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RACELOGIC Support Centre

ADAS CAN Outputs - Multiple Static Points

This article describes which CAN messages are transmitted from the VB3i when testing with multiple static points within a Traffic Sign Recognition test.
 

It is possible to output the VBOX ADAS channels to a 3rd party data logger on the VBOX ‘VCi’ CAN port, which is as default assigned to the ‘SER’ connector.

If the 3rd party logger has a 9 way D-sub connector then a RLCAB019L cable should provide the required interface.

Note that when this CAN port is outputting CAN that the VBOX cannot log CAN signals via this port.

All standard and ADAS parameters are output in a set format, which is outlined in the ‘CAN Bus data format’ section below.

It is possible to change the ID of each output CAN message, via the CAN page of VBOX Tools - VBOX setup or VBOX Setup Software.

CAN Signal Latency

The VBOX in vehicle separation ADAS mode will have the following CAN output timings.

47.5 – 49.5 ms delay from ‘ground truth’ to leading edge of the associated CAN message when IMU integration and fixed CAN delay is disabled.

This becomes 60 ms delay when IMU integration or Fixed CAN delay is enabled.

VBOX output CAN message is 5 ms in length at 500 kbit/s.

Standard ADAS CAN Data

Listed below are the standard CAN messages that are transmitted from the VB3iSL-RTK in any mode of operation. The ID’s of the CAN messages can be configured through VBOX Tools or VBOX Setup Software if required.

All channels shown in blue are channels available when Twin antenna mode is enabled.

All CAN id’s highlighted in yellow are not subject to an additional 4 or 5 sample delay that is present when any ADAS mode is enabled.

Click here to download ADAS DBC files.

Data format: Motorola


Channel definitions are available here.

ID** Data Bytes
1 2 3 4 5 6 7 8
0x301 (1) Sats (2) Time_since_midnight_UTC (3) Position_Latitude
0x302 (4) Position_Longitude (5) Speed (kts) (6) Heading (°)
0x303 (7) Altitude (m) (8) Vertical_velocity (m/s) Unused (9) Status (10) Status
0x304 (11) Trigger_Distance (m) (12) Longitudinal_Accel (g) (13) Lateral_Accel (g)
0x305 (14) Distance (m) (15) Trigger_Time (16) Trigger_Speed (kts)
0x306 (17) Speed_Quality (km/h) (18) True_Heading (°) (19) Slip_Angle (°) (20) Pitch_Angle (°)
0x307 (21) Lateral_Velocity (km/h) (22) Yaw_Rate (°/s) (23) Roll_Angle (°) (24) Longitudinal_Velocity (km/h)
0x308 (25) Position_latitude_48bit Pre FW 2.5(26) Kalman_Filter
_Status
Post FW 2.5: 
(26) Position_
Quality
Post FW 2.5
(27) Solution_
Type
0x309 (28) Position_longitude_48bit (29) Robot_Nav_Speed (kts)
0x313 (30) Slip_Angle_Front_Left (°) (31) Slip_Angle_Front_Right (°) (32) Slip_Angle_Rear_Left (°) (33) Slip_Angle_Rear_Right (°)
0x314 (34) Slip_Angle_COG (°) (35) Sats_Robot_Nav (36) Time_Since_Midnight_Robot_Nav (37) True_Heading_2_Robot_Nav (°)
0x322 (38) Trigger_Event_UTC_Part_1 (39) Trigger_Event_UTC_Part_2
0x323 (40) Heading_IMU (°) (41) Roll_Ang_IMU (°) (42) Pitch_Ang_IMU (°) Pre FW 2.5Unused
Post FW 2.5(43) Status_KF
0x324 (44) Dant_Mode (45) MP_Type_Number Unused (46) FW Version
0x329 (47) X_Position (48) Y_Position
0x32A (49) RobotHead_Vehico (°) (50) Speed_Vehico (km/h) (51) Position_Quality_Vehico (52) Solution_Type_Vehico Unused

*Update rate depends on GPS update rate. 10 ms Update rate shown corresponds to 100 Hz GPS setting.

