IFM O3M261 3D sensor for mobile application Owner's Manual

Software-Handbuch

Mobiler 3D Smart-Sensor

O3M151

O3M251

O3M161

O3M261

Object Detection

DE

3D Smart-Sensor O3M151 Object Detection

Inhalt

1 Zu dieser Anleitung 3

11 Verwendete Symbole 3

12 Sicherheitshinweise 3

13 Mitgeltende Dokumente 3

2 Smart-Sensor 4

21 Funktionen 4

22 Messprinzip 5

23 Funktionskontrolle 6

24 Einbaulage 6

3 Object Detection (Objekterkennung) 7

31 Funktionen 7

32 Mögliche Anwendungen 7

4 Inbetriebnahme 8

5 Anwendungsbeispiele 9

51 Bereichsüberwachung 9

511 Einleitung 9

512 Anbaumöglichkeiten 10

513 Parametrierung 12

514 Relevante Ausgabe 12

515 Betriebseigentschaft / Leistung 12

52 Reflektor-Tracking von markierten führerlosen Fahrzeugen 13

521 Einleitung 13

522 Anbaumöglichkeiten 13

523 Parametrierung 13

524 Relevante Ausgabe 14

525 Betriebseigentschaft / Leistung 14

6 Parameter 15

7 Schnittstellen 20

71 CANopen 20

72 SAE J1939 37

721 Werte der Spalte "Value table" 66

Lizenzen und Warenzeichen

Microsoft ® , Windows ® , Windows XP ® , Windows Vista ® und Windows 7 ® sind eingetragene Warenzeichen der Microsoft Corporation Alle benutzten

Warenzeichen und Firmenbezeichnungen unterliegen dem Copyright der jeweiligen Firmen

2


1 Zu dieser Anleitung

Diese Anleitung erklärt die Funktion Object Detection (Objekterkennung), die optionale Firmware zum

3D-Smart-Sensor O3M151

Für eine detaillierte Beschreibung des Geräts lesen Sie bitte die Bedienungsanleitung des O3M15x

Sensors und das Programmhandbuch des ifm-Vision-Assistant

→ „13 Mitgeltende Dokumente“

1.1 Verwendete Symbole

►

>

→

Handlungsanweisung

Reaktion, Ergebnis

Querverweis

Wichtiger Hinweis

Nichtbeachtung kann zu Fehlfunktionen oder Störungen führen

Information

Ergänzender Hinweis

1.2 Sicherheitshinweise

Lesen Sie vor der Inbetriebnahme des Geräts die Bedienungsanleitung Vergewissern Sie sich, dass das

Gerät uneingeschränkt für die betreffende Applikation geeignet ist

Die Missachtung von Anwendungshinweisen oder technischen Angaben kann zu Personen- und/oder

Sachschäden führen

1.3 Mitgeltende Dokumente

Dokument

Bedienungsanleitung

Programmhandbuch ifm-Vision-

Assistant

Kurzanleitung

Beschreibung

Bedienungsanleitung des O3M15x Sensors

Bedienungsanleitung des PC-Bedienprogramms ifm-

Vision-Assistant, um ein Programm-Update durchzuführen und Parameter zu ändern

Kurzanleitung zum Betrieb des O3M15x Sensors

Sachnr.

706383

706384

80222723

Die Software und Dokumente sind auf der ifm Homepage im Download-Bereich verfügbar

→ www.ifm.com → my ifm → Download

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3


2 Smart-Sensor

2.1 Funktionen

Der mobile O3M151 Smart-Sensor ist ein optisches System das den Abstand zwischen dem Sensor und der nächsten Oberfläche misst Eine zusätzliche Beleuchtungseinheit beleuchtet die Szene und der

Sensor verarbeitet das von der Oberfläche reflektierte Licht

Der Smart-Sensor ist optimiert und abgestimmt auf Anforderungen und Bedürfnisse an mobilen

Arbeitsmaschinen Er ist für den Einsatz im Außenbereich und für schwierige Umgebungslichtsituationen bestimmt

Das Prinzip beruht auf der PMD-Technologie zur Ausgabe von 3D-Bilddaten Hieraus ergeben sich neben neuen Möglichkeiten zur Fahrzeugautomatisierung (AGV, automated guided vehicle) auch neue

Assistenzfunktionen für Automatisierungsaufgaben

Die Kommunikation ist über Ethernet oder CAN möglich Die System-Parametrierung und das Monitoring der 3D-Daten erfolgt über den ifm-Vision-Assistant. → Programmhandbuch des ifm-Vision-Assistant

Die Ausgabe der vorverarbeiteten Funktionsdaten erfolgt über den CAN-Bus, wahlweise über CANopen oder SAE J 1939. → Kapitel

„7 Schnittstellen“ auf Seite 20

Für einfache Distanz- oder Abstandsaufgaben steht die Basic Function mit Funktionen wie Messung von minimalen, maximalen und durchschnittlichem Abstand zur Verfügung

Die Funktion Object Detection sorgt für die automatische Objekterkennung von bis zu 20 Objekten Diese

Funktion kann z B als Kollisionswarnung verwendet werden

4


2.2 Messprinzip

Das Gerät misst nach dem Lichtlaufzeitverfahren auf Basis einer Phasenmessung mit moduliertem Licht

Aufgrund dieses Prinzips sind folgende Punkte bei den Messungen zu berücksichtigen:

● Sauberes Sensorfenster

– Sauberkeit ist eine Grundlage für die zuverlässige Funktion optischer Sensoren Schmutz oder

Flüssigkeiten reduzieren die Lichtübertragung und verursachen Lichtstreuung Dieser Effekt kann die Auflösung und den Messbereich des Sensorsystems beeinflussen

– Wassertropfen auf der Sensorscheibe können zu einer undeutlichen Erfassung der Szene führen

Die Objekte werden größer erfasst als sie in der Realität sind

► Einbau in stark verschmutzenden Bereichen der Anlage vermeiden

► Sensorfenster sauber halten

● Beleuchtung/Reichweite

– Die Messung der Objekte erfolgt ausschließlich auf Basis der aktiven Beleuchtung durch die zusätzliche Beleuchtungseinheit Das ausgesendete infrarote Licht macht den Sensor weitesgehend unabhängig von den Umgebungslichtbedingungen Bei starker Sonneneinstrahlung kann es aufgrund von erhöhtem Rauschen zu Einschränkungen in der Systemreichweite kommen

– Die Reichweite der Messung ist abhängig vom Reflexionsvermögen des zu erfassenden Objekts

– Aufgrund des optischen Messprinzips kann die Systemperformance durch Verwendung von retroreflektierenden Materialien deutlich gesteigert werden (Faktor 3)

● Freier Nahbereich

– Objekte im Nahbereich (1 m Distanz) können die Messwerte des Sensors verfälschen

– Die Wand an der der Sensor montiert ist, sollte sich nicht im Sensorbereich befinden

► Ausleuchtungsbereich der Beleuchtungseinheit im Nahbereich (bis 50 cm) von Anbauteilen freihalten

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Sensor

O3M15x

Illumination unit

O3M950

Sensor

O3M15x

Illumination unit

O3M950

5


2.3 Funktionskontrolle

Bei einem optischen System können bei schlechten Sichtbedingungen Detektionsstörungen auftreten

(z B bei sehr dichtem Nebel, viel Staub, sehr dichtem Schneefall) Der O3M151 Smart-Sensor verfügt

über eine sensorische Störungserkennung im System und erzeugt bei Störungen eine Meldung:

● die Funktion "Blockage detection" erfasst aktiv relevante Verschmutzung, Beschlag oder Vereisung des Sensors

(Diese Funktion ist in der SW Version OD 224 und OD 225 noch nicht verfügbar Sie wird über ein

Firmware update später aktivierbar)

● die Funktion "Diffuse Szene" erkennt aktiv diffuse Störungen wie z B dichten Nebel oder

Staubwolken im Sensorbereich

Interne Diagnose der Hardware auf Störungen → Bedienungsanleitung

● Applikationsspezifische Lösungen können einfach und besonders komfortabel mit einem Controller

(z B CR040X) oder Display (z B CR108X) auf Basis der Funktionsausgabe erfolgen

Für den Empfang und die Interpretation der CAN Signale des O3M151 Smart-Sensors gibt es spezielle CODESYS Bibliotheken Außerdem stehen verschiedene Applikationsbeispiele auf

CODESYS Basis zur Verfügung. → www.ifm.com → my ifm → Download

2.4 Einbaulage

Um den Smart-Sensor je nach Applikation richtig zu positionieren stehen folgende Hiflsmittel zur

Verfügung:

