ego velocity for calculating crash events (Only necessary for intelligent crash prediction)
"Enables ego velocity calculation and yaw rate input
0: ego velocity and Yaw
Rate are taken into account; 1: only ego velocity;
2: no data used� (Only necessary for intelligent crash prediction)"
Number of patterns to be used for autocalibration
(0,1 : autocalibration disabled)� Specialautocalibration mode for measuring the rotational angles based on reflector targets at defined positions� Number of reflectors used� Should be at least 3� x coordinates [m] of the autocalibration patterns in relation to the defined world coordinate system� y coordinates [m] of the autocalibration patterns in relation to the defined world coordinate system� z coordinates [m] of the autocalibration patterns in relation to the defined world coordinate system�
Type of the autocalibration patterns
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
Template in Vision Assistant SW will be available with later update�
UK
19
O3M151 3D Smart Sensor Object Detection
7 Interface
The output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939�
7.1 CANopen
1000 DeviceType
1001 Error Register
1003
Predefined
Error Field
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1003
1005 COB ID SYNC
1006
Communication
Cycle Period
D
E
B
C
F
9
A
7
8
4
5
6
0
1
2
3
Parameter Name
0x7 ro
0x7 ro
0x8
Number of Errors 0x7 rw
Standard Error Field 0x7 ro
Standard Error
Field_2
0x7 ro
Standard Error
Field_3
Standard Error
Field_4
Standard Error
Field_5
Standard Error
Field_6
0x7 ro
0x7 ro
0x7 ro
0x7 ro
Standard Error
Field_7
Standard Error
Field_8
Standard Error
Field_9
Standard Error
Field_a
Standard Error
Field_b
Standard Error
Field_c
Standard Error
Field_d
Standard Error
Field_e
Standard Error
Field_f
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 ro
0x7 rw
0x7 rw
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0x00000080
0x00000000
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0x00000080
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1008
Manufacturer
Device Name
0x7 const O3D150
Fixed to "0" (Zero) until there is an adequate CANopen profile available
–
Index 0: Number of Errors is defined according the size of the error memory in the diagnosis�
–
–
(No Index) should be filled at runtime with the article number
("Artikelnummer") of the camera�
Device is Sensor:
O3M150
Device is Smart
Sensor: O3M151
(OD is the object detection variant)
20
O3M151 3D Smart Sensor Object Detection
1009
Manufacturer
Hardware
Version
100A
Manufacturer
Software
Version
Parameter Name
1010
1010
1010
1011
1011
Store
Parameter
Field
Restore Default
Parameters
0
0
1
1011 1
0x8
Number of entries 0x7 ro
Save all Parameters 0x7 rw
0x8
Number of entries 0x7 ro
Restore all Default
Parameters
0x7 rw
1014 COB ID EMCY
1016
1016
1016
Consumer
Heartbeat Time
1017
Producer
Heartbeat Time
0
1
1018 Identity Object
0x7 ro
0x8
Number of entries 0x7 ro
Consumer
Heartbeat Time
0x7 rw
0x7 rw
0x9
1018
1018
1018
1018
1018
1 Vendor Id
2 Product Code
3 Revision number 0x7 ro
4 Serial number
0x7 const
0x7 const
0 Number of entries 0x7 ro
0x7 ro
0x7 ro
0x7 ro
1
1
1
1
1
0
0
$NODEID
+0x80
4
0
0
0
1
1
1
1
1
1
4
4
4
4
0x00000080 0x00000100
(No Index) should be filled at runtime with the HW version of the camera
(No Index) should be filled at runtime with the Software version number and variant of the camera with
<Major> <Minor>
<Patchlevel>
<Variant>
Index 01: Save all Parameters: this is the list of parameters to be stored to Flash memory:
- TBD
Index 01: Restore all Default
Parameters: this is the list of parameters to be restored from Flash
Memory:
- TBD
–
1
0x0069666D 1
1
1
1
4
4
4
4
4
4
4
–
–
Index 01: Vendor ID is 0x0069666D, this is the fixed ID for ifm electronic
Index 02: Product
Code :
O3M150: 0x0020
0010
O3M151: 0x0020
0011
Index 03: Revision
Number: should be filled at runtime with 0x00 <Major number> <Minor number> <Patch
Level> of the SW
Version�
Index 04: Serial number: should be filled at runtime with the serial number of the camera�
UK
21
O3M151 3D Smart Sensor Object Detection
1400
1400
1400
1400
1600
1600
1600
Receive PDO
Communication
Parameter -
EgoMotion
0
1
2
Receive PDO
Mapping
Parameter -
EgoMotion
0
1
1600
1600
1800
1800
1800
1800
2
3
Transmit PDO
Communication
Parameter
Object 0 - Part
A
0
1
2
Parameter Name
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping
Entry - Wheel_
BasedVehicleSpeed
0x7 rw
PDO Mapping Entry
- Driving_Direction 0x7 rw
PDO Mapping Entry
- Yaw_Rate
0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
1800
1801
1801
3
Transmit PDO
Communication
Parameter
Object 0 - Part
B
0
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
2
$NODEID
+0x200
254
3
0x23000110
0x23000208
0x23000310
3
$NODEID
+0x40000180
254
0x0000
0x02
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0
0
0
0
0x03
0x05
3
3
3
3
0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
Objects 1400-
1402, 1600-1602,
1800-1829: Index02
Transmission Type:
254 (Manufacturer defined):
The mobile camera is typically running with internally defined time/ frequency�
Thus it will send out the data (TPDOs) as available, typically with cycle time of 20 ms,
30 ms, 40 ms or multiple time: double or three times the cycle time�
Objects 1800-1829
Transmit PDO
Communication
Parameter:
For the first and second (real world)
Object in the Object list the Transmission parameters are defined in such a way that the camera will immediately start to send out data when the communication state is set to
"Operational"�
The camera will send out only
4 objects in default configuration� For the other (real world) Objects the settings are such that they are marked as invalid bit 31(valid bit) is set to "1"�
If these Objects are requested by a Network Master/
Configuration
Master the according COB
ID has to be set accordingly, especially the valid bit has to be set to "0"�
See Objects No�
1400/1600/1800
3 0x03 0x03
22
O3M151 3D Smart Sensor Object Detection
1801
1801
1801
1802
1802
1802
1802
1802
1803
1803
1803
1803
1803
1804
1804
1804
1804
1804
1805
1805
1805
1805
1805
1806
1806
1806
1806
1806
1807
1
Transmit PDO
Communication
Parameter
Object 1 - Part
A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 1 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 2 - Part
A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 2 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 3 - Part
A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 3 - Part
B
2
3
Parameter Name
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
$NODEID
+0x40000280
254
0x0000
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0x40000380
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0x40000480
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
UK
23
O3M151 3D Smart Sensor Object Detection
1807
1807
1807
1807
1808
1808
1808
1808
1808
1809
1809
1809
1809
1809
180A
180A
180A
180A
180A
180B
180B
180B
180B
180B
180C
180C
180C
180C
180C
Transmit PDO
Communication
Parameter
Object 4 - Part
A
2
3
0
1
0
1
Transmit PDO
Communication
Parameter
Object 4 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 5 - Part
A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 5 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 6 - Part
A
2
3
0
1
2
3
Parameter Name
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
24
O3M151 3D Smart Sensor Object Detection
180D
180D
180D
180D
180D
180E
180E
180E
Transmit PDO
Communication
Parameter
Object 6 - Part
B
0
1
Transmit PDO
Communication
Parameter
Object 7 - Part
A
2
3
0
1
180E
180E
180F
180F
180F
180F
180F
1810
1810
1810
1810
1810
1811
1811
1811
1811
1811
1812
1812
1812
2
Transmit PDO
Communication
Parameter
Object 7 - Part
B
3
0
1
Transmit PDO
Communication
Parameter
Object 8 - Part
A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 8 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 9 - Part
A
2
3
0
1
Parameter Name
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
$NODEID
+0xC0000000
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
0x03 0x03
0x00000080 0xFFFFFFFF
UK
25
O3M151 3D Smart Sensor Object Detection
