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Robot Modes - Vehico

VB3iSL-RTK is compatible with Vehico robot systems, allowing the user to complete high accuracy ADAS tests.

Hardware configuration

For successful integration with the Vehico system, the user will need the following equipment in each 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
     


 

By Selecting ‘VEHICO’ from the 'ROBOT' menu within VBOX Manager, no actions will be taken until the ‘ENABLE’ option is selected. When ‘ENABLE’ is selected, a tick mark appears next to the mode and the rest of the options become visible.

 

When ‘AUTO CONFIG' is selected, the box automatically configures itself to work with the Vehico system. This means that the following VBOX modes will be enabled:-

 

 
  • Dynamic Mode - High dynamics
  • Log rate - 100 Hz
  • Hi Dynamic KF - Disabled

 

  • DGPS Mode - RTCMv3**
  • Dual Antenna - Enabled
  • Dual Antenna separation - 1.00 m*
  • IMU integration Enabled - ROOF MODE
  • 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 will be switched on:-
    • 308
    • 309
    • 314

 

  • The following CAN pass through channels will be applied:-
    • 600 - X Acceleration

*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.

Configuring the Vehico settings

Setting the ‘Datum Point’

  • The Datum point is the origin point of the local X-Y coordinate system, from which all positional information will reference.
  • The Datum point can be set in two ways:
    • USE BASESTATION – This option will automatically use the location of the Basestation’s antenna as the Datum point.
      Note: For this option to work correctly, the basestation has to be powered on with an activate radio link between the Basestation and VBOX and VBOX has to be ‘RTK FIXED’.

    • SET DATUM – This option will use the current location of the GPS antenna as the Datum point.
       

Setting the ‘Track Direction’

  • The track direction dictates the direction which the Vehico system will consider it’s ‘North’ value.
  • The track direction can be set in one of 2 ways:
    • ‘SET POINT 1’ and ‘SET POINT 2’ – To use this option, the user must drive to a nominated point and use the ‘SET POINT 1’ option before driving down the track to another location and pressing the ‘SET POINT 2’ option. VBOX will automatically work out the heading between the two points and apply this heading as the track direction.
    • ENTER HEADING – This option allows the user to manually enter a numerical heading value.

 

     

Saving, loading and clearing the Datum point and track direction

Once the user has defined the Datum point and track direction, it is possible to save this information to be recalled at a later date. To do this the user must save the information by pressing the ‘SAVE’ option within VBOX Manager, doing this will allow the user to either ‘CREATE NEW’ file or overwrite an existing file.

Once saved, it is possible to load this information into the VBOX using the ‘LOAD’ option on VBOX Manager, allowing the user to select the required file.

To clear the current track direction and datum point, the user can use the ‘CLEAR’ function. Selecting this option will clear the current track direction before setting the current antenna location as the datum point.

 

   

Setting the ADAS mode

The user will still need to manually set the VBOXs as either a ‘SUBJECT VEHICLE’ or ‘TARGET VEHICLE’ in the Single target ADAS mode. For more information on how to do this, please see the relevant ADAS page within the Support centre.

Channel Changes

Once Vehico mode is enabled, the Position channels output over CAN (IDs 308 and 309) are now in a local X and Y coordinates, rather than the standard global coordinate system the VBOX typically uses. The origin of this local X and Y system will be the user nominated Datum point.

The Latdif_tg1 and Lngdif_tg1 channels also change function, being populated with the Target’s position with regards to the Datum, i.e the x and y position in metres.

 

As the Vehico system allows the user to define a Track direction, the VBOX’s True heading 2 value is calculated with reference to the ‘y’ direction (Track Direction) in the image below, as opposed to using North as the reference.

 

 

Disabling Vehico Mode

Please note that the VBOX will continue to operate in ‘Vehico mode’ until either a different Robot mode is selected (DSD, ABD) or ‘NONE’ is selected from within the file manager.

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Last modified
12:18, 24 Jan 2017

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