● Kalkulationstool, um den Erfassungsbereich zu kalkulieren

● Bediensoftware ifm-Vision-Assistant

● Technische Daten mit Leistung und Werte des Erfassungsbereichs → Datenblatt

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3 Object Detection (Objekterkennung)

3.1 Funktionen

Objekterkennung

Reflektor-Tracking

Kollisionsvorhersage

Sensor nicht unter 50 cm Höhe anbringen

Objekterkennung

Zur Objekterkennung werden 3D-Daten über eine CAN Schnittstelle verwendet

Aus den gemessenen Distanzwerten werden bis zu 20 unabhängige Objekte erkannt und verfolgt Für jedes Objekt stehen vielfältige Informationen zu verfügen:

● Position und Orientierung des Objekts im Raum (x, y, z)

● Größe des Objekts

● Relative Geschwindigkeit des Objekts

● Qualitative Bewertung (Güte) dieser Informationen

Reflektor-Erkennung

Zur Markierung und individuellen Verfolgung von interessanten Objekten können Reflektoren verwendet werden Diese werden gesondert und mit einer größeren Reichweite erkannt Abhängig von der Reflexität können z B Warnwesten als Reflektoren verwendet werden

Kollisionsvorhersage

Durch Auswertung der Eigengeschwindigkeit und Drehrate des Fahrzeugs kann der Smart-Sensor sehr genau potentielle Kollisionen vorhersagen

Diese Funktion bietet einen grossen Vorteil gegenüber Kollisionswarnungen, die auf einer reinen

Abstandmessung basieren Zusätzlich werden Geschwindigkeit und Richtung von Eigenfahrzeug und

Objekten berücksichtigt

(Diese Funktion ist in der SW Version OD 224 und OD 225 noch nicht verfügbar Sie wird über ein

Firmware update später aktivierbar)

3.2 Mögliche Anwendungen

● Bereichsüberwachung bei statischem Anbau und beim Anbau an ein Fahrzeug (von mehreren benutzerdefinierbaren Bereichen gleichzeitig)

● Markierung, Identifizierung und gezielte Verfolgung von reflektierenden Objekten

● Fahrzeugautomatisierung (AGV, automated guided vehicle)

● Kollisionsvorhersage

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4 Inbetriebnahme

Der Smart-Sensor kann mit verschiedenen Funktionen betrieben werden

Informationen zum Flashen der Firmware → Programmhandbuch des ifm-Vision-Assistant

► Sicherstellen, dass die richtige Firmware auf dem Sensor geladen ist

► Inbetriebnahme mit dem menügeführten ifm-Vision-Assistant PC-Bedienprogramm durchführen

Für weitere Anweisungen zum Sensor-Update mit dem ifm-Vision-Assistant

→ Programmhandbuch des ifm-Vision-Assistant

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5 Anwendungsbeispiele

5.1 Bereichsüberwachung

5.1.1 Einleitung

Beim statischen Anbau und beim Anbau auf ein Fahrzeug ermöglicht die Funktion Object Detection die

Bereichsüberwachung von mehreren benutzerdefinierten Bereichen gleichzeitig

Funktionen:

● Überwachung eines Bereichs vor einem Tor oder Zugang

● Steuerung bzw Signalisierung der Öffnung über den Controller auf Basis der Sensorsignale CAN

● Anbau an ein Fahrzeug und Überwachung von Bereichen im Fahrweg

● Selektive Unterscheidung zwischen normalen und reflektierenden Objekten

● Bewertung der Präsenz des Objekt im Sensor-Sichtbereich

● Filtern der Objekte nach Größe und Geschwindigkeit

● Überwachung des Zutritts zu Tunnelbohrmaschinen oder von anderen begehbaren Maschinen

Bei der Verwendung eines ifm Controller oder Display kann der mitgelieferte CODESYS-Baustein zum

Empfang und zur Interpretation der CAN Signale verwendet werden CODESYS Programmbeispiele für verschiedene Applikationen sind im Download-Bereich verfügbar

→ www.ifm.com → my ifm → Download

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5.1.2 Anbaumöglichkeiten

Statischer Anbau

Der Smart-Sensor kann gegenüber oder oberhalb des zu überwachenden Bereichs angebaut werden z

A x

B

Anbaupositionen des Sensors zur Zuttritsüberwachung, seitliche Ansicht

A: Anbau von oben

B: Anbau frontal

● Pos A: Anbau in über 2 m Höhe

> Vorteil: Der Sensor ist in einer Übersichtsposition und der Sichtbereich wird durch den Winkel beschränkt

● Pos B: Höhe zwischen 50 cm und 1,50 m

> Vorteil: Der Sichtbereich ist nur von der Reichweite des Systems begrenzt

> Nachteil: Der Sichtbereich kann durch eine Person blockiert werden

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Anbau auf Fahrzeug

Bei etwas unwegsamen und/oder nicht gleichmäßigen Gelände eignet sich auch ein automatisches

Object-Tracking Dieses erkennt die nächsten 20 Objekte (einstellbar) neben dem Fahrzeug und gibt

Informationen wie Abstand, Größe und Position jedes Objekts an die Maschinensteuerung weiter

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Durch die Funktion Object Detection wird eine Bereichsüberwachung durch Anbau des Smart-Sensors auf ein Fahrzeug ermöglicht

► Smart-Sensor nach unten geneigt auf dem Fahrzeug montieren

► Verbaupositionswerte in der ifm-Vision-Assistant Bediensoftware eingeben

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5.1.3 Parametrierung

Für die Bereichsüberwachung gibt es ein eigenes Template/Wizard

→ Programmhandbuch des ifm-Vision-Assistant

Objekterfassungsbereich (Höhe)

Es kann eine minimale und maximale Objekterfassungshöhe definiert werden

● Die minimale Höhe sorgt dafür, dass eine saubere Trennung zwischen dem Boden und Objekten erfolgen kann

● Die maximale Höhe beschränkt die Objektbildung in der Höhe (unterfahrbare Objekte)

> Die minimale Höhe (Zmin) sollte auf 0,5 m gestellt werden, die maximale Höhe (Zmax) sollte

Fahrzeughöhe abzüglich einer Toleranz (~20 cm) entsprechen

Framerate

► Framerate auf 33 Hz einstellen

Objekterfassungsart

► Parameter Object Detection auf "Standard-Modus" einstellen (Parameter ObjectListCust_ objectDetectionVariant=0)

Falls zwischen normalen Objekten und Objekten mit Retro-Reflektoren unterschieden werden soll, kann der Parameter ObjectListCust_objectDetectionVariant=1 gesetzt werden

► Rauschunterdrückungsfilter auf "Stufe 2" einstellen

Bei zu großer Last auf dem CAN-Bus kann diese über die Einstellung

CAN output cycle Modulo reduziert werden. → Bedienungsanleitung

5.1.4 Relevante Ausgabe

Auf dem verwendeten Controller können die CAN Botschaften mit den Ergebniswerten der detektierten

Objekte (z B Position oder relevante Geschwindigkeit) empfangen und interpretiert werden

Bei der Bereichsüberwachung werden die Objekte über die Objektposition gefiltert Objekte die sich innerhalb eines kritischen Bereichs befinden führen zu einer Reaktion z B Warnsignal oder Anhalten des

Fahrzeugs

Die Eigendaten des Fahrzeugs sind auf dem CANbus erwartet (wenn Parameter egodatamode=2 werden die Daten nicht erwartet)

Siehe Ausgabe → Kapitel „7 Schnittstellen“ auf Seite 20

5.1.5 Betriebseigentschaft / Leistung

● Die Detektionsleistung ist abhängig von Distanz, Größe und Reflektivität eines Objekts

● Für den Anbau von oben:

Die minimal detektierbare Objekthöhe ist abhängig von der Systemparametrierung Bei den schlechtesten Bedingungen beträgt diese 50 cm

● Für den frontalen Anbau:

Die minimale Reichweite für die Detektion von Personen im Überwachungsbereich beträgt 1 m bis

15 m bei normalen Umgebungsbedingungen

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5.2 Reflektor-Tracking von markierten führerlosen Fahrzeugen

5.2.1 Einleitung

Die Funktion Object Detection ermöglicht die Markierung und Identifizierung von Objekten mit

Reflektoren und deren gezielte Verfolgung

Führerlose Transportsysteme (FTS) in der Hafenlogistik können mit Hilfe des Sensors andere FTS automatisch erkennen und verfolgen Je nach Geschwindigkeitsdifferenz kann ein Abstand zwischen den

FTS definiert werden

Zusätzlich ist es möglich Bereiche vor dem Fahrzeug zu definieren und auf beliebige Objekte zu