1812
1812
1813
1813
1813
1813
1813
1814
1814
1814
1814
1814
1815
1815
1815
1815
1815
1816
1816
1816
1816
1816
1817
1817
1817
1817
1817
1818
1818
Transmit PDO
Communication
Parameter
Object 9 - Part
B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 10 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 10 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 11 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 11 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 12 -
Part A
2
3
0
Parameter Name
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
254
0x0000
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3 0x03 0x03
26
O3M151 3D Smart Sensor Object Detection
1818
1818
1818
1819
1819
1819
1819
1819
181A
181A
181A
181A
181A
181B
181B
181B
181B
181B
181C
181C
181C
181C
181C
181D
181D
181D
181D
181D
181E
1
Transmit PDO
Communication
Parameter
Object 12 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 13 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 13 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 14 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 14 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 15 -
Part A
2
3
Parameter Name
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
$NODEID
+0xC0000000
254
0x0000
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
UK
27
O3M151 3D Smart Sensor Object Detection
1823
1823
1823
1823
181E
181E
181E
181E
181F
181F
181F
181F
181F
1820
1820
1820
1820
1820
1821
1821
1821
1821
1821
1822
1822
1822
1822
1822
1823
Transmit PDO
Communication
Parameter
Object 15 -
Part B
2
3
0
1
0
1
Transmit PDO
Communication
Parameter
Object 16 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 16 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 17 -
Part A
2
3
0
1
Transmit PDO
Communication
Parameter
Object 17 -
Part B
2
3
0
1
2
3
Parameter Name
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
3
$NODEID
+0xC0000000
254
0x0000
0x03
0x03
0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
$NODEID
+0xC0000000
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
28
O3M151 3D Smart Sensor Object Detection
1826
1826
1826
1826
1824
1824
1824
1824
1824
1825
1825
1825
1825
1825
1826
1827
1827
1827
1827
1827
1828
1828
1828
1828
1828
1829
1829
1829
1829
1829
182A
182A
182A
182A
182A
2
Transmit PDO
Communication
Parameter
Object 19 -
Part B
3
0
1
Transmit PDO
Communication
Parameter
- Crash_
Predictor_Info
2
3
0
1
Transmit PDO
Communication
Parameter
- Global_
Information
2
3
0
1
Transmit PDO
Communication
Parameter -
SyncMsg
2
3
2
3
0
1
Transmit PDO
Communication
Parameter
Object 18 -
Part A
0
1
Transmit PDO
Communication
Parameter
Object 18 -
Part B
2
3
0
1
Transmit PDO
Communication
Parameter
Object 19 -
Part A
2
3
0
1
Parameter Name
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
Number of entries 0x7 ro
COB ID 0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
Number of entries
COB ID
0x9
0x9
0x9
0x9
0x9
0x9
0x7 ro
0x7 rw
Transmission Type 0x7 rw
Inhibit Time 0x7 rw
0x9
Number of entries 0x7 ro
COB ID
Transmission Type 0x7 rw
Inhibit Time
0x7 rw
0x7 rw
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
$NODEID
+0xC0000000
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
0x03 0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
3
$NODEID
+0xC0000000
254
0x0000
3
0x80000000
0x80000000
0x0000
0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x03
0x03
0x03
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
0x00000080 0xFFFFFFFF
See Objects No�
1400/1600/1800
UK
29
O3M151 3D Smart Sensor Object Detection
1A00
1A00
1A00
1A01
1A01
1A01
1A02
1A02
1A02
1A03
1A03
1A03
1A04
1A04
1A04
1A05
1A05
1A05
1A06
1A06
1A06
1A07
1A07
1A07
1A08
1A08
1A08
1A09
1A09
1A09
Transmit
PDO Mapping
Parameter
Object 0 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 0 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 1 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 1 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 2 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 2 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 3 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 3 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 4 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 4 - Part
B
0
1
Parameter Name
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
1
0x21000140
0
0
1
0x21000240
1
0x21010140
1
0x21010240
1
0x21020140
1
0x21020240
1
0x21030140
1
0x21030240
1
0x21040140
1
0x21040240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
1
1
1
1
30
–
–
–
–
–
–
–
–
–
–
O3M151 3D Smart Sensor Object Detection
1A0A
1A0A
1A0A
1A0B
1A0B
1A0B
1A0C
1A0C
1A0C
1A0D
1A0D
1A0D
1A0E
1A0E
1A0E
1A0F
1A0F
1A0F
1A10
1A10
1A10
1A11
1A11
1A11
1A12
1A12
1A12
1A13
1A13
1A13
Transmit
PDO Mapping
Parameter
Object 5 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 5 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 6 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 6 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 7 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 7 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 8 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 8 - Part
B
0
1
Transmit
PDO Mapping
Parameter
Object 9 - Part
A
0
1
Transmit
PDO Mapping
Parameter
Object 9 - Part
B
0
1
Parameter Name
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
1
0x21050140
0
0
1
0x21050240
1
0x21060140
1
0x21060240
1
0x21070140
1
0x21070240
1
0x21080140
1
0x21080240
1
0x21090140
1
0x21090240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
–
–
–
–
–
–
–
–
–
–
UK
31
O3M151 3D Smart Sensor Object Detection
1A14
1A14
1A14
1A15
1A15
1A15
1A16
1A16
1A16
1A17
1A17
1A17
1A18
1A18
1A18
1A19
1A19
1A19
1A1A
1A1A
1A1A
1A1B
1A1B
1A1B
1A1C
1A1C
1A1C
1A1D
1A1D
1A1D
Transmit
PDO Mapping
Parameter
Object 10 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 10 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 11 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 11 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 12 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 12 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 13 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 13 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 14 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 14 -
Part B
0
1
Parameter Name
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
1
0x210a0140
0
0
1
0x210a0240
1
0x210b0140
1
0x210b0240
1
0x210c0140
1
0x210c0240
1
0x210d0140
1
0x210d0240
1
0x210e0140
1
0x210e0240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
32
–
–
–
–
–
–
–
–
–
–
O3M151 3D Smart Sensor Object Detection
1A1E
1A1E
1A1E
1A1F
1A1F
1A1F
1A20
1A20
1A20
1A21
1A21
1A21
1A22
1A22
1A22
1A23
1A23
1A23
1A24
1A24
1A24
1A25
1A25
1A25
1A26
1A26
1A26
1A27
1A27
1A27
Transmit
PDO Mapping
Parameter
Object 15 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 15 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 16 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 16 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 17 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 17 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 18 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 18 -
Part B
0
1
Transmit
PDO Mapping
Parameter
Object 19 -
Part A
0
1
Transmit
PDO Mapping
Parameter
Object 19 -
Part B
0
1
Parameter Name
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry 0x7 rw
1
0x210f0140
1
0x210f0240
1
0x21100140
0
0
1
0x21100240
1
0x21110140
1
0x21110240
1
0x21120140
1
0x21120240
1
0x21130140
1
0x21130240
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
–
–
–
–
–
–
–
–
–
–
UK
33
O3M151 3D Smart Sensor Object Detection
1A28
1A28
1A28
1A28
Transmit
PDO Mapping
Parameter
- Crash_
Predictor_Info
0
1
2
1A28 3
1A28
1A28
1A29
1A29
1A29
5
Transmit
PDO Mapping
Parameter
- Global_
Information
0
1
Parameter Name
0x9
4
Number of entries 0x7 rw
PDO Mapping Entry
0x7 rw
- CP_obj_id
PDO Mapping Entry
- CP_ttc
PDO Mapping
0x7 rw
Entry - CP_impact_ velocity
PDO Mapping
Entry - CP_crash_ predicted
PDO Mapping Entry
- Crash_Predictor_