**Default Identifiers. The identifier values can be changed using the configuration software.
 

  1. If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
  2. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
  3. Position, Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
  4. Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
  5. Velocity, 0.01 knots per bit.
  6. Heading, 0.01° per bit.
  7. Altitude above mean sea level based on the WGS 84 model of the earth, 0.01 m per bit, signed.
  8. Vertical Velocity, 0.01 m/s per bit, signed.
  9. Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3, Bit 3 = Logging Status.
  10. Status is an 8 bit unsigned char. Bit 0 is always set, Bit 2=brake test started, Bit 3 = Brake trigger active, Bit 4 = DGPS active, Bit 5 = Dual Lock.
  11. Distance, 0.000078125 meters per bit, unsigned. Corrected to trigger point..
  12. Longitudinal Acceleration, 0.01 g per bit, signed.
  13. Lateral Acceleration, 0.01 g per bit, signed.
  14. Distance traveled since VBOX reset, 0.000078125 meters per bit, unsigned.
  15. Time from last brake trigger event. 0.01 seconds per bit.
  16. Velocity at brake trigger point 0.01 knots per bit.
  17. Velocity Quality, 0.01 km/h per bit.
  18. True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
  19. Slip Angle, 16 bit signed integer 0.01° per bit.
  20. Pitch Angle, 16 bit signed integer 0.01° per bit.
  21. Lateral Velocity, 16 bit signed integer 0.01 knots per bit.
  22. Yaw Rate, 16 bit signed integer 0.01°/s per bit.
  23. Roll Angle, 16 bit signed integer 0.01° per bit.
  24. Longitudinal Velocity, 16 bit signed integer 0.01 knots per bit.
  25. Position, Latitude 48bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
  26. Pre FW 2.5Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
    Post FW 2.5: Position Quality, 8 bit unsigned integer.
  27. Post FW 2.5Solution Type, 8 bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed, 5 = Fixed position, 6 = IMU Coast.
  28. Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
  29. Velocity, 16 bit signed integer 0.01 kts per bit (not delayed when ADAS enabled).
  30. Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
  31. Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
  32. Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
  33. Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
  34. Slip Angle C of G, 16 bit signed integer 0.01° per bit.
  35. Robot Navigation Satellites.
  36. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
  37. True Heading2 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
  38. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message).
  39. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message).
  40. Heading derived from the Kalman Filter.
  41. Roll Angle derived from Kalman Filter.
  42. Pitch Angle derived from Kalman Filter.
  43. Post FW 2.5Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
  44. Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
  45. Motion pack type number, outputted as 6 (used by ABD robot systems).
  46. VBOX FW version, 32 bit unsigned.
    *can be split into Major (8 bit), Minor (8 bit) and build number (16 bit).
  47. X position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is north. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
  48. Y position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is north. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
  49. Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot systems).
  50. Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
  51. Position quality, 8 bit (used by Vehico robot systems).
  52. Solution type, 8 bit (used by Vehico robot systems).

Multiple Static Points CAN Data

The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to Multiple Static Points mode. The ID’s of the CAN messages can be configured through VBOX Tools/ VBOX Setup software if required.

Click here to download ADAS DBC files.

Data format: Motorola


ADAS Channel definitions are available here.

ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) ID1 (2) Range1 (m) (3) Lat_Range1 (m) (4) Lng_Range1 (m)
0x30B (5) TTC1 (sec) (6) Angle1 (degrees) Unused Unused
0x30C (7) ID2 (8) Range2 (m) (9) Lat_Range2 (m) (10) Lng_Range2 (m)
0x30D (11) TTC2 (sec) (12) Angle2 (degrees) Unused Unused
0x30E (13) ID3 (14) Range3 (m) (15) Lat_Range3 (m) (16) Lng_Range3 (m)
0x30F (17) TTC3 (sec) (18) Angle3 (degrees) Unused Unused
0x310 (19) ID4 (20) Range4 (m) (21) Lat_Range4 (m) (22) Lng_Range4 (m)
0x311 (23) TTC4 (sec) (24) Angle4 (degrees) Unused Unused
0x312 (25) ID5 (26) Range5 (m) (27) Lat_Range5 (m) (28) Lng_Range5 (m)
0x315 (29) TTC5 (sec) (30) Angle5 (degrees) Unused Unused

*Default Identifiers. The identifier values can be changed using the configuration software.
 

  1. Point ID of the feature, 16 bit unsigned integer.
  2. Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  3. Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
  4. Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  5. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
  6. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
  7. Point ID of the feature, 16 bit unsigned integer.
  8. Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  9. Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
  10. Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  11. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
  12. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
  13. Point ID of the feature, 16 bit unsigned integer.
  14. Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  15. Lateral Distance to feature from the origin of the field of vision (meters), 16 bit signed integer.
  16. Longitudinal Distance to feature from the origin of the field of vision (meters), 16 bit unsigned integer.
  17. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
  18. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
  19. Point ID of the feature, 16 bit unsigned integer.
  20. Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  21. Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
  22. Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  23. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
  24. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
  25. Point ID of the feature, 16 bit unsigned integer.
  26. Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  27. Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
  28. Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
  29. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
  30. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.