überwachen

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5.2.2 Anbaumöglichkeiten

► Smart-Sensor horizontal zwischen 50 cm und 1,50 m Höhe an Fahrzeug anbauen

► Fahrzeuge mit Reflektoren markieren

► Verbaupositionswerte in der ifm-Vision-Assistant Bediensoftware eingeben

5.2.3 Parametrierung

Bei zu großer Last auf dem CAN-Bus kann diese über die Einstellung

CAN output cycle Modulo reduziert werden. → Bedienungsanleitung

Framerate

► Framerate auf 33 Hz einstellen

Objekterfassungsart

► Parameter (ObjectListCust_objectDetectionVariant=1) auf "Reflektor Detektion" einstellen

► Rauschunterdrückungsfilter auf "Stufe 2" einstellen

► Empfohlene Anzahl der Objekte die über CAN gesendet werden: 12

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5.2.4 Relevante Ausgabe

Auf dem verwendeten Controller können die CAN Botschaften mit den Ergebniswerten der detektierten

Objekte (z B Position oder relevante Geschwindigkeit) empfangen und interpretiert werden

Bei der Bereichsüberwachung werden die Objekte über die Bereichsposition gefiltert Objekte die sich innerhalb eines kritischen Bereichs befinden führen zu einer Reaktion z B Warnsignal oder Anhalten des

Fahrzeugs

Die Eigendaten des Fahrzeugs sind auf dem CANbus erwartet (wenn Parameter egodatamode=2 werden die Daten nicht erwartet)

Siehe Ausgabe → Kapitel „7 Schnittstellen“ auf Seite 20

5.2.5 Betriebseigentschaft / Leistung

● Die Detektionsleistung ist abhängig von Distanz, Größe und Reflektivität eines Objekts

> Detektionsleistung mit Reflektoren: min 1 m / max 60 m

● Die minimale Reichweite für die Detektion von Personen im Überwachungsbereich beträgt 1 m bis 15 m bei normalen Umgebungsbedingungen

> Die relevante Geschwindigkeit für diese Applikation liegt typischerweise im Bereich +/- 2 km/h

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6 Parameter

Die Parameter können je nach Anwendung des Sensors verändert und angepasst werden

Ausführliche Dokumentation der Einstellungen und Parametrierung des

Geräts → Programmhandbuch des ifm-Vision-Assistant

Parameter Name

CycleTime

BeginHeatingTemperature 5

StopHeatingTemperature

CANBaudrate

CANMaxNumberOfObjects

CANProtocol

CANopenNodeAddress

CANOutputCycleModulo

J1939SourceAddress

Ipv4AddressCamera

SubnetMask

Ipv4AddressDestination destinationUDPPort

EthernetOutputConfiguration

40

8

0

10

1

Parameter Value

250000

MasterSlaveConfiguration 0

8 uint8 uint8 uint8

239 uint8

192 168 1 1

255 255 255 0

255 255 255 255 uint8 uint8 uint8

42000

0 uint16 uint8 uint8 sint8 sint8 uint32 uint8 uint8

4

4

4

1

Param. Array Length

1

1

1

1

1

1

1

1

1

1

1

1

1

1

0

0

0

20

-128

40

127

-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

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)

0 20

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)

0 1

0

0

127

3

253

255

255

255

65535

1

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

0 is customer output (up to

6MBit/s),

1 is ifm development debug output (up to 60MBit/s)

Application → Image Set tings → 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 → Syn chronisation 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

Only changeable if used for recording of sequences. Monitor → Record

Options → Debug Data

On/Off

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Parameter Name

EthernetLoadConfiguration

DistanceImageOnSwitch

1

Parameter Value

1

VehicleDim_xMin

VehicleDim_xMax

VehicleDim_yMin

VehicleDim_yMax

VehicleDim_zMax

-1

1

-1

1

2 uint8 uint8

1


1

1 0 float32 1 -20 float32 1 -20 float32 1 -20 float32 1 -20 float32 1 0

4

1

20

20

20

20

10

PMDExtrCalib_cam-

Cal_transX

0 float32 1 -10 10

PMDExtrCalib_cam-

Cal_transY

PMDExtrCalib_cam-

Cal_transZ

0

1 float32 float32

1

1

-10

-10

10

10

PMDExtrCalib_cam-

Cal_rotX

PMDExtrCalib_cam-

Cal_rotY

PMDExtrCalib_cam-

Cal_rotZ

PMDExtrCalib_IlluCal_ transX

-157E+00

157E+00

0

0047 float32 float32 float32 float32

1

1

1

1

-314

-314

-314

-10

314

314

314

10

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)





Position of sensor in world:

X translation [m] Please refer to Manual O3M15x for details


Y translation [m] Please refer to Manual O3M15x for details


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]

Position of illumination in world: X translation [m]

Please refer to Manual

O3M15x for details

–

Ethernet Settings → Di stance Image On Switch

Template in Vision Assistant SW will be available with later update





Calibration → follow instructions







16


Parameter Name

PMDExtrCalib_IlluCal_ transY

Parameter Value

0085

PMDExtrCalib_IlluCal_ transZ

0948

ObjectListCust_sprayRemovalSensitivity

0

ObjectListCust_pixelPlausibilizationThresholds

2

ObjectListCust_blockage-

Sensitivity

0

ObjectListCust_spatialFilterXMin

ObjectListCust_spatialFilterXMax

ObjectListCust_spatialFilterYMin

ObjectListCust_spatialFilterYMax

ObjectListCust_spatialFilterZMin

ObjectListCust_spatialFilterZMax

ObjectListCust_reflector-

ThresholdValue

-100

100

-100

100

-100

100

0 float32 float32 uint8 uint8 uint8 float32 1 -100 100 float32 float32 float32 float32 float32 float32

1


1

1

1

1

1

1

1

1

1

1

-10

-10

0

0

0

-100

-100

-100

-100

-100

0

10

10

3

2

3

100

100

100

100

100

1

Position of illumination in world: Y translation [m]


O3M15x for details

Position of illumination in world: Z translation [m]


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 eg 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

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



Application → Image Set tings → Spray removal

Application → Image Set tings → Noise reduction filter

Application → Image

Settings → Blockage detection

Application → Image Set tings → Expert Mode






Application → Image

Settings → Reflector

Threshold Value (4 possible values: Max, Med,

Low, Min)

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Parameter Name

ObjectListCust_autocalibrationMode

0

Parameter Value

ObjectListCust_object-

DetectionVariant

1

ObjectListCust_Object-

DetectionZMin

ObjectListCust_Object-

DetectionZMax

ObjectListCust_CrashPredictorSensitivity

ObjectListCust_EgoMotionDynamics

ObjectListCust_UseCase-

Approach

ObjectListCust_accBrake

ObjectListCust_delay-

Brake

0

2

0

2

1

10

02

ObjectListCust_egoVMin 0

, 5 uint8 uint8 float32 float32 uint8 uint8 uint8 float32 float32

1


1

1

1

1

1

1

1

1

0

0

-10

-10

0

0

0

0

0

42

1

10

10

3

2

1

30

2 float32 1 -200 200

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", eg 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, eg AGVs, 1: medium dynamics, eg construction vehicles, 2: high dynamics, eg cars) (Only necessary for intelligent crash prediction)

Customization of UseCase approach for crash predictor (0: disabled, 1: enabled) (Only necessary for intelligent crash prediction)

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)

Application → Object De tection → Auto Calibration

Mode

Application → Object De tection → Object Detection

Type

Application → Object

Detection → Min Height of

Detection

Application → Object

Detection → Max Height of

Detection







18


Parameter Name

ObjectListCust_egoVMax 0

Parameter Value

ObjectListCust_EgoDataMode

2

AutoCalibParam_ numberOfPatterns

0

AutoCalibParam_xPattern 0

AutoCalibParam_yPattern 0

AutoCalibParam_zPattern 0

AutoCalibParam_pattern-

Type

0 float32 1


-200 200 uint8 uint8 float32 float32 float32 uint8

1

1

8

8

8

8

0

0

-30

-30

-30

0

2

8

30

30

30

10

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








DE

19


7 Schnittstellen

Die Ausgabe der vorverarbeiteten Funktionsdaten erfolgt über den CAN-Bus, wahlweise über CANopen oder SAE J 1939 Protokoll

7.1 CANopen

1000 DeviceType

1003

1003

1003

1003

1001 Error Register

1003

Predefined

Error Field

1003

1003

1003

1003

0

1

2

3

6

7

4

5

1003

1003

1003

1003

1003

1003

1003

1003

1003

1003

1003

1003

1005 COB ID SYNC

Communi-

1006 cation Cycle

Period

E

F

C

D

A

B

8

9

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

1009

Manufacturer

Hardware

Version

20

0x7 const

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)