Info_cnt
0x7 rw
0x7 rw
0x7 rw
0x9
1A29
1A29
1A29
1A2A
1A2A
1A2A
2100 Object 0
2100
2100
2
3
4
Transmit
PDO Mapping
Parameter -
SyncMsg
0
1
0
1
Number of entries 0x7 rw
PDO Mapping Entry
- GLOB_master_ time
PDO Mapping Entry
- GLOB_Sensor_
0x7 rw
0x7 rw
Available
PDO Mapping Entry
- SwCtrl_OpMode
PDO Mapping
Entry - Global_
Information_cnt
0x7 rw
0x7 rw
0x9
Number of entries 0x7 rw
PDO Mapping Entry
- KP_MasterTime_
LastTxTimeStamp
0x7 rw
NrOfObjects
Part A
0x9
0x7 ro
0x7 ro
5
0x22000108
0x22000208
0x22000310
0
0
0
0
0x22000408 0
0x22000508 0
4
0x22010120
0x22010408
0x22010308
0x22010408
2
2
1
0x22010308
0
0
0
0
0
0
0
0
0
2100 2 Part B 0x7 ro 2 0
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
–
–
–
Objects 2100-2113
Mobile Camera
Object: There are several signals coded in each
Index Part� These signals are coded equal to the Signals in the SAE J1939 implementation�
→ „7�2 SAE
J1939“
34
O3M151 3D Smart Sensor Object Detection
2101 Object 1
2101
2101
2101
2102 Object 2
2102
2102
2102
2103 Object 3
2103
2103
2103
2104 Object 4
2104
2104
2104
2105 Object 5
2105
2105
2105
2106 Object 6
2106
2106
2106
2107 Object 7
2107
2107
2107
2108 Object 8
2108
2108
2108
2109 Object 9
2109
2109
2109
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
Parameter Name
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
See Objects No�
2100
UK
35
O3M151 3D Smart Sensor Object Detection
210A Object 10
210A
210A
210A
210B Object 11
210B
210B
210B
210C Object 12
210C
210C
210C
210D Object 13
210D
210D
210D
210E Object 14
210E
210E
210E
210F Object 15
210F
210F
210F
2110 Object 16
2110
2110
2110
2111 Object 17
2111
2111
2111
2112 Object 18
2112
2112
2112
2113 Object 19
2113
2113
2113
2200
Crash_
Predictor_Info
2200
2200
2200
2200
2200
2
3
0
1
4
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
0
1
2
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
NrOfObjects
Part A
Part B
Parameter Name
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
0x7 ro
0x7 ro
0x7 ro
0x9
NrOfObjects
CP_obj_id
0x7 ro
0x7 ro
CP_ttc 0x7 ro
CP_impact_velocity 0x7 ro
CP_crash_predicted 0x7 ro
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
5
5
5
5
5
2200 5
Crash_Predictor_
Info_cnt
0x7 ro 5
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
8
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
See Objects No�
2100
0 3
This object contains several sub objects:
Name Unit Value
Table Comment
CP_obj_id n/a
<none> object id causing the crash
CP_ttc s
VtSig_CP_ttc time to collision for predicted crash
CP_impact_velocity m/s VtSig_CP_ impact_velocity impact velocity for predicted crash
CP_crash_predicted enum VtSig_CP_ crash_predicted
Enum describing state of crash predictor:���
Crash_Predictor_
Info_cnt
<none>
36
O3M151 3D Smart Sensor Object Detection
2201
2201
2201
2201
2201
Global_
Information
2201
2210 SyncMsg
2210
2210
2300 Ego_Motion
2300
2300
2300
2300
0
1
2
3
0
1
2
3
0
1
4
Parameter Name
0x9
NrOfObjects 0x7 ro
GLOB_master_time 0x7 ro
GLOB_sensor_ available
0x7 ro
SwCtrl_OpMode
Global_Information_ cnt
0x7 ro
0x7 ro
0x9
0x7 ro NrOfObjects
MasterTime_
LastTxTimeStamp
0x7 ro
NrOfObjects
Wheel_
BasedVehicleSpeed 0x7 wo
Driving_Direction
Yaw_Rate
0x9
0x7 ro
0x7 wo
0x7 wo
3
3
3
3
1
1
4
4
4
4
4
7.2 SAE J1939
The initial value is always "0"�
0
0
0
0
0
0
0
0
0
0
0
3
3
3
3
3
3
3
3
3
65
3
Constant_2D_
Calib_Data_Mux
IntrCalib_2D_ mx
IntrCalib_2D_ my
Constant_2D_
Calib_Data
Constant_2D_
Calib_Data
IntrCalib_2D_alpha
Constant_2D_
Calib_Data
IntrCalib_2D_ center_tx
IntrCalib_2D_ center_ty
Constant_2D_
Calib_Data
Constant_2D_
Calib_Data
Constant_2D_
Calib_Data
Multiplexing/ Group
0x4FF0AEF Multiplexor
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
0x4FF0AEF
Constant_2D_
Calib_Data_
Mux = 0x0
Constant_2D_
Calib_Data_
Mux = 0x1
Constant_2D_
Calib_Data_
Mux = 0x2
Constant_2D_
Calib_Data_
Mux = 0x3
Constant_2D_
Calib_Data_
Mux = 0x4
Constant_2D_
Calib_Data_
Mux = 0x5
Constant_2D_
Calib_Data_
Mux = 0x6
Constant_2D_
Calib_Data_
Mux = 0x7
Constant_2D_
Calib_Data_
Mux = 0x8
Constant_2D_
Calib_Data_
Mux = 0x9
Constant_2D_
Calib_Data_
Mux = 0xA
Constant_2D_
Calib_Data_
Mux = 0xB
0 8 Unsigned
–
–
–
UK
37
O3M151 3D Smart Sensor Object Detection
IntrCalib_2D_ center_tz
CP_obj_id
CP_ttc
Constant_2D_
Calib_Data
Crash_Predictor_Info
Crash_Predictor_Info
CP_impact_velocity
CP_crash_predicted
Crash_Predictor_Info_cnt
Variant
Major
Minor
Crash_Predictor_Info
Crash_Predictor_Info
Crash_Predictor_Info
DBC_File_Version
DBC_File_Version
DBC_File_Version
0x4FF0AEF
0x4FF02EF
0x4FF02EF
0x4FF02EF
0x4FF02EF
0x4FF02EF
0x4FFA0EF
0x4FFA0EF
0x4FFA0EF
Multiplexing/ Group
Constant_2D_
Calib_Data_
Mux = 0xC
0 8 Unsigned
8 8 Unsigned
16 9 Unsigned
25 3 Unsigned
30 2 Unsigned
0 8 Unsigned
8 8 Unsigned
16 8 Unsigned
ProtectLamp-
Status
DM1 0x18FECAFE 0 2 Unsigned
AmberWarningLampStatus DM1
0x18FECAFE 2 2 Unsigned
RedStopLamp-
State
DM1
MalfunctionIndicatorLamp-
Status
DM1
FlashProtect-
Lamp
DM1
FlashAmber-
WarningLamp
DM1
FlashRedStopLamp
DM1
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
38
4 2 Unsigned
6 2 Unsigned
8 2 Unsigned
10 2 Unsigned
12 2 Unsigned
VtSig_CP_ttc
VtSig_CP_impact_velocity
VtSig_CP_ crash_predicted object id causing the crash time to collision for predicted crash impact velocity for predicted crash
VtSig_Variant
This lamp is used to relay trouble code information that is reporting a problem with a vehicle system that is most���
This lamp is used to relay trouble code information that is reporting a problem with the vehicle system but the vehicle need���
This lamp is used to relay trouble code information that is of a severe enought condition that it warrants stopping the vehicle�
A lamp used to relay only emissions-related trouble code information�
This parameter provides the capability to flash the engine protect lamp
(SPN 3041)�
This parameter provides the capability to flash the AWL (SPN
3040)�
This parameter provides the capability to flash the RSL (SPN
3039)�
FlashMalfuncIndicatorLamp
DM1
SPN1 DM1
FailureModeIdentifier1
DM1
SPN1High DM1
Occurence-
Count1
DM1
SPNConversionMethod1
SPN2
DM1
DM1
FailureModeIdentifier2
DM1
SPN2High DM1
Occurence-
Count2
DM1
SPNConversionMethod2
SPN3
DM1
DM1
FailureModeIdentifier3
DM1
SPN3High DM1
Occurence-
Count3
DM1
SPNConversionMethod3
DM1
Multiplexing/ Group
72 7 Unsigned
79 1 Unsigned
80 16 Unsigned
96 5 Unsigned
101 3 Unsigned
104 7 Unsigned
111 1 Unsigned
14 2 Unsigned
16 16 Unsigned
32 5 Unsigned
37 3 Unsigned
40 7 Unsigned
47 1 Unsigned
48 16 Unsigned
64 5 Unsigned
69 3 Unsigned
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
O3M151 3D Smart Sensor Object Detection
SPN #2 (Conversion Version
4)
The FMI defines the type of failure detected in the subsystem identified by an
SPN�
SPN #2 (Conversion Version
4)
The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active�
SPN #3 (Conversion Version
4)
The FMI defines the type of failure detected in the subsystem identified by an
SPN�
SPN #3 (Conversion Version
4)
The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active�
This parameter provides the capability to flash the MIL (SPN
3038)�
SPN #1 (Conversion Version
4)
The FMI defines the type of failure detected in the subsystem identified by an
SPN�
SPN #1 (Conversion Version
4)
The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active�
UK
39
O3M151 3D Smart Sensor Object Detection
SPN4 DM1
FailureModeIdentifier4
DM1
SPN4High DM1
Occurence-
Count4
DM1
SPNConversionMethod4
DM1
SPN5 DM1
FailureModeIdentifier5
DM1
SPN5High DM1
0x18FECAFE
Multiplexing/ Group
112 16 Unsigned
0x18FECAFE
0x18FECAFE
128 5 Unsigned
133 3 Unsigned
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
0x18FECAFE
Occurence-
Count5
DM1 0x18FECAFE
SPNConversionMethod5
DM1 0x18FECAFE
ExtrCalib_2D_ rot_x
Dynamic_2D_Calib_Data
0x4FF09EF
ExtrCalib_2D_ delta_tx
Dynamic_2D_Calib_Data
0x4FF09EF
ExtrCalib_2D_ rot_y
Dynamic_2D_Calib_Data
0x4FF09EF
ExtrCalib_2D_ delta_ty
Dynamic_2D_Calib_Data
0x4FF09EF
ExtrCalib_2D_ rot_z
Dynamic_2D_Calib_Data
0x4FF09EF
ExtrCalib_2D_ delta_tz
Dynamic_2D_
Calib_Data_cnt
Dynamic_2D_Calib_Data
0x4FF09EF
Dynamic_2D_Calib_Data
0x4FF09EF
40
136 7 Unsigned
