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ADAS CAN outputs

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 VBOXTOOLS - VBOX setup.

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 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 3 sample delay that is present when any Vehicle separation ADAS mode is enabled.

Click here to download ADAS DBC files. 

Format Motorola
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_Knots (6) Heading
0x303 (7) Altitude (8) Vertical_velocity_ms Unused (9) Status (10) Status
0x304 (11) Trigger_Distance (12) Longitudinal_Accel_g (13) Lateral_Accel_g
0x305 (14) Distance (15) Trigger_Time (16) Trigger_Speed_Knots
0x306 (17) Speed_Quality (18) True_Heading (19) Slip_Angle (20) Pitch_Angle
0x307 (21) Lateral_Velocity_km/h (22) Yaw_Rate (23) Roll_Angle (24) Longitudinal_Velocity_km/h
0x308 (25) Position_latitude_48bit (26) Kalman_Filter_Status
0x309 (27) Position_longitude_48bit (28) Robot_Nav_Speed_Knots
0x313 (29) Slip_Angle_Front_Left (30) Slip_Angle_Front_Right (31) Slip_Angle_Rear_Left (32) Slip_Angle_Rear_Right
0x314 (33) Slip_Angle_COG (34) Robot_Nav_Satellites (35) Robot_Nav_Time_Since_Midnight (36) Robot_Nav_Heading
0x322 (37) Trigger event UTC time – milliseconds (part1) (38) Trigger event UTC time – nanoseconds (part 2)
0x323 (39) Head_IMU (40) Roll_IMU (41) Pitch_IMU Unused
0x324 Unused (42) FW Version

*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 the WGS 84 ellipsoid, 0.01 meters 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. Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
  27. Position, Longitude 48 bit signed integer, Longitude * 10,000,000 (minutes). East being positive.
  28. Velocity, 0.01 knots per bit (not delayed when ADAS enabled).
  29. Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
  30. Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
  31. Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
  32. Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
  33. Slip Angle C of G, 16 bit signed integer 0.01° per bit.
  34. Robot navigation satellites.
  35. 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).
  36. True Heading2 16 bit signed integer 0.01° per bit, (not delayed when ADAS enabled).
  37. Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message).
  38. Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message).
  39. Heading derived from the Kalman Filter.
  40. Roll Angle derived from Kalman Filter.
  41. Pitch Angle derived from Kalman Filter.
  42. VBOX FW version, 32 bit unsigned.
    *can be split into Major (8bit), Minor (8 bit) and build number (16 bit).

Vehicle Separation - Target 1 CAN Data

Below is the tabular list of additional ADAS CAN messages that are present at the Subject VBOX vci output CAN port, when Single target/ Multiple Target veh sep or Static point mode is used. The ID’s of the CAN messages can be configured through VBOX Tools software if required.

Click here to download the ADAS Vehicle Separation DBC file.

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) Range_tg1  (2) RelSpd_tg1_km/h
0x30B (3) LngRsv_tg1 (4) LatRsv_tg1 
0x30C (5) LngSsv_tg1_km/h (6) LatSsv_tg1_km/h
0x30D (7) Angle_tg1

(8) Status_tg1

(9) LkTime_tg1
0x30E (10) LatRtg_tg1 (11) LngRtg_tg1
0x30F (12) T2Csv_tg1 (13)
Status_sv
Unused (14) Yawdif_tg1
0x310 (15) Spd_tg1_ms (16) T2C2sv_tg1
0x311 (17) LatRref_tg1 (18) Accel_tg1
0x312 (19) SepTim_tg1 (20) T2Ctg_tg1
0x315 (21) Latdif_tg1 (22) Lngdiff_tg1
0x316 (23) YawRat_tg1 (24) PntSv_tg1 (25)PntTg1_sv Unused

0x325

(26) LngRref_tg1***

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.

***New channels added for 2.4 firmware release

 

  1. Vehicle Separation (m), 32 bit IEEE Float.
  2. Relative Speed (km/h), 32 bit IEEE Float.
  3. Longitudinal Range; wrt subject heading (meters), 32 bit IEEE Float.
  4. Lateral Range; wrt subject heading (meters), 32 bit IEEE Float.
  5. Longitudinal Speed; wrt subject heading (meters), 32 bit IEEE Float.
  6. Lateral Speed; wrt subject heading (meters), 32 bit IEEE Float.
  7. Separation Angle (°), 32 bit IEEE Float.
  8. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  9. Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
  10. Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
  11. Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
  12. Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
  13. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  14. YAW diff, difference between subject and target1 vehicle headings, 16 bit signed integer *100.
  15. Target Vehicle Speed (km/h), 32 bit IEEE Float.
  16. Time to Collision 2; (seconds), 32 bit IEEE Float.
  17. Lateral Diff (m), 32 bit IEEE Float.
  18. Target vehicle Acceleration (g), 32 bit IEEE Float.
  19. Separation Time (seconds), 32 bit IEEE Float.
  20. Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
  21. Latdif_tg1 difference in minutes between Subject Latitude and Target 1Latitude, 32 bit IEEE Float.
  22. Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float.
  23. YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32bBit IEEE Float.
  24. Current subject vehicle contact point to target vehicle 1 – 8 bit unsigned integer.
  25. Current target vehicle 1 contact point – 8 bit unsigned integer.
  26. Longitudinal Diff (m), 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 Subject VBOX vci output CAN port, when ‘multiple target’ mode is used. The ID’s of the CAN messages can be configured through VBOX Tools software if required.