(No Index) should be filled at runtime with the HW version of the camera


Parameter Name

100A

Manufacturer

Software

Version

0x7 const

1010

1010

1010

1011

1011

1011

Store Parameter Field

0

1

Restore Default Parameters

0

1

1014 COB ID EMCY

1016

Consumer

Heartbeat

Time

1016

1016

1017

Producer

Heartbeat

Time

1018 Identity Object

0

1

0x8

Number of entries 0x7 ro

Save all Parameters 0x7 rw

Restore all Default

Parameters

0x8


0x7 rw

0x7 ro

0x8


Consumer Heartbeat Time

0x7 rw

0x7 rw

0x9

1

1

1

0

0

1

1

$NODEID

+0x80

1

1

1

1

1

1

4

4

4

4

0x00000080 0x00000100

(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

–

4

4

–

1018

1018

1018

1018

1018

0 Number of entries 0x7 ro 4

1 Vendor Id

2 Product Code

3 Revision number 0x7 ro 0

4 Serial number

0x7 ro 0

0x7 ro 0

1

0x7 ro 0x0069666D 1

1

1

1

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

DE

21


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


Object 0 - Part

A

0

1

2

1800 3

1801

1801

Transmit PDO


Object 0 - Part

B

0

Parameter Name

0x9


COB ID 0x7 rw

Transmission Type 0x7 rw

0x9

Number of entries 0x7 rw

PDO Mapping Entry

- Wheel_BasedVehicleSpeed

PDO Mapping Entry

- Driving_Direction 0x7 rw

PDO Mapping Entry

- Yaw_Rate

0x7 rw

0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


2

$NODEID

+0x200

254

3

0x23000110

0x23000208

0x23000310

3

$NODEID

+0x40000180

254

0x0000

0x02 0x05

0x00000080 0xFFFFFFFF


0

0

0

3

3

3

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 0 3

0x03 0x03




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


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


Object 1 - Part

A

2

3

0

1

Transmit PDO


Object 1 - Part

B

2

3

0

1

Transmit PDO


Object 2 - Part

A

2

3

0

1

Transmit PDO


Object 2 - Part

B

2

3

0

1

Transmit PDO


Object 3 - Part

A

2

3

0

1

Transmit PDO


Object 3 - Part

B

2

3

Parameter Name

COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9

$NODEID

+0x40000280

254

0x0000




3

$NODEID

+0x40000380

254

0x0000

0x03 0x03




3

$NODEID

+0x40000480

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




See Objects No

1400/1600/1800

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




DE

23


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


Object 4 - Part

A

2

3

0

1

0

1

Transmit PDO


Object 4 - Part

B

2

3

0

1

Transmit PDO


Object 5 - Part

A

2

3

0

1

Transmit PDO


Object 5 - Part

B

2

3

0

1

Transmit PDO


Object 6 - Part

A

2

3

0

1

2

3

Parameter Name


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




See Objects No

1400/1600/1800

24


180D

180D

180D

180D

180D

180E

180E

180E

Transmit PDO


Object 6 - Part

B

0

1

Transmit PDO


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


Object 7 - Part

B

3

0

1

Transmit PDO


Object 8 - Part

A

2

3

0

1

Transmit PDO


Object 8 - Part

B

2

3

0

1

Transmit PDO


Object 9 - Part

A

2

3

0

1

Parameter Name

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

$NODEID

+0xC0000000

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




See Objects No

1400/1600/1800

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

0x03 0x03


DE

25


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


Object 9 - Part

B

2

3

0

1

Transmit PDO


Object 10 -

Part A

2

3

0

1

Transmit PDO


Object 10 -

Part B

2

3

0

1

Transmit PDO


Object 11 -

Part A

2

3

0

1

Transmit PDO


Object 11 -

Part B

2

3

0

1

Transmit PDO


Object 12 -

Part A

2

3

0

Parameter Name


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


254

0x0000



3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




See Objects No

1400/1600/1800

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3 0x03 0x03

26


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


Object 12 -

Part B

2

3

0

1

Transmit PDO


Object 13 -

Part A

2

3

0

1

Transmit PDO


Object 13 -

Part B

2

3

0

1

Transmit PDO


Object 14 -

Part A

2

3

0

1

Transmit PDO


Object 14 -

Part B

2

3

0

1

Transmit PDO


Object 15 -

Part A

2

3

Parameter Name

COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9

$NODEID

+0xC0000000

254

0x0000




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




See Objects No

1400/1600/1800

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




DE

27


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


Object 15 -

Part B

2

3

0

1

0

1

Transmit PDO


Object 16 -

Part A

2

3

0

1

Transmit PDO


Object 16 -

Part B

2

3

0

1

Transmit PDO


Object 17 -

Part A

2

3

0

1

Transmit PDO


Object 17 -

Part B

2

3

0

1

2

3

Parameter Name


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID 0x7 rw


Inhibit Time 0x7 rw

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

3

$NODEID

+0xC0000000

254

0x0000

0x03

0x03

0x03




0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

$NODEID

+0xC0000000

0x0000

0x03 0x03




See Objects No

1400/1600/1800

28


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


Object 19 -

Part B

3

0

1

Transmit PDO


- Crash_Predictor_Info

2

3

0

1

Transmit PDO


- Global_Information

2

3

0

1

Transmit PDO


- SyncMsg

2

3

2

3

0

1

Transmit PDO


Object 18 -

Part A

0

1

Transmit PDO


Object 18 -

Part B

2

3

0

1

Transmit PDO


Object 19 -

Part A

2

3

0

1

Parameter Name


COB ID 0x7 rw


Inhibit Time 0x7 rw


COB ID 0x7 rw


Inhibit Time 0x7 rw


COB ID 0x7 rw


Inhibit Time 0x7 rw


COB ID 0x7 rw


Inhibit Time 0x7 rw


COB ID 0x7 rw


Inhibit Time 0x7 rw

Number of entries

COB ID

0x9

0x9

0x9

0x9

0x9

0x9

0x7 ro

0x7 rw


Inhibit Time 0x7 rw

0x9


COB ID


Inhibit Time

0x7 rw

0x7 rw

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

$NODEID

+0xC0000000

0x0000

0x03 0x03




See Objects No

1400/1600/1800

3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

0x03 0x03




3

$NODEID

+0xC0000000

254

0x0000

3

0x80000000

0x80000000

0x0000

0x03




0x03

0x03

0x03




See Objects No

1400/1600/1800

DE

29


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

1A0A

1A0A

1A0A

1A0B

1A0B

1A0B

Transmit PDO

Mapping Parameter Object

0 - Part A

0

1

Transmit PDO


0 - Part B

0

1

Transmit PDO


1 - Part A

0

1

Transmit PDO


1 - Part B

0

1

Transmit PDO


2 - Part A

0

1

Transmit PDO


2 - Part B

0

1

Transmit PDO


3 - Part A

0

1

Transmit PDO


3 - Part B

0

1

Transmit PDO


4 - Part A

0

1

Transmit PDO


4 - Part B

0

1

Transmit PDO


5 - Part A

0

1

Transmit PDO


5 - Part B

0

1

Parameter Name

0x9


PDO Mapping Entry 0x7 rw

0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



1

0x21000140

0

0

1

0x21000240

1

0x21010140

1

0x21010240

1

0x21020140

1

0x21020240

1

0x21030140

1

0x21030240

1

0x21040140

1

0x21040240

1

0x21050140

1

0x21050240

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

30

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

1

1

1

1

–

–

–

–

–

–

–

–

–

–

–

–


1A0C

1A0C

1A0C

1A0D

1A0D

1A0D

1A0E

1A0E

1A0E

1A0F

1A0F

1A0F

1A10

1A10

1A10

1A11

1A11

1A11

1A12

1A12

1A12

1A13

1A13

1A13

1A14

1A14

1A14

1A15

1A15

1A15

1A16

1A16

1A16

1A17

1A17

1A17

Transmit PDO


6 - Part A

0

1

Transmit PDO


6 - Part B

0

1

Transmit PDO


7 - Part A