143 1 Unsigned
144 16 Unsigned
160 5 Unsigned
165 3 Unsigned
168 7 Unsigned
175 1 Unsigned
0 12 Unsigned
12 8 Unsigned
20 12 Unsigned
32 8 Unsigned
40 12 Unsigned
52 8 Unsigned
62 2 Unsigned
VtSig_
ExtrCalib_2D_ rot_x
VtSig_
ExtrCalib_2D_ delta_tx
VtSig_
ExtrCalib_2D_ rot_y
VtSig_
ExtrCalib_2D_ delta_ty
VtSig_
ExtrCalib_2D_ rot_z
VtSig_
ExtrCalib_2D_ delta_tz
SPN #4 (Conversion Version
4)
The FMI defines the type of failure detected in the subsystem identified by an
SPN�
SPN #4 (Conversion Version
4)
The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active�
SPN #5 (Conversion Version
4)
The FMI defines the type of failure detected in the subsystem identified by an
SPN�
SPN #5 (Conversion Version
4)
The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active�
VehicleABS-
Active
EBS21 0x1803FFFE
Multiplexing/ Group
0 2 Unsigned
VehicleRetarderCtrlActive
EBS21 0x1803FFFE 2 2 Unsigned
VehicleService-
BrakeActive
EBS21
AutomTowedVehBreakActive
EBS21
VDCActive EBS21
0x1803FFFE
0x1803FFFE
0x1803FFFE
SupplyLineBrakingRequest
EBS21 0x1803FFFE
4 2 Unsigned
6 2 Unsigned
8 2 Unsigned
10 2 Unsigned
O3M151 3D Smart Sensor Object Detection
Wheel_Based-
VehicleSpeed
EBS21 0x1803FFFE 16 16 Unsigned
ActualRetarder-
PercTorque
EBS21 0x1803FFFE
WheelSpeed-
DiffMainAxle
EBS21 0x1803FFFE
GLOB_master_time
Global_Information
0x4FF01EF
32 8 Unsigned
40 16 Unsigned
0 32 Unsigned requesting to be braked by the commercial vehicle by means of bleeding the pneumatic supply line�
Actual speed of the vehicle
(positive value for forward and backward speed) calculated as the average of the wheel speeds of one axle influenced by slip and filtered by a frequency range of 5 Hz to
20 Hz�
Actual torque of the retarder as negative percentage of maximum�
Difference between the wheel speed at the right side and and the left side of the main axle�
Signal indicating the ABS is active/passive�
This signal indicates the active/ passive state in all cases when the installed retarder is applied by the driver’s demand or by other systems
(brakes)�
Signal indicating the service brake of the towed vehicle is active/passive, by observing the brake pressure�
Signal indicating the automatic towed vehicle braking is active/ passive�
Signal which indicates that
Vehicle Dynamic
Control (VDC) is active/passive�
Signal indicating the trailer is
UK
41
O3M151 3D Smart Sensor Object Detection
Multiplexing/ Group
GLOB_sensor_available
Global_Information
0x4FF01EF
Blockage_Status
SwCtrl_Op-
Mode
Global_Information_cnt
Global_Information
Global_Information
Global_Information
0x4FF01EF
0x4FF01EF
0x4FF01EF
SingleFrameDataLength
SN
FlowStatus
ISO15765_Funct 0x18DBFEFE
ISO15765_Funct 0x18DBFEFE
ISO15765_Funct 0x18DBFEFE
ProtocolCtrl-
Information =
0x0 (Single frame)
ProtocolCtrl-
Information =
0x2 (Consecutive frame)
ProtocolCtrl-
Information
= 0x3 (Flow control )
ProtocolCtrlInformation
ISO15765_Funct 0x18DBFEFE Multiplexor
FirstFrameDataLength
BlockSize
SeparationTime ISO15765_Funct 0x18DBFEFE
SingleFrameDataLength
SN
FlowStatus
ISO15765_Funct 0x18DBFEFE
ISO15765_Funct 0x18DBFEFE
ISO15765_Phys 0x18DAFEFE
ISO15765_Phys 0x18DAFEFE
ISO15765_Phys 0x18DAFEFE
ProtocolCtrl-
Information
= 0x1 (First frame)
ProtocolCtrl-
Information
= 0x3 (Flow control )
ProtocolCtrl-
Information
= 0x3 (Flow control )
ProtocolCtrl-
Information =
0x0 (Single frame)
ProtocolCtrl-
Information =
0x2 (Consecutive frame)
ProtocolCtrl-
Information
= 0x3 (Flow control )
ProtocolCtrlInformation
ISO15765_Phys 0x18DAFEFE Multiplexor
FirstFrameDataLength
BlockSize
ISO15765_Phys 0x18DAFEFE
ISO15765_Phys 0x18DAFEFE
SeparationTime ISO15765_Phys 0x18DAFEFE
ProtocolCtrl-
Information
= 0x1 (First frame)
ProtocolCtrl-
Information
= 0x3 (Flow control )
ProtocolCtrl-
Information
= 0x3 (Flow control )
Obj_0_vx MoCa_Obj_0_A 0x4FF10EF
32 8 Unsigned
40 8 Unsigned
48 6 Unsigned
54 2 Unsigned
0 4 Unsigned
0 4 Unsigned
0 4 Unsigned
4 4 Unsigned
8 12 Unsigned
8 8 Unsigned
16 8 Unsigned
0 4 Unsigned
0 4 Unsigned
0 4 Unsigned
4 4 Unsigned
8 12 Unsigned
8 8 Unsigned
16 8 Unsigned
0 7 Unsigned
Obj_0_Type MoCa_Obj_0_A 0x4FF10EF 7 1 Unsigned
42
VtSig_Blockage_Status
VtSig_SwCtrl_OpMode
BIT_INTERFE-
RENCE_DE-
TECTED (1u)���
VtSig_Flow-
Status
VtSig_ProtocolCtrlInformation
VtSig_Flow-
Status
VtSig_ProtocolCtrlInformation
VtSig_Obj_0_vx relative velocity of object, x direction
Type identifier of the object���
O3M151 3D Smart Sensor Object Detection
Obj_0_vy
Obj_0_
Measured
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
Obj_0_ay
Obj_0_ep
Obj_0_ax
Obj_0_qvx
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
Obj_0_az
Obj_0_TrackAge
Obj_0_Id
Obj_0_zMin
Obj_0_vz
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
MoCa_Obj_0_A 0x4FF10EF
Obj_0_A_cnt MoCa_Obj_0_A 0x4FF10EF
Obj_0_dz MoCa_Obj_0_B 0x4FF11EF
Multiplexing/ Group
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_0_dy
Obj_0_dx
MoCa_Obj_0_B 0x4FF11EF
MoCa_Obj_0_B 0x4FF11EF
Obj_0_x1
Obj_0_y1
Obj_0_qvy
MoCa_Obj_0_B 0x4FF11EF
MoCa_Obj_0_B 0x4FF11EF
MoCa_Obj_0_B 0x4FF11EF
Obj_0_History MoCa_Obj_0_B 0x4FF11EF
Obj_0_B_cnt MoCa_Obj_0_B 0x4FF11EF
Obj_1_vx MoCa_Obj_1_A 0x4FF12EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
VtSig_Obj_0_vy
VtSig_Obj_0_
Measured
VtSig_Obj_0_ay
VtSig_Obj_0_ep
VtSig_Obj_0_ax
VtSig_Obj_0_ qvx
VtSig_Obj_0_az
VtSig_Obj_0_
TrackAge relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_0_ zMin
VtSig_Obj_0_vz
VtSig_Obj_0_dz
VtSig_Obj_0_dy
VtSig_Obj_0_dx
VtSig_Obj_0_x1
VtSig_Obj_0_y1
VtSig_Obj_0_ qvy
VtSig_Obj_0_
History
VtSig_Obj_1_vx minimum z coordinate of object relative velocity of object, z direction
Obj 0 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 0 part
B message counter relative velocity of object, x direction
UK
43
O3M151 3D Smart Sensor Object Detection
Obj_1_Type
Obj_1_vy
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
Obj_1_
Measured
MoCa_Obj_1_A 0x4FF12EF
Obj_1_ay
Obj_1_ep
Obj_1_ax
Obj_1_qvx
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
Obj_1_az
Obj_1_TrackAge
Obj_1_Id
Obj_1_zMin
Obj_1_vz
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
MoCa_Obj_1_A 0x4FF12EF
Obj_1_A_cnt MoCa_Obj_1_A 0x4FF12EF
Obj_1_dz MoCa_Obj_1_B 0x4FF13EF
Multiplexing/ Group
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_1_dy
Obj_1_dx
MoCa_Obj_1_B 0x4FF13EF
MoCa_Obj_1_B 0x4FF13EF
Obj_1_x1
Obj_1_y1
Obj_1_qvy
MoCa_Obj_1_B 0x4FF13EF
MoCa_Obj_1_B 0x4FF13EF
MoCa_Obj_1_B 0x4FF13EF
Obj_1_History MoCa_Obj_1_B 0x4FF13EF
Obj_1_B_cnt MoCa_Obj_1_B 0x4FF13EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
44
VtSig_Obj_1_vy
VtSig_Obj_1_
Measured
VtSig_Obj_1_ay
VtSig_Obj_1_ep
VtSig_Obj_1_ax
VtSig_Obj_1_ qvx
VtSig_Obj_1_az
VtSig_Obj_1_
TrackAge
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_1_ zMin
VtSig_Obj_1_vz
VtSig_Obj_1_dz
VtSig_Obj_1_dy
VtSig_Obj_1_dx
VtSig_Obj_1_x1
VtSig_Obj_1_y1
VtSig_Obj_1_ qvy
VtSig_Obj_1_
History minimum z coordinate of object relative velocity of object, z direction
Obj 1 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 1 part
B message counter
O3M151 3D Smart Sensor Object Detection
Obj_10_vx MoCa_Obj_10_A 0x4FF24EF
Obj_10_Type MoCa_Obj_10_A 0x4FF24EF
Obj_10_vy MoCa_Obj_10_A 0x4FF24EF
Obj_10_
Measured
MoCa_Obj_10_A 0x4FF24EF
Obj_10_ay
Obj_10_ep
Obj_10_ax
Obj_10_qvx
MoCa_Obj_10_A 0x4FF24EF
MoCa_Obj_10_A 0x4FF24EF
MoCa_Obj_10_A 0x4FF24EF
MoCa_Obj_10_A 0x4FF24EF
Obj_10_az
Obj_10_TrackAge
Obj_10_Id
MoCa_Obj_10_A 0x4FF24EF
MoCa_Obj_10_A 0x4FF24EF
MoCa_Obj_10_A 0x4FF24EF
Obj_10_zMin MoCa_Obj_10_A 0x4FF24EF
Obj_10_vz MoCa_Obj_10_A 0x4FF24EF
Obj_10_A_cnt MoCa_Obj_10_A 0x4FF24EF
Obj_10_dz MoCa_Obj_10_B 0x4FF25EF
Multiplexing/ Group
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_10_dy
Obj_10_dx
MoCa_Obj_10_B 0x4FF25EF
MoCa_Obj_10_B 0x4FF25EF
Obj_10_x1
Obj_10_y1
Obj_10_qvy
MoCa_Obj_10_B 0x4FF25EF
MoCa_Obj_10_B 0x4FF25EF
MoCa_Obj_10_B 0x4FF25EF
Obj_10_History MoCa_Obj_10_B 0x4FF25EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
VtSig_Obj_10_ vx
VtSig_Obj_10_ vy
VtSig_Obj_10_
Measured
VtSig_Obj_10_ ay
VtSig_Obj_10_ ep
VtSig_Obj_10_ ax
VtSig_Obj_10_ qvx
VtSig_Obj_10_ az
VtSig_Obj_10_
TrackAge relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_10_ zMin