Click here to download the ADAS Vehicle Separation DBC file.

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x317 (1) Range_tg2  (2) RelSpd_tg2_km/h
0x318 (3) LngRsv_tg2 (4) LatRsv_tg2_m
0x319 (5) LngSsv_tg2_km/h (6) LatSsv_tg2_km/h
0x31A (7) Angle_tg2 (8) Status_tg2 (9) LkTime_tg2
0x31B (10) LatRtg_tg2 (11) LngRtg_tg2
0x31C (12) T2Csv_tg2 (13) Status_sv Unused (14) Yawdif_tg2
0x31D (15) Spd_tg2_km/h (16) T2C2sv_tg2
0x31E (17) LatRref_tg2 (18) Accel_tg2
0x31F (19) SepTim_tg2 (20) T2Ctg_tg2
0x320 (21) Latdif_tg2 (22) Lngdiff_tg2
0x321 (23) YawRat_tg2 (24) PntSv_tg2 (25)PntTg2_sv Unused

0x326

(26) LngRref_tg2***

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.

***New channels added for 2.4 firmware release

 

  1. Vehicle Separation (m), 32 bit IEEE Float.
  2. Relative Speed (km/h), 32 bit IEEE Float.
  3. Longitudinal Range; wrt subject heading (m), 32 bit IEEE Float.
  4. Lateral Range; wrt subject heading (m), 32 bit IEEE Float.
  5. Longitudinal Speed; wrt subject heading (m), 32 bit IEEE Float.
  6. Lateral Speed; wrt subject heading (m), 32 bit IEEE Float.
  7. Separation Angle (°), 32 bit IEEE Float.
  8. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  9. Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
  10. Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
  11. Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
  12. Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
  13. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  14. YAW diff, difference between subject and target2 vehicle headings, 16 bit signed integer *100.
  15. Target Vehicle Speed (km/h), 32 bit IEEE Float.
  16. Time to Collision 2; (seconds), 32 bit IEEE Float.
  17. Lateral Diff (m), 32 bit IEEE Float.
  18. Target vehicle Acceleration (g), 32 bit IEEE Float.
  19. Separation Time (seconds), 32 bit IEEE Float.
  20. Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
  21. Latdif_tg2 difference in minutes between Subject Latitude and Target 2 Latitude, 32 bit IEEE Float.
  22. Lngdif_tg2 difference in minutes between Subject Longitude and Target 2 Longitude, 32 bit IEEE Float.
  23. YawRat_tg2 Yaw rate from Target 2 vehicle, only if fitted (deg/s), 32 bit IEEE Float​.
  24. Current subject vehicle contact point to target vehicle 2 – 8 bit unsigned integer.
  25. Current target vehicle 2 contact point – 8 bit unsigned integer.
  26. Longitudinal Diff (m), 32 bit IEEE Float.

Lane Departure CAN Data

The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to ‘Lane Departure” mode. The ID’s of the CAN messages can be configured through VBOX Tools software if required.

Click here to download the ADAS Lane Departure DBC file.

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) Range_FL (2) Range_FR
0x30B (3) LatSpd_FL_km/h (4) Status
0x30C (5) TTC_FL (6) LatSpd_FR_km/h
0x30D (7) TTC_FR (8) Angle
0x30E (9) Range_RL (10) Range_RR
0x30F (11) LatSpd_RL_km/h (12) LatSpd_RR_km/h
0x310 (13) TTC_RL (14) TTC_RR

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

 

  1. Lateral Distance to Line from vehicle front left point (meters), 32 bit IEEE Float.
  2. Lateral Distance to Line from vehicle front right point (meters), 32 bit IEEE Float.
  3. Lateral speed toward line wrt to vehicle front left point (km/h), 32 bit IEEE Float.
  4. Status, 32 Bit IEEE Float, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  5. Time To Line cross, wrt to vehicle front left point, (seconds), 32 bit IEEE Float.
  6. Lateral speed toward line wrt to vehicle front right point (km/h), 32 bit IEEE Float.
  7. Time To Line cross, wrt to vehicle front right point, (seconds), 32 bit IEEE Float.
  8. Angle (°), 32 bit IEEE Float.
  9. Lateral Distance to Line from vehicle rear left point (m), 32 bit IEEE Float.
  10. Lateral Distance to Line from vehicle rear right point (m), 32 bit IEEE Float.
  11. Lateral speed toward line wrt to vehicle rear left point (km/h), 32 bit IEEE Float.
  12. Lateral speed toward line wrt to vehicle rear right point (km/h), 32 bit IEEE Float.
  13. Time To Line cross, wrt to vehicle rear left point, (seconds), 32 bit IEEE Float.
  14. Time To Line cross, wrt to vehicle rear right point, (seconds), 32 bit IEEE Float.

Multi Static Point 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 software if required.

Click here to download the ADAS Multi Static Point DBC file.

Format Motorola
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.
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Last modified
14:40, 6 Mar 2017

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