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ADAS CAN Outputs - 3 Target Vehicles

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This article describes which CAN messages are transmitted from the VB3i when testing with 3 Target Vehicles.
 

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 Setup Software.

CAN Signal Latency

In vehicle separation mode in ADAS testing, the VBOX unit will have the following CAN output timings:

The ADAS modes add the following delays to the standard CAN output (20ms if using Fixed delay):

  • 1 Target Mode (no Moving Base) = 50ms
  • 1 Target Mode (Moving Base) = 60ms

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 VB3iD-RTK in any mode of operation. The ID’s of the CAN messages can be configured through  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 Pre FW 2.6: (37) True_Head2 (°)
Post FW 2.6: (37) RobotHead_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 2.5: Unused
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
0x32B (53) GPSDayH (54) GPSDayL (55) Diff_Age Unused (56) Serial_Number (57) VBOX_Type 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 2.5: Kalman 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 2.5: Solution 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. Pre FW 2.6: True Heading2, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
    Post FW 2.6: Robot heading, 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 2.5: Kalman 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 X direction is East. 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).
  53. GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
  54. GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
  55. Differential Age - unsigned char, (s) differential age (0xFF = invalid).
  56. Serial Number - 20 bit, VBOX serial number.
  57. VBOX Type - VB3i = 1, VB3iS = 2, VB3iS2 = 3.
 

Vehicle Separation - Subject CAN Data

Below is the tabular list of additional ADAS CAN messages that are present at the Subject VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through 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) Range_tg1 (m) (2) LaneR_tg1 (m)
0x30B (3) LngRsv_tg1 (m) (4) LatRsv_tg1 (m)
0x30C (5) LngRef_tg1 (m) (6) LatRef_tg1 (m)
0x30D (7) Angle_tg1 (°) (8) Status_tg1 (9) LkTime_tg1
0x30E (10) LnRtg1_tg1 (m) (11) LaRtg1_tg1 (m)
0x30F (12) LaneR_sv (m) (13)
Status_sv		 Unused
0x310 (14) Range_tg2 (m) (15) LaneR_tg2 (m)
0x311 (16) LngRsv_tg2 (m) (17) LatRsv_tg2 (m)
0x312 (18) LngRef_tg2 (m) (19) LatRef_tg2 (m)
0x315 (20) Range_tg3 (m) (21) LaneR_tg3 (m)
0x316 (22) LngRsv_tg3 (m) (23) LatRsv_tg3 (m)
0x317 (24) LngRef_tg3 (m) (25) LatRef_tg3 (m)
0x318 (26) Angle_tg3 (°) (27)
Status_tg3		 (28) LkTime_tg3
0x319 (29) LnRtg1_tg3 (m) (30) LaRtg1_tg3 (m)
0x327 (31) Angle_tg2 (°) (32)
Status_tg2		 (33) LkTime_tg2
0x328 (34) LnRtg1_tg2 (m) (35) LaRtg1_tg2 (m)
0x31A (36) Spd_tg1 (km/h) (37) Spd_tg2 (km/h)
0x31B (38) Spd_tg3 (km/h) (39) TTC1_tg3 (s)

*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. Subject Vehicle separation to Target 1 Vehicle (m), 32 bit IEEE Float.
  2. Lateral distance between the Target 1 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  3. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  4. Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  5. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  6. Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  7. Target 1 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  8. Target 1 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  9. Target 1 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  10. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  11. Lateral distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  12. Lateral distance between the Subject Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  13. Subject Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Subject Vehicle separation to Target 2 Vehicle (m); 32 bit IEEE Float.
  15. Lateral distance between the Target 2 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  16. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  17. Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  18. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  19. Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  20. Subject Vehicle separation to Target 3 Vehicle (m); 32 bit IEEE Float.
  21. Lateral distance between the Target 3 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  22. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  23. Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  24. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  25. Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  26. Target 3 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  27. Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  28. Target 3 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  29. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  30. Lateral distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  31. Target 2 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  32. Target 2 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  33. Target 2 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  34. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  35. Lateral distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  36. Target 1 Vehicle Speed (km/h); 32 bit IEEE Float.
  37. Target 2 Vehicle Speed (km/h); 32 bit IEEE Float.
  38. Target 3 Vehicle Speed (km/h); 32 bit IEEE Float.
  39. Time for the front most contact point of Target 3 Vehicle to cross the reference line (seconds), 32 bit IEEE Float.
 

Vehicle Separation - Target 1 CAN Data

Below is the tabular list of additional ADAS CAN messages that are present at the Target 1 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through 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) Range_tg1 (m) Unused
0x30B (2) LngRsv_tg1 (m) (3) LatRsv_tg1 (m)
0x30C (4) LngRef_tg1 (m) (5) LatRef_tg1 (m)
0x30D (6) Angle_tg1 (°) (7) Status_tg1 (8) LkTime_tg1
0x30E (9) LnRtg1_tg1 (m) (10) LaRtg1_tg1 (m)
0x30F (11) LaneR_tg1 (m) (12)
Status_sv		 (13)
Status_tg2		 (14)
Status_tg3		 Unused
0x310 (15) Spd_sv (km/h) 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. Subject Vehicle separation to Target 1 Vehicle (m), 32 bit IEEE Float.
  2. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  3. Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  4. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  5. Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  6. Target 1 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  7. Target 1 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Target 1 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  10. Lateral distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  11. Lateral distance between the Target 1 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  12. Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 2 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h); 32 bit IEEE Float.
 

Vehicle Separation - Target 2 CAN Data

Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through 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) Range_tg2 (m) Unused
0x30B (2) LngRsv_tg2 (m) (3) LatRsv_tg2 (m)
0x30C (4) LngRef_tg2 (m) (5) LatRef_tg2 (m)
0x30D (6) Angle_tg2 (°) (7) Status_tg2 (8) LkTime_tg2
0x30E (9) LnRtg1_tg2 (m) (10) LaRtg1_tg2 (m)
0x30F (11) LaneR_tg2 (m) (12)
Status_sv		 (13)
Status_tg1		 (14)
Status_tg3		 Unused
0x310 (15) Spd_sv (km/h) 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. Subject Vehicle separation to Target 2 Vehicle (m); 32 bit IEEE Float.
  2. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  3. Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  4. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  5. Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  6. Target 2 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  7. Target 2 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Target 2 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  10. Lateral distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  11. Lateral distance between the Target 2 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  12. Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 1 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h); 32 bit IEEE Float.
 

Vehicle Separation - Target 3 CAN Data

Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through 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) Range_tg3 (m) Unused
0x30B (2) LngRsv_tg3 (m) (3) LatRsv_tg3 (m)
0x30C (4) LngRef_tg3 (m) (5) LatRef_tg3 (m)
0x30D (6) Angle_tg3 (°) (7) Status_tg3 (8) LkTime_tg3
0x30E (9) LnRtg1_tg3 (m) (10) LaRtg1_tg3 (m)
0x30F (11) LaneR_tg3 (m) (12)
Status_sv		 (13)
Status_tg1		 (14)
Status_tg2		 Unused
0x310 (15) Spd_sv (km/h) (16) TTC1_tg3 (s)

*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. Subject Vehicle separation to Target 3 Vehicle (m); 32 bit IEEE Float.
  2. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
  3. Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
  4. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
  5. Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
  6. Target 3 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
  7. Target 3 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Target 3 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  10. Lateral distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
  11. Lateral distance between the Target 3 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
  12. Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 1 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 2 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h); 32 bit IEEE Float.
  16. Time for the front most contact point of Target 3 Vehicle to cross the reference line (seconds), 32 bit IEEE Float.
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