VtSig_Obj_10_ vz
VtSig_Obj_10_ dz
VtSig_Obj_10_ dy
VtSig_Obj_10_ dx
VtSig_Obj_10_ x1
VtSig_Obj_10_ y1
VtSig_Obj_10_ qvy
VtSig_Obj_10_
History minimum z coordinate of object relative velocity of object, z direction
Obj 10 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
UK
45
O3M151 3D Smart Sensor Object Detection
Obj_10_B_cnt MoCa_Obj_10_B 0x4FF25EF
Obj_11_vx MoCa_Obj_11_A 0x4FF26EF
Obj_11_Type MoCa_Obj_11_A 0x4FF26EF
Obj_11_vy MoCa_Obj_11_A 0x4FF26EF
Obj_11_
Measured
MoCa_Obj_11_A 0x4FF26EF
Obj_11_ay
Obj_11_ep
Obj_11_ax
Obj_11_qvx
MoCa_Obj_11_A 0x4FF26EF
MoCa_Obj_11_A 0x4FF26EF
MoCa_Obj_11_A 0x4FF26EF
MoCa_Obj_11_A 0x4FF26EF
Obj_11_az
Obj_11_TrackAge
Obj_11_Id
MoCa_Obj_11_A 0x4FF26EF
MoCa_Obj_11_A 0x4FF26EF
MoCa_Obj_11_A 0x4FF26EF
Obj_11_zMin MoCa_Obj_11_A 0x4FF26EF
Obj_11_vz MoCa_Obj_11_A 0x4FF26EF
Obj_11_A_cnt MoCa_Obj_11_A 0x4FF26EF
Obj_11_dz MoCa_Obj_11_B 0x4FF27EF
Multiplexing/ Group
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_11_dy
Obj_11_dx
Obj_11_x1
Obj_11_y1
Obj_11_qvy
MoCa_Obj_11_B 0x4FF27EF
MoCa_Obj_11_B 0x4FF27EF
MoCa_Obj_11_B 0x4FF27EF
MoCa_Obj_11_B 0x4FF27EF
MoCa_Obj_11_B 0x4FF27EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
46
VtSig_Obj_11_ vx
VtSig_Obj_11_ vy
VtSig_Obj_11_
Measured
VtSig_Obj_11_ ay
VtSig_Obj_11_ ep
VtSig_Obj_11_ ax
VtSig_Obj_11_ qvx
VtSig_Obj_11_ az
VtSig_Obj_11_
TrackAge
VtSig_Obj_11_ zMin
VtSig_Obj_11_ vz
VtSig_Obj_11_ dz
VtSig_Obj_11_ dy
VtSig_Obj_11_ dx
VtSig_Obj_11_ x1
VtSig_Obj_11_ y1
VtSig_Obj_11_ qvy
Obj 10 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object minimum z coordinate of object relative velocity of object, z direction
Obj 11 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
O3M151 3D Smart Sensor Object Detection
Obj_11_History MoCa_Obj_11_B 0x4FF27EF
Obj_11_B_cnt MoCa_Obj_11_B 0x4FF27EF
Obj_12_vx MoCa_Obj_12_A 0x4FF28EF
Obj_12_Type MoCa_Obj_12_A 0x4FF28EF
Obj_12_vy MoCa_Obj_12_A 0x4FF28EF
Obj_12_
Measured
MoCa_Obj_12_A 0x4FF28EF
Obj_12_ay
Obj_12_ep
Obj_12_ax
Obj_12_qvx
MoCa_Obj_12_A 0x4FF28EF
MoCa_Obj_12_A 0x4FF28EF
MoCa_Obj_12_A 0x4FF28EF
MoCa_Obj_12_A 0x4FF28EF
Obj_12_az MoCa_Obj_12_A 0x4FF28EF
Obj_12_TrackAge
Obj_12_Id
MoCa_Obj_12_A 0x4FF28EF
MoCa_Obj_12_A 0x4FF28EF
Obj_12_zMin MoCa_Obj_12_A 0x4FF28EF
Obj_12_vz MoCa_Obj_12_A 0x4FF28EF
Obj_12_A_cnt MoCa_Obj_12_A 0x4FF28EF
Obj_12_dz MoCa_Obj_12_B 0x4FF29EF
Obj_12_dy MoCa_Obj_12_B 0x4FF29EF
Obj_12_dx MoCa_Obj_12_B 0x4FF29EF
Obj_12_x1
Obj_12_y1
MoCa_Obj_12_B 0x4FF29EF
MoCa_Obj_12_B 0x4FF29EF
Multiplexing/ Group
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
VtSig_Obj_11_
History
VtSig_Obj_12_ vx
VtSig_Obj_12_ vy
VtSig_Obj_12_
Measured
VtSig_Obj_12_ ay
VtSig_Obj_12_ ep
VtSig_Obj_12_ ax
VtSig_Obj_12_ qvx
VtSig_Obj_12_ az
VtSig_Obj_12_
TrackAge
Flag indicating that this object has been seen on bus
Obj 11 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_12_ zMin
VtSig_Obj_12_ vz
VtSig_Obj_12_ dz
VtSig_Obj_12_ dy
VtSig_Obj_12_ dx
VtSig_Obj_12_ x1
VtSig_Obj_12_ y1 minimum z coordinate of object relative velocity of object, z direction
Obj 12 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point
UK
47
O3M151 3D Smart Sensor Object Detection
Obj_12_qvy MoCa_Obj_12_B 0x4FF29EF
Obj_12_History MoCa_Obj_12_B 0x4FF29EF
Obj_12_B_cnt MoCa_Obj_12_B 0x4FF29EF
Obj_13_vx MoCa_Obj_13_A 0x4FF2AEF
Obj_13_Type MoCa_Obj_13_A 0x4FF2AEF
Obj_13_vy MoCa_Obj_13_A 0x4FF2AEF
Obj_13_
Measured
MoCa_Obj_13_A 0x4FF2AEF
Obj_13_ay
Obj_13_ep
Obj_13_ax
Obj_13_qvx
MoCa_Obj_13_A 0x4FF2AEF
MoCa_Obj_13_A 0x4FF2AEF
MoCa_Obj_13_A 0x4FF2AEF
MoCa_Obj_13_A 0x4FF2AEF
Obj_13_az MoCa_Obj_13_A 0x4FF2AEF
Obj_13_TrackAge
Obj_13_Id
MoCa_Obj_13_A 0x4FF2AEF
MoCa_Obj_13_A 0x4FF2AEF
Obj_13_zMin MoCa_Obj_13_A 0x4FF2AEF
Obj_13_vz MoCa_Obj_13_A 0x4FF2AEF
Obj_13_A_cnt MoCa_Obj_13_A 0x4FF2AEF
Obj_13_dz MoCa_Obj_13_B 0x4FF2BEF
Multiplexing/ Group
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_13_dy
Obj_13_dx
Obj_13_x1
MoCa_Obj_13_B 0x4FF2BEF
MoCa_Obj_13_B 0x4FF2BEF
MoCa_Obj_13_B 0x4FF2BEF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
48
VtSig_Obj_12_ qvy
VtSig_Obj_12_
History
VtSig_Obj_13_ vx
VtSig_Obj_13_ vy
VtSig_Obj_13_
Measured
VtSig_Obj_13_ ay
VtSig_Obj_13_ ep
VtSig_Obj_13_ ax
VtSig_Obj_13_ qvx
VtSig_Obj_13_ az
VtSig_Obj_13_
TrackAge quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 12 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_13_ zMin
VtSig_Obj_13_ vz
VtSig_Obj_13_ dz
VtSig_Obj_13_ dy
VtSig_Obj_13_ dx
VtSig_Obj_13_ x1 minimum z coordinate of object relative velocity of object, z direction
Obj 13 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point
O3M151 3D Smart Sensor Object Detection
Obj_13_y1
Obj_13_qvy
MoCa_Obj_13_B 0x4FF2BEF
MoCa_Obj_13_B 0x4FF2BEF
Obj_13_History MoCa_Obj_13_B 0x4FF2BEF
Obj_13_B_cnt MoCa_Obj_13_B 0x4FF2BEF
Obj_14_vx MoCa_Obj_14_A 0x4FF2CEF
Obj_14_Type MoCa_Obj_14_A 0x4FF2CEF
Obj_14_vy MoCa_Obj_14_A 0x4FF2CEF
Obj_14_
Measured
MoCa_Obj_14_A 0x4FF2CEF
Obj_14_ay
Obj_14_ep
Obj_14_ax
Obj_14_qvx
MoCa_Obj_14_A 0x4FF2CEF
MoCa_Obj_14_A 0x4FF2CEF
MoCa_Obj_14_A 0x4FF2CEF
MoCa_Obj_14_A 0x4FF2CEF
Obj_14_az MoCa_Obj_14_A 0x4FF2CEF
Obj_14_TrackAge
Obj_14_Id
MoCa_Obj_14_A 0x4FF2CEF
MoCa_Obj_14_A 0x4FF2CEF
Obj_14_zMin MoCa_Obj_14_A 0x4FF2CEF
Obj_14_vz MoCa_Obj_14_A 0x4FF2CEF
Obj_14_A_cnt MoCa_Obj_14_A 0x4FF2CEF
Obj_14_dz MoCa_Obj_14_B 0x4FF2DEF
Multiplexing/ Group
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_14_dy
Obj_14_dx
MoCa_Obj_14_B 0x4FF2DEF
MoCa_Obj_14_B 0x4FF2DEF
8 12 Unsigned
20 12 Unsigned
VtSig_Obj_13_ y1
VtSig_Obj_13_ qvy
VtSig_Obj_13_
History
VtSig_Obj_14_ vx
VtSig_Obj_14_ vy
VtSig_Obj_14_
Measured
VtSig_Obj_14_ ay
VtSig_Obj_14_ ep
VtSig_Obj_14_ ax
VtSig_Obj_14_ qvx
VtSig_Obj_14_ az
VtSig_Obj_14_
TrackAge y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 13 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_14_ zMin
VtSig_Obj_14_ vz
VtSig_Obj_14_ dz
VtSig_Obj_14_ dy
VtSig_Obj_14_ dx minimum z coordinate of object relative velocity of object, z direction
Obj 14 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)
UK
49
O3M151 3D Smart Sensor Object Detection
Obj_14_x1
Obj_14_y1
Obj_14_qvy
MoCa_Obj_14_B 0x4FF2DEF
MoCa_Obj_14_B 0x4FF2DEF
MoCa_Obj_14_B 0x4FF2DEF
Obj_14_History MoCa_Obj_14_B 0x4FF2DEF
Obj_14_B_cnt MoCa_Obj_14_B 0x4FF2DEF
Obj_15_vx MoCa_Obj_15_A 0x4FF2EEF
Obj_15_Type MoCa_Obj_15_A 0x4FF2EEF
Obj_15_vy MoCa_Obj_15_A 0x4FF2EEF
Obj_15_
Measured
MoCa_Obj_15_A 0x4FF2EEF
Obj_15_ay
Obj_15_ep
Obj_15_ax
Obj_15_qvx
MoCa_Obj_15_A 0x4FF2EEF
MoCa_Obj_15_A 0x4FF2EEF
MoCa_Obj_15_A 0x4FF2EEF
MoCa_Obj_15_A 0x4FF2EEF
Obj_15_az
Obj_15_TrackAge
Obj_15_Id
MoCa_Obj_15_A 0x4FF2EEF
MoCa_Obj_15_A 0x4FF2EEF
MoCa_Obj_15_A 0x4FF2EEF
Obj_15_zMin MoCa_Obj_15_A 0x4FF2EEF
Obj_15_vz MoCa_Obj_15_A 0x4FF2EEF
Obj_15_A_cnt MoCa_Obj_15_A 0x4FF2EEF
Obj_15_dz MoCa_Obj_15_B 0x4FF2FEF
Multiplexing/ Group
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
0 8 Unsigned
Obj_15_dy MoCa_Obj_15_B 0x4FF2FEF 8 12 Unsigned
VtSig_Obj_14_ x1
VtSig_Obj_14_ y1
VtSig_Obj_14_ qvy
VtSig_Obj_14_
History
VtSig_Obj_15_ vx
VtSig_Obj_15_ vy
VtSig_Obj_15_
Measured
VtSig_Obj_15_ ay
VtSig_Obj_15_ ep
VtSig_Obj_15_ ax
VtSig_Obj_15_ qvx
VtSig_Obj_15_ az
VtSig_Obj_15_
TrackAge x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 14 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_15_ zMin
VtSig_Obj_15_ vz
VtSig_Obj_15_ dz
VtSig_Obj_15_ dy minimum z coordinate of object relative velocity of object, z direction
Obj 15 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1)
50
O3M151 3D Smart Sensor Object Detection
Obj_15_dx MoCa_Obj_15_B 0x4FF2FEF
Obj_15_x1
Obj_15_y1
Obj_15_qvy
MoCa_Obj_15_B 0x4FF2FEF
MoCa_Obj_15_B 0x4FF2FEF
MoCa_Obj_15_B 0x4FF2FEF
Obj_15_History MoCa_Obj_15_B 0x4FF2FEF
Obj_15_B_cnt MoCa_Obj_15_B 0x4FF2FEF
Obj_16_vx MoCa_Obj_16_A 0x4FF30EF
Obj_16_Type MoCa_Obj_16_A 0x4FF30EF
Obj_16_vy MoCa_Obj_16_A 0x4FF30EF
Obj_16_
Measured
MoCa_Obj_16_A 0x4FF30EF
Obj_16_ay
Obj_16_ep
Obj_16_ax
Obj_16_qvx
MoCa_Obj_16_A 0x4FF30EF
MoCa_Obj_16_A 0x4FF30EF
MoCa_Obj_16_A 0x4FF30EF
MoCa_Obj_16_A 0x4FF30EF
Obj_16_az
Obj_16_TrackAge
Obj_16_Id
MoCa_Obj_16_A 0x4FF30EF
MoCa_Obj_16_A 0x4FF30EF
MoCa_Obj_16_A 0x4FF30EF