0

1

Transmit PDO


7 - Part B

0

1

Transmit PDO


8 - Part A

0

1

Transmit PDO


8 - Part B

0

1

Transmit PDO


9 - Part A

0

1

Transmit PDO


9 - Part B

0

1

Transmit PDO


10 - Part A

0

1

Transmit PDO


10 - Part B

0

1

Transmit PDO


11 - Part A

0

1

Transmit PDO


11 - Part B

0

1

Parameter Name

0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



1

0x21060140

0

0

1

0x21060240

0

0

1

0x21070140

0

0

1

0x21070240

0

0

1

0x21080140

0

0

1

0x21080240

0

0

1

0x21090140

0

0

1

0x21090240

0

0

1

0x210a0140

0

0

1

0x210a0240

0

0

1

0x210b0140

0

0

1

0x210b0240

0

0

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

–

–

–

–

–

–

–

–

–

–

–

–

DE

31


1A18

1A18

1A18

1A19

1A19

1A19

1A1A

1A1A

1A1A

1A1B

1A1B

1A1B

1A1C

1A1C

1A1C

1A1D

1A1D

1A1D

1A1E

1A1E

1A1E

1A1F

1A1F

1A1F

1A20

1A20

1A20

1A21

1A21

1A21

1A22

1A22

1A22

1A23

1A23

1A23

Transmit PDO


12 - Part A

0

1

Transmit PDO


12 - Part B

0

1

Transmit PDO


13 - Part A

0

1

Transmit PDO


13 - Part B

0

1

Transmit PDO


14 - Part A

0

1

Transmit PDO


14 - Part B

0

1

Transmit PDO


15 - Part A

0

1

Transmit PDO


15 - Part B

0

1

Transmit PDO


16 - Part A

0

1

Transmit PDO


16 - Part B

0

1

Transmit PDO


17 - Part A

0

1

Transmit PDO


17 - Part B

0

1

Parameter Name

0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



0x9



1

0x210c0140

1

0x210c0240

1

0x210d0140

0

0

1

0x210d0240

1

0x210e0140

1

0x210e0240

1

0x210f0140

1

0x210f0240

1

0x21100140

1

0x21100240

1

0x21110140

1

0x21110240

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

32

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

–

–

–

–

–

–

–

–

–

–

–

–


1A24

1A24

1A24

1A25

1A25

1A25

1A26

1A26

1A26

1A27

1A27

1A27

1A28

1A28

1A28

1A28

Transmit PDO


18 - Part A

0

1

Transmit PDO


18 - Part B

0

1

Transmit PDO


19 - Part A

0

1

Transmit PDO


19 - Part B

0

1

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

1A29

1A29

1A29

1A2A

1A2A

1A2A

2

3

4

Transmit

PDO Mapping

Parameter -

SyncMsg

0

1

Parameter Name

0x9



Number of entries

Number of entries

0x9

0x7 rw


0x9



0x9

0x7 rw


0x9

4


PDO Mapping Entry

0x7 rw

- CP_obj_id

PDO Mapping Entry

- CP_ttc

PDO Mapping Entry

0x7 rw

- CP_impact_velocity

PDO Mapping Entry

- CP_crash_predicted

PDO Mapping Entry

- Crash_Predictor_Info_cnt

0x7 rw

0x7 rw

0x7 rw

0x9


PDO Mapping Entry

- GLOB_master_time

PDO Mapping

Entry - GLOB_Sen-

0x7 rw

0x7 rw sor_Available

PDO Mapping Entry

- SwCtrl_OpMode

PDO Mapping Entry

- Global_Information_cnt

0x7 rw

0x7 rw

0x9


PDO Mapping Entry

- KP_MasterTime_

LastTxTimeStamp

0x7 rw

1

0x21120140

1

0x21120240

1

0x21130140

1

0x21130240

5

0x22000108

0x22000208

0x22000310

0

0

0

0

0x22000408 0

0x22000508 0

4

0x22010120

0x22010408

0x22010308

0x22010408

1

0x22010308

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

8

–

–

–

–

–

–

–

DE

33


2100 Object 0

2100

2100

0

1

Parameter Name

NrOfObjects

Part A

0x9

0x7 ro

0x7 ro

2

2

2100 2 Part B 0x7 ro 2

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

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

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

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

0

0

0

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

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

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

→ „72 SAE

J1939“

See Objects No

2100

34


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


2200

2200

2200

2200

2200

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

2

3

0

1

4

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

2201

2201

2201

2201

2201

2201

Global_Information

0

1

2

3

4

0x9

NrOfObjects 0x7 ro

GLOB_master_time 0x7 ro

GLOB_sensor_ available

0x7 ro

SwCtrl_OpMode

Global_Information_cnt

0x7 ro

0x7 ro

4

4

4

4

4

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

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

8

8

8

8

8

8

8

8

8

8

8

8

8

8

3

See Objects No

2100

3

3

3

3

65

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>

–

DE

35


2210 SyncMsg

2210

2210

2300 Ego_Motion

2300

2300

2300

2300

0

1

2

3

0

1

Parameter Name

NrOfObjects

MasterTime_LastTx-

TimeStamp

NrOfObjects

Wheel_BasedVehicleSpeed

Driving_Direction

Yaw_Rate

0x9

0x7 ro

0x7 ro

0x9

0x7 ro

0x7 wo

0x7 wo

0x7 wo

3

3

3

3

1

1

0

0

0

0

0

0

3

3

3

3

3

3

–

–

36

7.2 SAE J1939

Der initiale Wert ist immer "0"

Constant_2D_

Calib_Data_Mux

IntrCalib_2D_ mx

IntrCalib_2D_ my

Constant_2D_

Calib_Data

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

IntrCalib_2D_ center_tz

CP_obj_id

CP_ttc

Constant_2D_

Calib_Data



CP_impact_velocity

CP_crash_predicted

Crash_Predictor_Info_cnt

Variant

Major

Minor




DBC_File_Version

DBC_File_Version

DBC_File_Version

0x4FF02EF

0x4FF02EF

0x4FF02EF

0x4FF02EF

0x4FFA0EF

0x4FFA0EF

0x4FFA0EF

Multiplexing/ Group

0x4FF0AEF Multiplexor

0x4FF0AEF

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

Constant_2D_

Calib_Data_

Mux = 0xC

0x4FF02EF

0 8 Unsigned

0 8 Unsigned

8 8 Unsigned

16 9 Unsigned

25 3 Unsigned

30 2 Unsigned

0 8 Unsigned

8 8 Unsigned

16 8 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

DE

37


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

FlashMalfuncIndicatorLamp

DM1

SPN1 DM1

FailureModeIdentifier1

DM1

SPN1High DM1

Occurence-

Count1

DM1

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

38

4 2 Unsigned

6 2 Unsigned

8 2 Unsigned

10 2 Unsigned

12 2 Unsigned

14 2 Unsigned

16 16 Unsigned

32 5 Unsigned

37 3 Unsigned

40 7 Unsigned 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)

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


4)

The 7 bit occurrence count field contains the number of times a fault has gone from active to previously active

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

Occurence-

Count3

DM1

SPNConversionMethod3

SPN4

DM1

DM1


DM1

SPN4High DM1

Occurence-

Count4

DM1


DM1


SPN2

DM1

DM1


DM1

SPN2High DM1

Occurence-

Count2

DM1


SPN3

DM1

DM1


DM1

SPN3High DM1

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE


47 1 Unsigned

48 16 Unsigned

0x18FECAFE

0x18FECAFE

64 5 Unsigned

69 3 Unsigned

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

0x18FECAFE

72 7 Unsigned

79 1 Unsigned

80 16 Unsigned

96 5 Unsigned

101 3 Unsigned

104 7 Unsigned

111 1 Unsigned

112 16 Unsigned

128 5 Unsigned

133 3 Unsigned

0x18FECAFE

0x18FECAFE

136 7 Unsigned

143 1 Unsigned



4)


SPN


4)



4)


SPN


4)



4)


SPN


4)


DE

39


SPN5 DM1


DM1

SPN5High DM1

0x18FECAFE

0x18FECAFE

0x18FECAFE

Occurence-

Count5

DM1 0x18FECAFE


DM1 0x18FECAFE

ExtrCalib_2D_ rot_x

Dynamic_2D_Calib_Data

0x4FF09EF

ExtrCalib_2D_ delta_tx


0x4FF09EF

ExtrCalib_2D_ rot_y


0x4FF09EF

ExtrCalib_2D_ delta_ty


0x4FF09EF

ExtrCalib_2D_ rot_z


0x4FF09EF

ExtrCalib_2D_ delta_tz

Dynamic_2D_

Calib_Data_cnt

VehicleABS-

Active


0x4FF09EF


0x4FF09EF

EBS21 0x1803FFFE


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

0 2 Unsigned

VehicleRetarderCtrlActive

EBS21 0x1803FFFE 2 2 Unsigned

VehicleService-

BrakeActive


40


4)


SPN


4)


