Standardized ARS Interface
Continental Engineering Services GmbH
Standardized ARS Interface Technical Documentation ARS 308-2C/-21 SS / HS “Standard Sensitivity / High Sensitivity”
NO / AO “Neutral Objects / Automotive Objects”
C “Collision avoidance”
V1.25
Continental Engineering Services GmbH August 3, 2012 page 1
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Standardized ARS Interface
Table of Contents 1. Introduction ................................................................................................................. 4 2. Operating Conditions.................................................................................................. 4 3. Safety Information ....................................................................................................... 4 4. Interface ....................................................................................................................... 4 5. Description .................................................................................................................. 5 6. Sensor Configuration.................................................................................................. 7 7. State Output ............................................................................................................... 10 8. Input Signals .............................................................................................................. 13 8.1. Speed Information ................................................................................................ 13 8.2. Yaw Rate Information ........................................................................................... 14 9. Data Output ................................................................................................................ 15 9.1. Target List ............................................................................................................. 15 9.2. Object List ............................................................................................................. 19 10.
Collision Detection ................................................................................................ 27
10.1.
Warning Configuration Input .............................................................................. 27
10.2.
Region configuration Input................................................................................. 28
10.3.
State Output ...................................................................................................... 29
10.4.
Warning Output ................................................................................................. 32
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History Version V1.4 V1.5 V1.6
Date 31. July 2009 31. July 2009 31. July 2009
V1.7 V1.8 V1.9 V1.10 V1.11
V1.12 V1.23
31. July 2009 31. July 2009 8. Dec. 2010 13. Dec. 2010 6. Sep. 2011 8. Sep. 2011 27. Sep. 2011 4. Oct. 2011 11. Nov. 2011 30. May 2012
V1.25
3. Aug. 2012
Chapter Change description 9 Added data output description 9 Minor changes Regenerated Table Of Contents Renamed CAN1 to CAN2 in order to match message names Renamed CAN0 to CAN1 Updated messages 0x200 and 0x201 descriptions Minor changes 9.1 Added values for angle status Update for single CAN hardware Version update 6 • radar_elevation signal description 7 • SensTempErr signal description 9.1 • 0x600 and 0x701 signal descriptions 9.2 • 0x60A, 0x60B and 0x700 signal descriptions all • Layout 5, 6, 7, • Messages for collision detection and multiple 10 sensor IDs • Signal description for multiple sensor IDs • Collision detection signal description all
Continental Engineering Services GmbH August 3, 2012 page 3
• • •
Different items
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Standardized ARS Interface
1.
Introduction
The ARS 300 is a Radar Sensor System developed by Continental for the Automotive Industry to realize advanced driver assistance functions. The usual interface of this system is mainly based on deceleration requests to the vehicle network. The software of the sensor was adapted to use it also for general purposes. With the simple software interface it is possible to connect the sensor to a CAN network and to provide radar based environmental information to one or several evaluation units. The sensor can also be configured via CAN. Different software is valid for ARS 308-2C / 21 (SS/HS) / (NO/AO).
2.
Operating Conditions
Please refer to ARS 300-Technical Description.
3.
Safety Information
Please refer to ARS 300-Technical Description.
4.
Interface
The ARS Radar sensor has one CAN interface (called CAN1). The communication network is a CAN bus as specified in ISO 11898-2 with a transmission rate of 500 KBits/s. The messages on the CAN-Bus are defined by corresponding DBC files. As an example, a possible CAN bus network is shown in Figure 1. Since no termination resistors are included in the radar sensor ARS 308-2C and ARS 308-21, two 120 Ohm terminal resistors have to be connected to the network (separately or integrated in the CAN interface of the corresponding unit). The CAN1 connection of the ARS is used for configuration, sensor state output, data input and data output.
Figure 1: CAN network
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5.
Description
The ARS sensor uses radar radiation to analyze its surroundings. The reflected signals are processed and after multiple steps they are available in form of targets and objects. One target consists of multiple reflections which have a similar position and movement and therefore can be combined. The information about a target like size, relative velocity and position is then transmitted on CAN1. The position is calculated in an angular coordinate system, i.e. distance and angle relative to the sensor. The targets are newly evaluated every cycle. In contrast to this, objects have a history and consist of tracked targets. The position of the object is calculated relative to an assumed vehicle course. The course is determined by using the speed and yaw rate information. If information is missing, it will be set to default values: yaw rate = 0 deg/s, speed = 0 m/s and standstill. The elevation of the radar radiation can be changed in a certain range via configuration of the radar sensor. The angles used for the position of targets and for the elevation of the radar beam are shown in Figure 2.