Obj_16_zMin MoCa_Obj_16_A 0x4FF30EF
Obj_16_vz MoCa_Obj_16_A 0x4FF30EF
Obj_16_A_cnt MoCa_Obj_16_A 0x4FF30EF
Obj_16_dz MoCa_Obj_16_B 0x4FF31EF
Multiplexing/ Group
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
VtSig_Obj_15_ dx
VtSig_Obj_15_ x1
VtSig_Obj_15_ y1
VtSig_Obj_15_ qvy
VtSig_Obj_15_
History
VtSig_Obj_16_ vx
VtSig_Obj_16_ vy
VtSig_Obj_16_
Measured
VtSig_Obj_16_ ay
VtSig_Obj_16_ ep
VtSig_Obj_16_ ax
VtSig_Obj_16_ qvx
VtSig_Obj_16_ az
VtSig_Obj_16_
TrackAge delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 15 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_16_ zMin
VtSig_Obj_16_ vz
VtSig_Obj_16_ dz minimum z coordinate of object relative velocity of object, z direction
Obj 16 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin)
UK
51
O3M151 3D Smart Sensor Object Detection
Obj_16_dy MoCa_Obj_16_B 0x4FF31EF
Obj_16_dx MoCa_Obj_16_B 0x4FF31EF
Obj_16_x1
Obj_16_y1
Obj_16_qvy
MoCa_Obj_16_B 0x4FF31EF
MoCa_Obj_16_B 0x4FF31EF
MoCa_Obj_16_B 0x4FF31EF
Obj_16_History MoCa_Obj_16_B 0x4FF31EF
Obj_16_B_cnt MoCa_Obj_16_B 0x4FF31EF
Obj_17_vx MoCa_Obj_17_A 0x4FF32EF
Obj_17_Type MoCa_Obj_17_A 0x4FF32EF
Obj_17_vy MoCa_Obj_17_A 0x4FF32EF
Obj_17_
Measured
MoCa_Obj_17_A 0x4FF32EF
Obj_17_ay
Obj_17_ep
Obj_17_ax
Obj_17_qvx
MoCa_Obj_17_A 0x4FF32EF
MoCa_Obj_17_A 0x4FF32EF
MoCa_Obj_17_A 0x4FF32EF
MoCa_Obj_17_A 0x4FF32EF
Obj_17_az
Obj_17_TrackAge
Obj_17_Id
MoCa_Obj_17_A 0x4FF32EF
MoCa_Obj_17_A 0x4FF32EF
MoCa_Obj_17_A 0x4FF32EF
Obj_17_zMin MoCa_Obj_17_A 0x4FF32EF
Obj_17_vz MoCa_Obj_17_A 0x4FF32EF
Obj_17_A_cnt MoCa_Obj_17_A 0x4FF32EF
Multiplexing/ Group
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
52
VtSig_Obj_16_ dy
VtSig_Obj_16_ dx
VtSig_Obj_16_ x1
VtSig_Obj_16_ y1
VtSig_Obj_16_ qvy
VtSig_Obj_16_
History
VtSig_Obj_17_ vx
VtSig_Obj_17_ vy
VtSig_Obj_17_
Measured
VtSig_Obj_17_ ay
VtSig_Obj_17_ ep
VtSig_Obj_17_ ax
VtSig_Obj_17_ qvx
VtSig_Obj_17_ az
VtSig_Obj_17_
TrackAge delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 16 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_17_ zMin
VtSig_Obj_17_ vz minimum z coordinate of object relative velocity of object, z direction
Obj 17 part
A message counter
O3M151 3D Smart Sensor Object Detection
Obj_17_dz MoCa_Obj_17_B 0x4FF33EF
Obj_17_dy MoCa_Obj_17_B 0x4FF33EF
Obj_17_dx MoCa_Obj_17_B 0x4FF33EF
Obj_17_x1
Obj_17_y1
Obj_17_qvy
MoCa_Obj_17_B 0x4FF33EF
MoCa_Obj_17_B 0x4FF33EF
MoCa_Obj_17_B 0x4FF33EF
Obj_17_History MoCa_Obj_17_B 0x4FF33EF
Obj_17_B_cnt MoCa_Obj_17_B 0x4FF33EF
Obj_18_vx MoCa_Obj_18_A 0x4FF34EF
Obj_18_Type MoCa_Obj_18_A 0x4FF34EF
Obj_18_vy MoCa_Obj_18_A 0x4FF34EF
Obj_18_
Measured
MoCa_Obj_18_A 0x4FF34EF
Obj_18_ay
Obj_18_ep
Obj_18_ax
Obj_18_qvx
MoCa_Obj_18_A 0x4FF34EF
MoCa_Obj_18_A 0x4FF34EF
MoCa_Obj_18_A 0x4FF34EF
MoCa_Obj_18_A 0x4FF34EF
Obj_18_az
Obj_18_TrackAge
Obj_18_Id
MoCa_Obj_18_A 0x4FF34EF
MoCa_Obj_18_A 0x4FF34EF
MoCa_Obj_18_A 0x4FF34EF
Obj_18_zMin MoCa_Obj_18_A 0x4FF34EF
Obj_18_vz MoCa_Obj_18_A 0x4FF34EF
Multiplexing/ Group
0 8 Unsigned
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
VtSig_Obj_17_ dz
VtSig_Obj_17_ dy
VtSig_Obj_17_ dx
VtSig_Obj_17_ x1
VtSig_Obj_17_ y1
VtSig_Obj_17_ qvy
VtSig_Obj_17_
History
VtSig_Obj_18_ vx
VtSig_Obj_18_ vy
VtSig_Obj_18_
Measured
VtSig_Obj_18_ ay
VtSig_Obj_18_ ep
VtSig_Obj_18_ ax
VtSig_Obj_18_ qvx
VtSig_Obj_18_ az
VtSig_Obj_18_
TrackAge maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 17 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_18_ zMin
VtSig_Obj_18_ vz minimum z coordinate of object relative velocity of object, z direction
UK
53
O3M151 3D Smart Sensor Object Detection
Obj_18_A_cnt MoCa_Obj_18_A 0x4FF34EF
Obj_18_dz MoCa_Obj_18_B 0x4FF35EF
Multiplexing/ Group
62 2 Unsigned
0 8 Unsigned
Obj_18_dy MoCa_Obj_18_B 0x4FF35EF
Obj_18_dx MoCa_Obj_18_B 0x4FF35EF
Obj_18_x1
Obj_18_y1
Obj_18_qvy
MoCa_Obj_18_B 0x4FF35EF
MoCa_Obj_18_B 0x4FF35EF
MoCa_Obj_18_B 0x4FF35EF
Obj_18_History MoCa_Obj_18_B 0x4FF35EF
Obj_18_B_cnt MoCa_Obj_18_B 0x4FF35EF
Obj_19_vx MoCa_Obj_19_A 0x4FF36EF
Obj_19_Type MoCa_Obj_19_A 0x4FF36EF
Obj_19_vy MoCa_Obj_19_A 0x4FF36EF
Obj_19_
Measured
MoCa_Obj_19_A 0x4FF36EF
Obj_19_ay
Obj_19_ep
Obj_19_ax
Obj_19_qvx
MoCa_Obj_19_A 0x4FF36EF
MoCa_Obj_19_A 0x4FF36EF
MoCa_Obj_19_A 0x4FF36EF
MoCa_Obj_19_A 0x4FF36EF
Obj_19_az
Obj_19_TrackAge
Obj_19_Id
MoCa_Obj_19_A 0x4FF36EF
MoCa_Obj_19_A 0x4FF36EF
MoCa_Obj_19_A 0x4FF36EF
Obj_19_zMin MoCa_Obj_19_A 0x4FF36EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
54
VtSig_Obj_18_ dz
VtSig_Obj_18_ dy
VtSig_Obj_18_ dx
VtSig_Obj_18_ x1
VtSig_Obj_18_ y1
VtSig_Obj_18_ qvy
VtSig_Obj_18_
History
VtSig_Obj_19_ vx
VtSig_Obj_19_ vy
VtSig_Obj_19_
Measured
VtSig_Obj_19_ ay
VtSig_Obj_19_ ep
VtSig_Obj_19_ ax
VtSig_Obj_19_ qvx
VtSig_Obj_19_ az
VtSig_Obj_19_
TrackAge
Obj 18 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 18 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_19_ zMin minimum z coordinate of object
O3M151 3D Smart Sensor Object Detection
Obj_19_vz MoCa_Obj_19_A 0x4FF36EF
Obj_19_A_cnt MoCa_Obj_19_A 0x4FF36EF
Obj_19_dz MoCa_Obj_19_B 0x4FF37EF
Multiplexing/ Group
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_19_dy MoCa_Obj_19_B 0x4FF37EF
Obj_19_dx MoCa_Obj_19_B 0x4FF37EF
Obj_19_x1
Obj_19_y1
Obj_19_qvy
MoCa_Obj_19_B 0x4FF37EF
MoCa_Obj_19_B 0x4FF37EF
MoCa_Obj_19_B 0x4FF37EF
Obj_19_History MoCa_Obj_19_B 0x4FF37EF
Obj_19_B_cnt MoCa_Obj_19_B 0x4FF37EF
Obj_2_vx
Obj_2_Type
Obj_2_vy
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
Obj_2_
Measured
MoCa_Obj_2_A 0x4FF14EF
Obj_2_ay
Obj_2_ep
Obj_2_ax
Obj_2_qvx
Obj_2_az
Obj_2_TrackAge
Obj_2_Id
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
VtSig_Obj_19_ vz
VtSig_Obj_19_ dz
VtSig_Obj_19_ dy
VtSig_Obj_19_ dx
VtSig_Obj_19_ x1
VtSig_Obj_19_ y1
VtSig_Obj_19_ qvy
VtSig_Obj_19_
History
VtSig_Obj_2_vx
VtSig_Obj_2_vy
VtSig_Obj_2_
Measured
VtSig_Obj_2_ay
VtSig_Obj_2_ep
VtSig_Obj_2_ax
VtSig_Obj_2_ qvx
VtSig_Obj_2_az
VtSig_Obj_2_
TrackAge
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� relative velocity of object, z direction
Obj 19 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 19 part
B message counter relative velocity of object, x direction id of object
UK
55
O3M151 3D Smart Sensor Object Detection
Obj_2_zMin
Obj_2_vz
MoCa_Obj_2_A 0x4FF14EF
MoCa_Obj_2_A 0x4FF14EF
Obj_2_A_cnt MoCa_Obj_2_A 0x4FF14EF
Obj_2_dz MoCa_Obj_2_B 0x4FF15EF
Multiplexing/ Group
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_2_dy MoCa_Obj_2_B 0x4FF15EF
Obj_2_dx MoCa_Obj_2_B 0x4FF15EF
Obj_2_x1
Obj_2_y1
Obj_2_qvy
MoCa_Obj_2_B 0x4FF15EF
MoCa_Obj_2_B 0x4FF15EF
MoCa_Obj_2_B 0x4FF15EF
Obj_2_History MoCa_Obj_2_B 0x4FF15EF
Obj_2_B_cnt MoCa_Obj_2_B 0x4FF15EF
Obj_3_vx
Obj_3_Type
Obj_3_vy
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
Obj_3_
Measured
MoCa_Obj_3_A 0x4FF16EF
Obj_3_ay
Obj_3_ep
Obj_3_ax
Obj_3_qvx
Obj_3_az
Obj_3_TrackAge
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
56
VtSig_Obj_2_ zMin
VtSig_Obj_2_vz
VtSig_Obj_2_dz
VtSig_Obj_2_dy
VtSig_Obj_2_dx
VtSig_Obj_2_x1
VtSig_Obj_2_y1
VtSig_Obj_2_ qvy
VtSig_Obj_2_
History
VtSig_Obj_3_vx
VtSig_Obj_3_vy
VtSig_Obj_3_
Measured
VtSig_Obj_3_ay
VtSig_Obj_3_ep
VtSig_Obj_3_ax
VtSig_Obj_3_ qvx
VtSig_Obj_3_az
VtSig_Obj_3_
TrackAge
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� minimum z coordinate of object relative velocity of object, z direction
Obj 2 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 2 part
B message counter relative velocity of object, x direction
O3M151 3D Smart Sensor Object Detection
Obj_3_Id
Obj_3_zMin
Obj_3_vz
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
MoCa_Obj_3_A 0x4FF16EF
Obj_3_A_cnt MoCa_Obj_3_A 0x4FF16EF
Obj_3_dz MoCa_Obj_3_B 0x4FF17EF
Multiplexing/ Group
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_3_dy MoCa_Obj_3_B 0x4FF17EF 8 12 Unsigned
Obj_3_dx MoCa_Obj_3_B 0x4FF17EF
Obj_3_x1 MoCa_Obj_3_B 0x4FF17EF
Obj_3_y1 MoCa_Obj_3_B 0x4FF17EF
Obj_3_qvy MoCa_Obj_3_B 0x4FF17EF
Obj_3_History MoCa_Obj_3_B 0x4FF17EF
Obj_3_B_cnt MoCa_Obj_3_B 0x4FF17EF
Obj_4_vx MoCa_Obj_4_A 0x4FF18EF
Obj_4_Type MoCa_Obj_4_A 0x4FF18EF
Obj_4_vy MoCa_Obj_4_A 0x4FF18EF
Obj_4_
Measured
Obj_4_ay
Obj_4_ep
Obj_4_ax
Obj_4_qvx
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned id of object