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

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


AutomTowedVehBreakActive

EBS21

VDCActive EBS21

0x1803FFFE

0x1803FFFE


6 2 Unsigned

8 2 Unsigned

SupplyLineBrakingRequest


Wheel_Based-

VehicleSpeed


ActualRetarder-

PercTorque


WheelSpeed-

DiffMainAxle


GLOB_master_time

Global_Information

0x4FF01EF 0 32 Unsigned

GLOB_sensor_available

Global_Information

0x4FF01EF

Blockage_Status

SwCtrl_Op-

Mode

Global_Information

Global_Information

0x4FF01EF

0x4FF01EF

Global_Information_cnt

Global_Information

0x4FF01EF

SingleFrameDataLength

SN

ISO15765_Funct 0x18DBFEFE


ProtocolCtrl-

Information =

0x0 (Single frame)

ProtocolCtrl-

Information =

0x2 (Consecutive frame)

32 8 Unsigned

40 8 Unsigned

48 6 Unsigned

54 2 Unsigned

0 4 Unsigned

0 4 Unsigned

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 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

DE

VtSig_Blockage_Status

VtSig_SwCtrl_OpMode

BIT_INTERFE-

RENCE_DE-

TECTED (1u)

41


FlowStatus ISO15765_Funct 0x18DBFEFE


ProtocolCtrl-

Information

= 0x3 (Flow control )

ProtocolCtrlInformation

ISO15765_Funct 0x18DBFEFE Multiplexor

FirstFrameDataLength

BlockSize

SeparationTime ISO15765_Funct 0x18DBFEFE

SingleFrameDataLength

SN

FlowStatus



ISO15765_Phys 0x18DAFEFE



ProtocolCtrl-

Information

= 0x1 (First frame)

ProtocolCtrl-

Information


ProtocolCtrl-

Information


ProtocolCtrl-

Information =

0x0 (Single frame)

ProtocolCtrl-

Information =

0x2 (Consecutive frame)

ProtocolCtrl-

Information


ProtocolCtrlInformation

ISO15765_Phys 0x18DAFEFE Multiplexor

FirstFrameDataLength

BlockSize



SeparationTime ISO15765_Phys 0x18DAFEFE

ProtocolCtrl-

Information

= 0x1 (First frame)

ProtocolCtrl-

Information


ProtocolCtrl-

Information


Obj_0_vx MoCa_Obj_0_A 0x4FF10EF

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

Obj_0_vy

MoCa_Obj_0_A 0x4FF10EF


7 1 Unsigned

8 7 Unsigned

Obj_0_

Measured

MoCa_Obj_0_A 0x4FF10EF 15 1 Unsigned

Obj_0_ay

Obj_0_ep

Obj_0_ax

Obj_0_qvx





16 5 Unsigned

21 3 Unsigned

24 5 Unsigned

29 3 Unsigned

42

VtSig_Flow-

Status

VtSig_ProtocolCtrlInformation

VtSig_Flow-

Status

VtSig_ProtocolCtrlInformation

VtSig_Obj_0_vx

VtSig_Obj_0_vy

VtSig_Obj_0_

Measured

VtSig_Obj_0_ay

VtSig_Obj_0_ep

VtSig_Obj_0_ax

VtSig_Obj_0_ qvx 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


Obj_0_az

Obj_0_TrackAge

Obj_0_Id

Obj_0_zMin

Obj_0_vz






Obj_0_A_cnt MoCa_Obj_0_A 0x4FF10EF

Obj_0_dz MoCa_Obj_0_B 0x4FF11EF


32 4 Unsigned

36 2 Unsigned

38 8 Unsigned

46 11 Unsigned

57 5 Unsigned

62 2 Unsigned

0 8 Unsigned

Obj_0_dy MoCa_Obj_0_B 0x4FF11EF

Obj_0_dx MoCa_Obj_0_B 0x4FF11EF

Obj_0_x1

Obj_0_y1

Obj_0_qvy

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

Obj_1_Type

Obj_1_vy




Obj_1_

Measured

Obj_1_ay

Obj_1_ep

Obj_1_ax





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

VtSig_Obj_0_az

VtSig_Obj_0_

TrackAge 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

VtSig_Obj_1_vy

VtSig_Obj_1_

Measured

VtSig_Obj_1_ay

VtSig_Obj_1_ep

VtSig_Obj_1_ax 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


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

DE

43


Obj_1_qvx 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








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 MoCa_Obj_1_B 0x4FF13EF 8 12 Unsigned


Obj_1_x1

Obj_1_y1

Obj_1_qvy







Obj_10_Type MoCa_Obj_10_A 0x4FF24EF

Obj_10_vy MoCa_Obj_10_A 0x4FF24EF

Obj_10_

Measured


Obj_10_ay

Obj_10_ep



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

44

VtSig_Obj_1_ qvx

VtSig_Obj_1_az

VtSig_Obj_1_

TrackAge quality of vx signal provided as an enum relative acceleration of object, z direction


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

VtSig_Obj_10_ vx

VtSig_Obj_10_ vy

VtSig_Obj_10_

Measured

VtSig_Obj_10_ ay

VtSig_Obj_10_ ep minimum z coordinate of object relative velocity of object, z direction

Obj 1 part



Obj 1 part



Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction existence probability, provided as an enum


Obj_10_ax

Obj_10_qvx



Obj_10_az

Obj_10_TrackAge

Obj_10_Id




Obj_10_zMin MoCa_Obj_10_A 0x4FF24EF

Obj_10_vz MoCa_Obj_10_A 0x4FF24EF




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_x1

Obj_10_y1

Obj_10_qvy









Obj_11_

Measured

Obj_11_ay



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

VtSig_Obj_10_ ax

VtSig_Obj_10_ qvx

VtSig_Obj_10_ az

VtSig_Obj_10_

TrackAge relative acceleration of object, x direction quality of vx signal provided as an enum relative acceleration of object, z direction


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

VtSig_Obj_11_ vx

VtSig_Obj_11_ vy

VtSig_Obj_11_

Measured

VtSig_Obj_11_ ay minimum z coordinate of object relative velocity of object, z direction

Obj 10 part



Obj 10 part



Flag indicating that this object has been measured in actual frame relative acceleration of object, y direction

DE

45


Obj_11_ep

Obj_11_ax



Obj_11_qvx MoCa_Obj_11_A 0x4FF26EF

Obj_11_az

Obj_11_TrackAge

Obj_11_Id









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









Obj_12_

Measured


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

46

VtSig_Obj_11_ ep

VtSig_Obj_11_ ax

VtSig_Obj_11_ qvx

VtSig_Obj_11_ az

VtSig_Obj_11_

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


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

VtSig_Obj_11_

History

VtSig_Obj_12_ vx

VtSig_Obj_12_ vy

VtSig_Obj_12_

Measured minimum z coordinate of object relative velocity of object, z direction

Obj 11 part



Obj 11 part



Flag indicating that this object has been measured in actual frame


Obj_12_ay

Obj_12_ep

Obj_12_ax

Obj_12_qvx





Obj_12_az

Obj_12_TrackAge

Obj_12_Id









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_12_dy

Obj_12_dx



Obj_12_x1

Obj_12_y1

Obj_12_qvy






Obj_13_vx MoCa_Obj_13_A 0x4FF2AEF

Obj_13_Type MoCa_Obj_13_A 0x4FF2AEF

Obj_13_vy MoCa_Obj_13_A 0x4FF2AEF

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

VtSig_Obj_12_ ay

VtSig_Obj_12_ ep

VtSig_Obj_12_ ax

VtSig_Obj_12_ qvx

VtSig_Obj_12_ az

VtSig_Obj_12_

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


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

VtSig_Obj_12_ qvy

VtSig_Obj_12_

History

VtSig_Obj_13_ vx

VtSig_Obj_13_ vy minimum z coordinate of object relative velocity of object, z direction

Obj 12 part



Obj 12 part



DE

47


Obj_13_

Measured

MoCa_Obj_13_A 0x4FF2AEF

Obj_13_ay

Obj_13_ep

Obj_13_ax

Obj_13_qvx





Obj_13_az

Obj_13_TrackAge

Obj_13_Id




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

Obj_13_dy MoCa_Obj_13_B 0x4FF2BEF

Obj_13_dx MoCa_Obj_13_B 0x4FF2BEF

Obj_13_x1

Obj_13_y1

Obj_13_qvy

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


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

58 3 Unsigned

61 1 Unsigned

62 2 Unsigned

0 7 Unsigned

7 1 Unsigned

48

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

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


VtSig_Obj_13_ zMin

VtSig_Obj_13_ vz

VtSig_Obj_13_ dz

VtSig_Obj_13_ dy

VtSig_Obj_13_ dx

VtSig_Obj_13_ x1

VtSig_Obj_13_ y1

VtSig_Obj_13_ qvy

VtSig_Obj_13_

History

VtSig_Obj_14_ vx minimum z coordinate of object relative velocity of object, z direction

