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ABD Pedestrian

Alongside ABD’s Pedestrian system, the pedestrian mode allows the live calculation of ADAS parameters between the subject vehicle and the pedestrian dummy. For a successful test, there needs to be an allocated ‘Target’ VBOX which is placed trackside and connected to the Pedestrian rig and a ‘Subject’ VBOX which is placed on board the Vehicle.

Hardware configuration - Subject

For successful integration with the pedestrian system, the user will need the following equipment in the Subject Vehicle:

  • 1x VB3iSL-RTK system (with both GPS antennas connected and placed 1 m apart*)
  • 1x IMU04 (connected to the VBOX via the RLCAB119)
  • 1x IMU Roof Mount
  • 1x DGPS Radio and antenna
  • 1x ADAS vehicle to vehicle communication radio and antenna
     

Selecting the ‘SUBJECT’ option will automatically configure the VBOX to work with the ABD pedestrian system, by applying the following settings:

 

     
  • Dynamic Mode - High dynamics
  • Hi Dynamic KF - Disabled
  • ADAS Mode – Single Target - Subject
  • Log rate - 100 Hz
  • DGPS Mode - RTCMv3**
  • Dual Antenna - Enabled
    • -NOT “Roll Mode”
  • Dual Antenna separation 1.00 m*
  • IMU integration - Enabled
  • Roof Mode - Enabled
  • VCI CAN bus set to RS232 port
  • VCI CAN bus set to 500 kbit
  • VCI CAN bus set to Termination ‘ON’
  • The following CAN IDs are also automatically switched on:-
    • 309
    • 314

*1.00 m is the default dual antenna separation. If it is not possible to gain a 1 m separation, then the user will have to enter the required separation value in the ‘DUAL ANTENNA’ area of VBOX Manager.

**Please note that the user must manually select the correct DGPS serial rate that relates to the radio system they are using.

Hardware configuration – Target

For successful integration with the pedestrian system, the user will need the following equipment in the Subject Vehicle: -

  • 1x VB3i system (Any VB3i Variant is acceptable)
  • 1x ADAS vehicle to vehicle communication radio and antenna
     

Selecting the ‘TARGET’ option will automatically configure the VBOX to work with the ABD pedestrian system, by applying the following settings:

 

  • Dynamic Mode - High dynamics
  • Dynamic Mode - High dynamics
  • Log rate - 100 Hz
  • ADAS Mode – Single Target - Target
  • Dual Antenna - Not Enabled
  • IMU integration - Not Enabled
  • VCI CAN input-
    • RefX_pos – CAN id 647 start bit 0, length 32, Intel, Signed integer, scale 0.001
    • RefY_pos – CAN id 647 start bit 32, length 32, Intel, Signed integer, scale 0.001
  • VCI CAN bus set to RS232 port
  • VCI CAN bus set to 500 kbit
  • VCI CAN bus set to Termination ‘ON’

 

  • The following CAN IDs are also switched on:-
    • 308
    • 309
    • 314

Configuring the ABD Pedestrian settings

Setting the ‘Datum’

Within the Subject VBOX, it is possible to set a ‘Datum’ point that will be the ‘Zero’ point of the test. To do this, the user must move the vehicle into contact with the Pedestrian target and select the ‘SET DATUM’ option from VBOX Manager.
Note: The ADAS contact points must be set BEFORE setting the Datum point

 

 

Setting the Reference Heading

Once a Datum point has been set, the user then needs to define the test heading. This is done by driving back down the test track and selecting ‘SET HEADING REF’ when in position.

This reference heading is then used by ABD to define the orientation of their local coordinate frame and is calculated from the Heading reference point through to the Datum point.

 

 

Sync to Target

Once the Datum and Reference heading have been set, it is possible to send this information to the Target VBOX by pressing the ‘SYNC TO TARGET' option within VBOX Manager.

Doing this will automatically update the Target Vehicles position to the latitude and longitude of the Datum point.

 

 

Target VBOX Functionality

The Target VBOX remains stationary at the side of the ABD pedestrian rig, with the output position being the Datum point that has been previously set.

By connecting the CAN out of the ABD system to the VBOX VCI port, the Target VBOX position will update by the correct amount based on the x and y offset being sent from the ABD rig.

This positon is then sent via the radio link to the Subject VBOX to allow the calculation of live ADAS parameters.

The target VBOX does NOT use it’s own position and so the robot mode should be set to ‘NONE’ before being used for another application

 

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Last modified
18:04, 23 Jan 2017

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