VtSig_Obj_3_ zMin
VtSig_Obj_3_vz
VtSig_Obj_3_dz
VtSig_Obj_3_dy
VtSig_Obj_3_dx minimum z coordinate of object relative velocity of object, z direction
Obj 3 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)
VtSig_Obj_3_x1 x coordinate of object's first point
VtSig_Obj_3_y1 y coordinate of object's first point
VtSig_Obj_3_ qvy
VtSig_Obj_3_
History
VtSig_Obj_4_vx quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 3 part
B message counter relative velocity of object, x direction
Type identifier of the object���
VtSig_Obj_4_vy
VtSig_Obj_4_
Measured
VtSig_Obj_4_ay
VtSig_Obj_4_ep
VtSig_Obj_4_ax
VtSig_Obj_4_ qvx relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ���
UK
57
O3M151 3D Smart Sensor Object Detection
Obj_4_az
Obj_4_TrackAge
Obj_4_Id
Obj_4_zMin
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
MoCa_Obj_4_A 0x4FF18EF
Obj_4_vz MoCa_Obj_4_A 0x4FF18EF
Obj_4_A_cnt MoCa_Obj_4_A 0x4FF18EF
Obj_4_dz MoCa_Obj_4_B 0x4FF19EF
Multiplexing/ Group
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_4_dy MoCa_Obj_4_B 0x4FF19EF
Obj_4_dx MoCa_Obj_4_B 0x4FF19EF
Obj_5_
Measured
Obj_5_ay
Obj_5_ep
Obj_5_ax
Obj_4_x1
Obj_4_y1
Obj_4_qvy
MoCa_Obj_4_B 0x4FF19EF
MoCa_Obj_4_B 0x4FF19EF
MoCa_Obj_4_B 0x4FF19EF
Obj_4_History MoCa_Obj_4_B 0x4FF19EF
Obj_4_B_cnt MoCa_Obj_4_B 0x4FF19EF
Obj_5_vx
Obj_5_Type
Obj_5_vy
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
58
VtSig_Obj_4_az
VtSig_Obj_4_
TrackAge relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_4_ zMin
VtSig_Obj_4_vz minimum z coordinate of object relative velocity of object, z direction
VtSig_Obj_4_dz
VtSig_Obj_4_dy
VtSig_Obj_4_dx
VtSig_Obj_4_x1
VtSig_Obj_4_y1
VtSig_Obj_4_ qvy
VtSig_Obj_4_
History
VtSig_Obj_5_vx
VtSig_Obj_5_vy
VtSig_Obj_5_
Measured
VtSig_Obj_5_ay
VtSig_Obj_5_ep
VtSig_Obj_5_ax
Obj 4 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 4 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction
O3M151 3D Smart Sensor Object Detection
Obj_5_qvx
Obj_5_az
Obj_5_TrackAge
Obj_5_Id
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
Obj_5_zMin
Obj_5_vz
MoCa_Obj_5_A 0x4FF1AEF
MoCa_Obj_5_A 0x4FF1AEF
Obj_5_A_cnt MoCa_Obj_5_A 0x4FF1AEF
Obj_5_dz MoCa_Obj_5_B 0x4FF1BEF
Multiplexing/ Group
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_5_dy MoCa_Obj_5_B 0x4FF1BEF
Obj_5_dx MoCa_Obj_5_B 0x4FF1BEF
Obj_5_x1
Obj_5_y1
Obj_5_qvy
MoCa_Obj_5_B 0x4FF1BEF
MoCa_Obj_5_B 0x4FF1BEF
MoCa_Obj_5_B 0x4FF1BEF
Obj_5_History MoCa_Obj_5_B 0x4FF1BEF
Obj_5_B_cnt MoCa_Obj_5_B 0x4FF1BEF
Obj_6_vx
Obj_6_Type
Obj_6_vy
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
Obj_6_
Measured
Obj_6_ay
Obj_6_ep
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
VtSig_Obj_5_ qvx
VtSig_Obj_5_az
VtSig_Obj_5_
TrackAge quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_5_ zMin
VtSig_Obj_5_vz
VtSig_Obj_5_dz
VtSig_Obj_5_dy
VtSig_Obj_5_dx
VtSig_Obj_5_x1
VtSig_Obj_5_y1
VtSig_Obj_5_ qvy
VtSig_Obj_5_
History
VtSig_Obj_6_vx
VtSig_Obj_6_vy
VtSig_Obj_6_
Measured
VtSig_Obj_6_ay
VtSig_Obj_6_ep minimum z coordinate of object relative velocity of object, z direction
Obj 5 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 5 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ���
UK
59
O3M151 3D Smart Sensor Object Detection
Obj_6_ax
Obj_6_qvx
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
Obj_6_az
Obj_6_TrackAge
Obj_6_Id
Obj_6_zMin
Obj_6_vz
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
MoCa_Obj_6_A 0x4FF1CEF
Obj_6_A_cnt MoCa_Obj_6_A 0x4FF1CEF
Obj_6_dz MoCa_Obj_6_B 0x4FF1DEF
Multiplexing/ Group
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_6_dy MoCa_Obj_6_B 0x4FF1DEF
Obj_6_dx MoCa_Obj_6_B 0x4FF1DEF
Obj_6_x1
Obj_6_y1
Obj_6_qvy
MoCa_Obj_6_B 0x4FF1DEF
MoCa_Obj_6_B 0x4FF1DEF
MoCa_Obj_6_B 0x4FF1DEF
Obj_6_History MoCa_Obj_6_B 0x4FF1DEF
Obj_6_B_cnt MoCa_Obj_6_B 0x4FF1DEF
Obj_7_vx
Obj_7_Type
Obj_7_vy
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
Obj_7_
Measured
MoCa_Obj_7_A 0x4FF1EEF
Obj_7_ay MoCa_Obj_7_A 0x4FF1EEF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
16 5 Unsigned
60
VtSig_Obj_6_ax
VtSig_Obj_6_ qvx
VtSig_Obj_6_az
VtSig_Obj_6_
TrackAge relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_6_ zMin
VtSig_Obj_6_vz
VtSig_Obj_6_dz
VtSig_Obj_6_dy
VtSig_Obj_6_dx
VtSig_Obj_6_x1
VtSig_Obj_6_y1
VtSig_Obj_6_ qvy
VtSig_Obj_6_
History
VtSig_Obj_7_vx
VtSig_Obj_7_vy
VtSig_Obj_7_
Measured
VtSig_Obj_7_ay minimum z coordinate of object relative velocity of object, z direction
Obj 6 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 6 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction
O3M151 3D Smart Sensor Object Detection
Obj_7_ep
Obj_7_ax
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
Obj_7_qvx MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF Obj_7_az
Obj_7_TrackAge
Obj_7_Id
Obj_7_zMin
Obj_7_vz
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
MoCa_Obj_7_A 0x4FF1EEF
Obj_7_A_cnt MoCa_Obj_7_A 0x4FF1EEF
Obj_7_dz MoCa_Obj_7_B 0x4FF1FEF
Multiplexing/ Group
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_7_dy
Obj_7_dx
MoCa_Obj_7_B 0x4FF1FEF
MoCa_Obj_7_B 0x4FF1FEF
Obj_7_x1
Obj_7_y1
Obj_7_qvy
MoCa_Obj_7_B 0x4FF1FEF
MoCa_Obj_7_B 0x4FF1FEF
MoCa_Obj_7_B 0x4FF1FEF
Obj_7_History MoCa_Obj_7_B 0x4FF1FEF
Obj_7_B_cnt MoCa_Obj_7_B 0x4FF1FEF
Obj_8_vx
Obj_8_Type
Obj_8_vy
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
Obj_8_
Measured
MoCa_Obj_8_A 0x4FF20EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
15 1 Unsigned
VtSig_Obj_7_ep
VtSig_Obj_7_ax
VtSig_Obj_7_ qvx
VtSig_Obj_7_az
VtSig_Obj_7_
TrackAge existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_7_ zMin
VtSig_Obj_7_vz
VtSig_Obj_7_dz
VtSig_Obj_7_dy
VtSig_Obj_7_dx
VtSig_Obj_7_x1
VtSig_Obj_7_y1
VtSig_Obj_7_ qvy
VtSig_Obj_7_
History
VtSig_Obj_8_vx
VtSig_Obj_8_vy
VtSig_Obj_8_
Measured minimum z coordinate of object relative velocity of object, z direction
Obj 7 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 7 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
Flag indicating that this object has been measured in actual frame
UK
61
O3M151 3D Smart Sensor Object Detection
Obj_8_ay
Obj_8_ep
Obj_8_ax
Obj_8_qvx
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
Obj_8_az
Obj_8_TrackAge
Obj_8_Id
Obj_8_zMin
Obj_8_vz
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
MoCa_Obj_8_A 0x4FF20EF
Obj_8_A_cnt MoCa_Obj_8_A 0x4FF20EF
Obj_8_dz MoCa_Obj_8_B 0x4FF21EF
Multiplexing/ Group
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
Obj_8_dy
Obj_8_dx
MoCa_Obj_8_B 0x4FF21EF
MoCa_Obj_8_B 0x4FF21EF
Obj_8_x1
Obj_8_y1
Obj_8_qvy
MoCa_Obj_8_B 0x4FF21EF
MoCa_Obj_8_B 0x4FF21EF
MoCa_Obj_8_B 0x4FF21EF
Obj_8_History MoCa_Obj_8_B 0x4FF21EF
Obj_8_B_cnt MoCa_Obj_8_B 0x4FF21EF
Obj_9_vx
Obj_9_Type
Obj_9_vy
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 7 Unsigned
7 1 Unsigned
8 7 Unsigned
62
VtSig_Obj_8_ay
VtSig_Obj_8_ep
VtSig_Obj_8_ax
VtSig_Obj_8_ qvx
VtSig_Obj_8_az
VtSig_Obj_8_
TrackAge relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_8_ zMin
VtSig_Obj_8_vz
VtSig_Obj_8_dz
VtSig_Obj_8_dy
VtSig_Obj_8_dx
VtSig_Obj_8_x1
VtSig_Obj_8_y1
VtSig_Obj_8_ qvy
VtSig_Obj_8_
History
VtSig_Obj_9_vx
VtSig_Obj_9_vy minimum z coordinate of object relative velocity of object, z direction
Obj 8 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 8 part
B message counter relative velocity of object, x direction
Type identifier of the object��� relative velocity of object, y direction
O3M151 3D Smart Sensor Object Detection
Obj_9_
Measured
MoCa_Obj_9_A 0x4FF22EF
Obj_9_ay
Obj_9_ep
Obj_9_ax
Obj_9_qvx
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
Obj_9_az
Obj_9_TrackAge
Obj_9_Id
Obj_9_zMin
Obj_9_vz
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
MoCa_Obj_9_A 0x4FF22EF
Obj_9_A_cnt MoCa_Obj_9_A 0x4FF22EF
Obj_9_dz MoCa_Obj_9_B 0x4FF23EF
Obj_9_dy MoCa_Obj_9_B 0x4FF23EF
Obj_9_dx MoCa_Obj_9_B 0x4FF23EF
Obj_9_x1
Obj_9_y1
Obj_9_qvy
MoCa_Obj_9_B 0x4FF23EF
MoCa_Obj_9_B 0x4FF23EF
MoCa_Obj_9_B 0x4FF23EF
Obj_9_History MoCa_Obj_9_B 0x4FF23EF
Obj_9_B_cnt MoCa_Obj_9_B 0x4FF23EF
Parameter-
GroupNumber RQST
0x18EAFEFE
Multiplexing/ Group
8 12 Unsigned
20 12 Unsigned
32 13 Unsigned
45 13 Unsigned
58 3 Unsigned
61 1 Unsigned
62 2 Unsigned
0 24 Unsigned