Obj 13 part



Obj 13 part


Type identifier of the object


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





Obj_14_az

Obj_14_TrackAge

Obj_14_Id




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


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


Obj_14_x1

Obj_14_y1

Obj_14_qvy




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

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_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 relative velocity of object, y direction



VtSig_Obj_14_ zMin

VtSig_Obj_14_ vz

VtSig_Obj_14_ dz

VtSig_Obj_14_ dy

VtSig_Obj_14_ dx

VtSig_Obj_14_ x1

VtSig_Obj_14_ y1

VtSig_Obj_14_ qvy

VtSig_Obj_14_

History

VtSig_Obj_15_ vx minimum z coordinate of object relative velocity of object, z direction

Obj 14 part



Obj 14 part


DE

49


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





Obj_15_az

Obj_15_TrackAge

Obj_15_Id




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


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_15_dy

Obj_15_dx

MoCa_Obj_15_B 0x4FF2FEF


Obj_15_x1

Obj_15_y1

Obj_15_qvy




Obj_15_History MoCa_Obj_15_B 0x4FF2FEF

Obj_15_B_cnt MoCa_Obj_15_B 0x4FF2FEF

8 12 Unsigned

20 12 Unsigned

32 13 Unsigned

45 13 Unsigned

58 3 Unsigned

61 1 Unsigned

62 2 Unsigned

50

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




VtSig_Obj_15_ zMin

VtSig_Obj_15_ vz

VtSig_Obj_15_ dz

VtSig_Obj_15_ dy

VtSig_Obj_15_ dx

VtSig_Obj_15_ x1

VtSig_Obj_15_ y1

VtSig_Obj_15_ qvy

VtSig_Obj_15_

History minimum z coordinate of object relative velocity of object, z direction

Obj 15 part



Obj 15 part

B message counter





Obj_16_

Measured


Obj_16_ay

Obj_16_ep

Obj_16_ax

Obj_16_qvx





Obj_16_az

Obj_16_TrackAge

Obj_16_Id









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_16_dy

Obj_16_dx



Obj_16_x1

Obj_16_y1

Obj_16_qvy





8 12 Unsigned

20 12 Unsigned

32 13 Unsigned

45 13 Unsigned

58 3 Unsigned

61 1 Unsigned

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 relative velocity of object, x direction




VtSig_Obj_16_ zMin

VtSig_Obj_16_ vz

VtSig_Obj_16_ dz

VtSig_Obj_16_ dy

VtSig_Obj_16_ dx

VtSig_Obj_16_ x1

VtSig_Obj_16_ y1

VtSig_Obj_16_ qvy

VtSig_Obj_16_


Obj 16 part



DE

51






Obj_17_

Measured


Obj_17_ay

Obj_17_ep

Obj_17_ax

Obj_17_qvx





Obj_17_az

Obj_17_TrackAge

Obj_17_Id









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_17_dy

Obj_17_dx

Obj_17_x1

Obj_17_y1

Obj_17_qvy






8 12 Unsigned

20 12 Unsigned

32 13 Unsigned

45 13 Unsigned

58 3 Unsigned

52

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

Obj 16 part





VtSig_Obj_17_ zMin

VtSig_Obj_17_ vz

VtSig_Obj_17_ dz

VtSig_Obj_17_ dy

VtSig_Obj_17_ dx

VtSig_Obj_17_ x1

VtSig_Obj_17_ y1

VtSig_Obj_17_ qvy minimum z coordinate of object relative velocity of object, z direction

Obj 17 part








Obj_18_

Measured


Obj_18_ay

Obj_18_ep

Obj_18_ax

Obj_18_qvx





Obj_18_az MoCa_Obj_18_A 0x4FF34EF

Obj_18_TrackAge

Obj_18_Id









Obj_18_x1

Obj_18_y1




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_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


Obj 17 part





VtSig_Obj_18_ zMin

VtSig_Obj_18_ vz

VtSig_Obj_18_ dz

VtSig_Obj_18_ dy

VtSig_Obj_18_ dx

VtSig_Obj_18_ x1

VtSig_Obj_18_ y1 minimum z coordinate of object relative velocity of object, z direction

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

DE

53


Obj_18_qvy MoCa_Obj_18_B 0x4FF35EF






Obj_19_

Measured


Obj_19_ay

Obj_19_ep

Obj_19_ax

Obj_19_qvx





Obj_19_az MoCa_Obj_19_A 0x4FF36EF

Obj_19_TrackAge

Obj_19_Id








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_19_dy

Obj_19_dx

Obj_19_x1




8 12 Unsigned

20 12 Unsigned

32 13 Unsigned

54

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 quality of vy signal, provided as an enum


Obj 18 part





VtSig_Obj_19_ zMin

VtSig_Obj_19_ vz

VtSig_Obj_19_ dz

VtSig_Obj_19_ dy

VtSig_Obj_19_ dx

VtSig_Obj_19_ x1 minimum z coordinate of object 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


Obj_19_y1

Obj_19_qvy





Obj_2_vx

Obj_2_Type

Obj_2_vy




Obj_2_

Measured


Obj_2_ay

Obj_2_ep

Obj_2_ax

Obj_2_qvx





Obj_2_az

Obj_2_TrackAge

Obj_2_Id

Obj_2_zMin

Obj_2_vz









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_2_dy

Obj_2_dx



8 12 Unsigned

20 12 Unsigned

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 y coordinate of object's first point quality of vy signal, provided as an enum


Obj 19 part





VtSig_Obj_2_ zMin

VtSig_Obj_2_vz

VtSig_Obj_2_dz

VtSig_Obj_2_dy

VtSig_Obj_2_dx 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)

DE

55


Obj_2_x1

Obj_2_y1

Obj_2_qvy






Obj_3_vx

Obj_3_Type

Obj_3_vy




Obj_3_

Measured


Obj_3_ay

Obj_3_ep

Obj_3_ax

Obj_3_qvx





Obj_3_az

Obj_3_TrackAge

Obj_3_Id

Obj_3_zMin

Obj_3_vz









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

32 13 Unsigned

45 13 Unsigned

58 3 Unsigned

61 1 Unsigned

62 2 Unsigned

0 7 Unsigned

7 1 Unsigned

8 7 Unsigned

Obj_3_dy MoCa_Obj_3_B 0x4FF17EF 8 12 Unsigned

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_



Age of track, provided as an enum x coordinate of object's first point y coordinate of object's first point quality of vy signal, provided as an enum


Obj 2 part


Type identifier of the object id of object

VtSig_Obj_3_ zMin

VtSig_Obj_3_vz

VtSig_Obj_3_dz

VtSig_Obj_3_dy 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)

56



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_4_

Measured


Obj_4_ay

Obj_4_ep

Obj_4_ax

Obj_4_qvx

Obj_4_az

Obj_4_TrackAge

Obj_4_Id

Obj_4_zMin












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

VtSig_Obj_3_dx 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 quality of vy signal, provided as an enum

VtSig_Obj_3_

History

VtSig_Obj_4_vx


Obj 3 part


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

VtSig_Obj_4_az

VtSig_Obj_4_




VtSig_Obj_4_ zMin

VtSig_Obj_4_vz minimum z coordinate of object relative velocity of object, z direction

Obj 4 part

A message counter

DE

57





Obj_4_x1

Obj_4_y1

Obj_4_qvy






Obj_5_vx

Obj_5_Type

Obj_5_vy




Obj_5_

Measured


Obj_5_ay

Obj_5_ep

Obj_5_ax




Obj_5_qvx

Obj_5_az

Obj_5_TrackAge

Obj_5_Id

Obj_5_zMin

Obj_5_vz








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

58

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

VtSig_Obj_5_ qvx

VtSig_Obj_5_az

VtSig_Obj_5_

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


Obj 4 part





VtSig_Obj_5_ zMin

VtSig_Obj_5_vz minimum z coordinate of object relative velocity of object, z direction