15 1 Unsigned
16 5 Unsigned
21 3 Unsigned
24 5 Unsigned
29 3 Unsigned
32 4 Unsigned
36 2 Unsigned
38 8 Unsigned
46 11 Unsigned
57 5 Unsigned
62 2 Unsigned
0 8 Unsigned
VtSig_Obj_9_
Measured
VtSig_Obj_9_ay
VtSig_Obj_9_ep
VtSig_Obj_9_ax
VtSig_Obj_9_ qvx
VtSig_Obj_9_az
VtSig_Obj_9_
TrackAge
Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum ��� relative acceleration of object, x direction quality of vx signal provided as an enum ��� relative acceleration of object, z direction
Age of track, provided as an enum��� id of object
VtSig_Obj_9_ zMin
VtSig_Obj_9_vz
VtSig_Obj_9_dz
VtSig_Obj_9_dy
VtSig_Obj_9_dx
VtSig_Obj_9_x1
VtSig_Obj_9_y1
VtSig_Obj_9_ qvy
VtSig_Obj_9_
History minimum z coordinate of object relative velocity of object, z direction
Obj 9 part
A message counter maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin) delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1) delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1) x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum ���
Flag indicating that this object has been seen on bus
Obj 9 part
B message counter
PGN which is requested by Request2 message
UK
63
O3M151 3D Smart Sensor Object Detection
Parameter-
GroupNumber RQST2
0x18C9FEFE
UseTransfer-
Mode
Standby_Control
RQST2 0x18C9FEFE
Standby_Control 0x4FF0FFE
Mastertime_
LastTxTime-
Stamp
SyncMsg
Driver1Working-
State
Driver2Working-
State
TCO1
TCO1
0x4FF00EF
0xCFE6CFE
0xCFE6CFE
DriveRecognize TCO1 0xCFE6CFE
Driver1TimeRelatedStates
TCO1
DriverCardDriver1
TCO1
Overspeed TCO1
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
Multiplexing/ Group
0 24 Unsigned
24 2 Unsigned
0 1 Unsigned
0 32 Unsigned
0 3 Unsigned
3 3 Unsigned
6 2 Unsigned
8 4 Unsigned
12 2 Unsigned
14 2 Unsigned
Driver2TimeRelatedStates
TCO1
DriverCardDriver2
TCO1
SystemEvent TCO1
HandlingInformation
TCO1
TachographPerformance
TCO1
DirectionIndicator
TCO1
TachographOutputShaftSpeed TCO1
TachographVehicleSpeed
TCO1
ControlByte TPCM
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0xCFE6CFE
0x18ECFEFE Multiplexor
48 16 Unsigned
0 8 Unsigned
16 4 Unsigned
20 2 Unsigned
24 2 Unsigned
26 2 Unsigned
28 2 Unsigned
30 2 Unsigned
32 16 Unsigned
64
VtSig_Standby_Control
PGN which is requested by Request2 message
Requester is to respond via the
Transfer PGN
State of work of the driver�
State of work of the driver�
Indicates whether motion of the vehicle is detected or not�
Indicates if the driver approaches or exceeds working time limits (or other limits)�
Indicates whether the vehicle is exceeding the legal speed limit set in the tachograph�
Indicates if the driver approaches or exceeds working time limits (or other limits)�
Indicates that a tachograph event has occurred�
Indicates that handling information is present�
VtSig_Control-
Byte
Indicates the direction of the vehicle�
Calculated speed of the transmission output shaft�
Speed of the vehicle registered by the tachograph�
O3M151 3D Smart Sensor Object Detection
TotalMessage-
Size
NumberOfPacketsThatCan-
BeSent
TotalMessage-
SizeEoMA
TPCM
TPCM
TPCM
TotalMessage-
SizeBAM
TPCM
ConnectionAbortReason
NextPacketNumberTo-
BeSent
TotalNumberOf-
Packets
TPCM
TPCM
TPCM
TotalNumberOf-
PacketsEoMA TPCM
TotalNumberOf-
PacketsBAM
MaximumNumberOf-
Packets
TPCM
TPCM
PGNumber TPCM
SequenceNumber
TPDT
SteerWheelAngle
VDC2
0x18ECFEFE
0x18EBFEFE
0x18F009FE
Multiplexing/ Group
8 16 Unsigned
8 8 Unsigned
8 16 Unsigned
8 16 Unsigned
8 8 Unsigned
16 8 Unsigned
24 8 Unsigned
24 8 Unsigned
24 8 Unsigned
32 8 Unsigned
40 24 Unsigned
0 8 Unsigned
0 16 Unsigned
SteerWheel-
TurnCounter
VDC2
SteerWheelAngleSensorType VDC2
YawRate VDC2
0x18F009FE
0x18F009FE
0x18F009FE
LateralAcceleration
VDC2
LongitudinalAcceleration
VDC2
XCP_CRO
XCP_DTO
XCP_CRO
XCP_DTO
0x18F009FE
0x18F009FE
0x7FE
0x7FF
16 6 Unsigned
22 2 Unsigned
24 16 Unsigned
40 16 Unsigned
56 8 Unsigned
0 64 Unsigned
0 64 Unsigned
VtSig_
PGNumber
The main operator`s steering wheel angle
(on the steering column, not the actual wheel angle)�
Indicates number of steering wheel turns, absolute position or relative position at ignition on�
Indicates the rotation about the vertical axis�
Indicates a lateral acceleration of the vehicle�
Indicates the longitudinal acceleration of the vehicle�
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65
O3M151 3D Smart Sensor Object Detection
PGNofRequstedInformation XFER
LengthOfDataForTheReportedPGN
XFER
ShrtNameOfActualReporting-
Device
XFER
0x18CAFEFE
0x18CAFEFE
0x18CAFEFE
Multiplexing/ Group
0 24 Unsigned
24 8 Unsigned
32 32 Unsigned
PGN associated with this transfer message
Length of data reported with the associated PGN via the Transfer
PGN�
Short name of reporting device of the requested
PGN via the
Transfer PGN�
66
O3M151 3D Smart Sensor Object Detection
7.2.1 Values of the column "Value table"
Value table
VtSig_SwCtrl_OpMode
Value
0x11
0x12
0x13
VtSig_Global_sensor_available
16u
32u
64u
128u
1u
2u
4u
8u
0x21
0x22
0x23
0x31
0x14
0x15
0x17
0x20
(bitwise "OR" possible)
Values for SubObject DirectionIndicator 0x0
0x1
0x2
VtSig_CP_ttc
VtSig_CP_impact_velocity
0x3
-1
0
1
511u
VtSig_CP_crash_predicted
VtSig_Obj_0_qvx
VtSig_Obj_0_Measured
VtSig_Obj_0_ax
0
1
0
31
2
1
4
3
30
29
6
5
1
0
3
2
510u
509u
Meaning
INIT
STARTUP
DSP_BOOT
SELFTEST
WAIT_DSP_BOOTED
PARAMETRIZING
RUN_SUPER_STATE
LIMITED_RUN
RUN
STANDBY
EMERGENCY
BIT_INTERFERENCE_DETECTED
BIT_SPRAY_DETECTION
BIT_TRACKING_ERROR
BIT_INVALID_CAM_ORIENTATION
BIT_SIGNAL_PATH_MONITORING
BIT_INTERNAL_ERROR
BIT_BLOCKAGE_DETECTED
BIT_FORCE_CALIBRATION_RESET
Forward
Reverse
Error
NotAvailable
Down time after predicted crash
No crash predicted
Crash predicted
Error
Out of upper bound
Out of lower bound
Error
Crash predicted
No crash predicted
Down time after predicted crash
[0�95��1�0]
[0�90��0�95]
[0�85��0�90]
[0�75��0�85]
[0�50��0�75]
[0�25��0�50]
[0�00��0�25]
Measured in current frame
Not measured in current frame
Error
Out of upper bound
Out of lower bound
UK
67
O3M151 3D Smart Sensor Object Detection
Value table
VtSig_Obj_0_az
VtSig_Obj_0_ay
VtSig_Obj_0_ep
VtSig_Obj_0_TrackAge
VtSig_Obj_0_zMin
VtSig_Obj_0_vz
VtSig_Obj_0_vy
VtSig_Obj_0_vx
VtSig_Obj_0_History
VtSig_Obj_0_qvy
VtSig_Obj_0_dz
VtSig_Obj_0_dy
VtSig_Obj_0_y1
2
1
0
255
4
3
6
5
1
0
126
125
127
126
125
127
4093
8191
8190
8189
254
253
4095
4094
0
0
2
1
4
3
6
5
13
31
30
29
Value
15
14
2046
2045
31
30
29
1
2
3
2047
68
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Object seen
Object not seen
[0�95��1�0]
[0�90��0�95]
[0�85��0�90]
[0�75��0�85]
[0�50��0�75]
[0�25��0�50]
[0�00��0�25]
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Meaning
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
[0�95��1�0]
[0�90��0�95]
[0�85��0�90]
[0�75��0�85]
[0�50��0�75]
[0�25��0�50]
[0�00��0�25]
[0��2] frames
[3��12] frames
[13��25] frames
> 25 frames
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Value table
VtSig_Obj_0_dx
VtSig_Obj_0_x1
VtSig_ExtrCalib_2D_rot
VtSig_ExtrCalib_2D_delta_t
VtSig_Standby_Control
0xFFF
0xFFE
0xFFD
0xFF
0xFE
0xFD
0x0
0x1
Value
4095
4094
4093
8191
8190
8189
O3M151 3D Smart Sensor Object Detection
Meaning
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Error
Out of upper bound
Out of lower bound
Standby mode off
Standby mode on
UK
69
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Table of contents
- 3 1 About these instructions
- 3 1�1 Symbols used
- 3 1�2 Safety instructions
- 3 1�3 Other applicable documents
- 4 2 Smart Sensor
- 4 2�1 Functions
- 5 2�2 Measuring principle
- 6 2�3 Operating check
- 6 2�4 Installation position
- 7 3 Object Detection
- 7 3�1 Functions
- 7 3�2 Possible applications
- 8 4 Commissioning
- 9 5 Application examples
- 9 5�1 Area monitoring
- 9 5�1�1 Introduction
- 10 5�1�2 Attachment options
- 12 5�1�3 Parametrisation
- 12 5�1�4 Relevant output
- 12 5�1�5 Operating property/performance
- 13 5�2 Reflector tracking of marked driverless vehicles
- 13 5�2�1 Introduction
- 13 5�2�2 Attachment options
- 13 5�2�3 Parametrisation
- 14 5�2�4 Relevant output
- 14 5�2�5 Operating property/performance
- 15 6 Parameters
- 20 7 Interface
- 20 7�1 CANopen
- 37 7�2 SAE J
- 67 7�2�1 Values of the column "Value table