Obj_5_A_cnt MoCa_Obj_5_A 0x4FF1AEF

Obj_5_dz MoCa_Obj_5_B 0x4FF1BEF


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




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




Obj_6_

Measured


Obj_6_ay

Obj_6_ep

Obj_6_ax

Obj_6_qvx

Obj_6_az

Obj_6_TrackAge

Obj_6_Id

Obj_6_zMin









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

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

VtSig_Obj_6_ax

VtSig_Obj_6_ qvx

VtSig_Obj_6_az

VtSig_Obj_6_

TrackAge



Age of track, provided as an enum

Obj 5 part



Obj 5 part

B message counter relative velocity of object, x direction id of object

VtSig_Obj_6_ zMin minimum z coordinate of object

DE

59


Obj_6_vz MoCa_Obj_6_A 0x4FF1CEF

Obj_6_A_cnt MoCa_Obj_6_A 0x4FF1CEF

Obj_6_dz MoCa_Obj_6_B 0x4FF1DEF


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




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




Obj_7_

Measured


Obj_7_ay

Obj_7_ep

Obj_7_ax

Obj_7_qvx

Obj_7_az

Obj_7_TrackAge

Obj_7_Id








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

60

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

VtSig_Obj_7_ep

VtSig_Obj_7_ax

VtSig_Obj_7_ qvx

VtSig_Obj_7_az

VtSig_Obj_7_

TrackAge



Age of track, provided as an enum relative velocity of object, z direction

Obj 6 part



Obj 6 part

B message counter relative velocity of object, x direction id of object


Obj_7_zMin

Obj_7_vz



Obj_7_A_cnt MoCa_Obj_7_A 0x4FF1EEF

Obj_7_dz MoCa_Obj_7_B 0x4FF1FEF


46 11 Unsigned

57 5 Unsigned

62 2 Unsigned

0 8 Unsigned

Obj_7_dy MoCa_Obj_7_B 0x4FF1FEF

Obj_7_dx MoCa_Obj_7_B 0x4FF1FEF

Obj_7_x1

Obj_7_y1

Obj_7_qvy




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




Obj_8_

Measured


Obj_8_ay

Obj_8_ep

Obj_8_ax

Obj_8_qvx

Obj_8_az

Obj_8_TrackAge







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

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

VtSig_Obj_8_ay

VtSig_Obj_8_ep

VtSig_Obj_8_ax

VtSig_Obj_8_ qvx

VtSig_Obj_8_az

VtSig_Obj_8_

TrackAge



Age of track, provided as an enum minimum z coordinate of object relative velocity of object, z direction

Obj 7 part



Obj 7 part


DE

61


Obj_8_Id

Obj_8_zMin

Obj_8_vz







38 8 Unsigned

46 11 Unsigned

57 5 Unsigned

62 2 Unsigned

0 8 Unsigned



Obj_8_x1

Obj_8_y1

Obj_8_qvy






Obj_9_vx

Obj_9_Type

Obj_9_vy




Obj_9_

Measured


Obj_9_ay

Obj_9_ep

Obj_9_ax

Obj_9_qvx

Obj_9_az






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

62 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

VtSig_Obj_9_

Measured

VtSig_Obj_9_ay

VtSig_Obj_9_ep

VtSig_Obj_9_ax

VtSig_Obj_9_ qvx

VtSig_Obj_9_az


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 minimum z coordinate of object relative velocity of object, z direction

Obj 8 part



Obj 8 part



Obj_9_TrackAge

Obj_9_Id

Obj_9_zMin

Obj_9_vz








36 2 Unsigned

38 8 Unsigned

46 11 Unsigned

57 5 Unsigned

62 2 Unsigned

0 8 Unsigned



Obj_9_x1

Obj_9_y1

Obj_9_qvy






Parameter-

GroupNumber RQST

0x18EAFEFE

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

8 12 Unsigned

20 12 Unsigned

32 13 Unsigned

45 13 Unsigned

58 3 Unsigned

61 1 Unsigned

62 2 Unsigned

0 24 Unsigned

0 24 Unsigned

24 2 Unsigned

0 1 Unsigned

0 32 Unsigned

0 3 Unsigned

3 3 Unsigned

6 2 Unsigned

VtSig_Obj_9_

TrackAge


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_


Obj 9 part



Obj 9 part

B message counter

PGN which is requested by Request2 message

PGN which is requested by Request2 message

Requester is to respond via the

Transfer PGN

VtSig_Standby_Control

DE

State of work of the driver

State of work of the driver

Indicates whether motion of the vehicle is detected or not

63



Driver1TimeRelatedStates

TCO1

DriverCardDriver1

TCO1

Overspeed TCO1

Driver2TimeRelatedStates

TCO1

DriverCardDriver2

TCO1

SystemEvent TCO1

HandlingInformation

TCO1

TachographPerformance

TCO1

DirectionIndicator

TCO1

TachographOutputShaftSpeed TCO1

TachographVehicleSpeed

TCO1

ControlByte TPCM

TotalMessage-

Size

NumberOfPacketsThatCan-

BeSent

TotalMessage-

SizeEoMA

TPCM

TPCM

TPCM

TotalMessage-

SizeBAM

TPCM

ConnectionAbortReason

NextPacketNumberTo-

BeSent

TotalNumberOf-

Packets

TPCM

TPCM

TPCM

TotalNumberOf-

PacketsEoMA TPCM

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

8 4 Unsigned

12 2 Unsigned

14 2 Unsigned

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE

0xCFE6CFE 48 16 Unsigned

0x18ECFEFE Multiplexor 0 8 Unsigned

8 16 Unsigned

8 8 Unsigned

8 16 Unsigned

8 16 Unsigned

8 8 Unsigned

16 8 Unsigned

24 8 Unsigned

24 8 Unsigned

16 4 Unsigned

20 2 Unsigned

24 2 Unsigned

26 2 Unsigned

28 2 Unsigned

30 2 Unsigned

32 16 Unsigned

64

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


TotalNumberOf-

PacketsBAM

MaximumNumberOf-

Packets

TPCM

TPCM

PGNumber TPCM

SequenceNumber

TPDT

SteerWheelAngle

VDC2

0x18ECFEFE

0x18EBFEFE


24 8 Unsigned

32 8 Unsigned

40 24 Unsigned

0 8 Unsigned

0x18F009FE 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

PGNofRequstedInformation XFER

LengthOfDataForTheReportedPGN

XFER

ShrtNameOfActualReporting-

Device

XFER

0x18F009FE

0x18F009FE

0x7FE

0x7FF

0x18CAFEFE

0x18CAFEFE

0x18CAFEFE

16 6 Unsigned

22 2 Unsigned

24 16 Unsigned

40 16 Unsigned

56 8 Unsigned

0 64 Unsigned

0 64 Unsigned

0 24 Unsigned

24 8 Unsigned

32 32 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

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

DE

65


7.2.1 Werte der Spalte "Value table"

Value table

VtSig_SwCtrl_OpMode

Wert

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

Bedeutung

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

[09510]

[090095]

[085090]

[075085]

[050075]

[025050]

[000025]

Measured in current frame

Not measured in current frame

Error

Out of upper bound

Out of lower bound

66

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

Wert

15

14

2046

2045

31

30

29

1

2

3

2047


Error

Out of upper bound

Out of lower bound

Error

Out of upper bound

Out of lower bound

Object seen

Object not seen

[09510]

[090095]

[085090]

[075085]

[050075]

[025050]

[000025]

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

Bedeutung

Error

Out of upper bound

Out of lower bound

Error

Out of upper bound

Out of lower bound

[09510]

[090095]

[085090]

[075085]

[050075]

[025050]

[000025]

[02] frames

[312] frames

[1325] frames

> 25 frames

Error

Out of upper bound

Out of lower bound

Error

Out of upper bound

Out of lower bound

DE

67


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

Wert

4095

4094

4093

8191

8190

8189

Bedeutung

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

68

IFM O3M261 3D sensor for mobile application Owner's Manual

Software-Handbuch

Mobiler 3D Smart-Sensor

Inhalt

1 Zu dieser Anleitung

2 Smart-Sensor

Sensor

O3M15x

Illumination unit

O3M950

Sensor

O3M15x

Illumination unit

O3M950

3 Object Detection (Objekterkennung)

4 Inbetriebnahme

5 Anwendungsbeispiele

6 Parameter

7 Schnittstellen

Related manuals

Table of contents

IFM O3M261 3D sensor for mobile application Owner's Manual

Software-Handbuch

Mobiler 3D Smart-Sensor

Inhalt

1 Zu dieser Anleitung

2 Smart-Sensor

Sensor

O3M15x

Illumination unit

O3M950

Sensor

O3M15x

Illumination unit

O3M950

3 Object Detection (Objekterkennung)

4 Inbetriebnahme

5 Anwendungsbeispiele

6 Parameter

7 Schnittstellen

Related manuals

IFM

O3M161

IFM Electronic

Mobiler 3D Smart-Sensor O3M151

Pfister

0X9-010A

IFM Electronic

Efector 250 O3M151

IFM

O3M271

IFM

O3DC02

IFM Electronic

Efector 250 O3M151

Hydac

PB HPT 1000 SAE J1939 E

Hydac

PB_HLT 1100 SAE J1939

IFM

O3M271

Table of contents