Elevation (-)
Azimuth Angle (-)
Elevation (+)
Forwards (+) Azimuth Angle (+)
Figure 2: Sign Conventions - Targets Azimuth Angle and Beam elevation angle
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Standardized ARS Interface
CAN
Frame Format
Message ID1
Message Name
Content
Section
1
CAN 2.0A (11 Bit)
0x200 RadarConfiguration
Sensor configuration
0
1
CAN 2.0A (11 Bit)
0x201 RadarState
State output
0
1
CAN 2.0A (11 Bit)
0x300 SpeedInformation
Vehicle speed
8.1
1
CAN 2.0A (11 Bit)
0x301 YawRateInformation
Vehicle yaw rate
8.2
1
CAN 2.0A (11 Bit)
0x600 CAN1_Target_Status
Target status
9.1
1
CAN 2.0A (11 Bit)
0x60A CAN1_Obj_Status
Object status
9.2
1
CAN 2.0A (11 Bit)
0x60B CAN1_Obj_1
Object information 1
9.2
1
CAN 2.0A (11 Bit)
0x60C CAN1_Obj_2
Object information 2
9.2
1
CAN 2.0A (11 Bit)
0x700 CAN1_VersionID
Object List Interface Version
9.2
1
CAN 2.0A (11 Bit)
0x701 CAN1_Target_1
Target information 1
9.1
1
CAN 2.0A (11 Bit)
0x702 CAN1_Target_2
Target information 2
9.1
1
CAN 2.0A (11 Bit)
0x400 CollDetWarnConfig
Collision detection warning configuration
10.1
1
CAN 2.0A (11 Bit)
0x401 CollDetRegionConfig
Collision detection region configuration
10.2
1
CAN 2.0A (11 Bit)
0x408 CollDetState
Collision detection warning state
10.3
1
CAN 2.0A (11 Bit)
0x409 CollDetWarn
Collision detection region warning
10.4
Table 1: Sensor CAN messages (dependent on the sensor variant not all messages are available)
1
This is the base message ID for sensor ID 0. For other sensor IDs this is: (base message ID | (0x10 * sensor ID)) Continental Engineering Services GmbH August 3, 2012 page 6
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6.
Sensor Configuration
The ARS 308-2C and 308-21 can be configured via message 0x200 on CAN1 (see: Figure 3 and Table 2). This message should only be transmitted to the ARS 300 when a parameter change is desired. It is not necessary to transmit this message cyclically. It should also be noted that in order to guarantee that a parameter change is accepted, the signal NVMreadStatus in message 0x201 (RadarState) must have a value of successful as defined in the DBC file. The following parameters can be changed 1. Radar range length – Maximum distance at which objects will be detected ! a. Radar range length: = 50 m -> Near Range = 25 m, Far Range = 50 m b. Radar range length: = 60 m -> Near Range = 30 m, Far Range = 60 m c. Radar range length: = 70 m -> Near Range = 35 m, Far Range = 70 m d. Radar range length: = 80 m -> Near Range = 40 m, Far Range = 80 m e. Radar range length: = 90 m -> Near Range = 45 m, Far Range = 90 m f. Radar range length: = 100 m -> Near Range = 50 m, Far Range = 100 m g. Radar range length: = 100 m -> 200 m -> Near Range = 50 m constant ! Far Range = 100 m -> 200 m 2. Elevation of the sensor’s plate – The elevation angle of the radar beam. Please note that Elevation angle of 0 deg corresponds to the sensor plate inclined towards the sky and 32 deg inclined towards the road. 3. Power reduction mode a. True – The ARS300 will shift to low power output mode at standstill. b. False – The ARS300 will not shift to low output mode. 4. The type of the output list a. SendObjects – The object list will be transmitted on CAN1 b. SendTargets – The target list will be transmitted on CAN1 5. Unique Sensor ID – For each sensor on the same CAN bus an ID between 0 and 7 can be selected. The sensor then sends and receives its messages accordingly: (base message ID | (0x10 * sensor ID)). When the sensor ID is invalid only the RadarState message is transmitted.
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Standardized ARS Interface These parameters can be changed individually or in combinations. For each of the above parameters, the message contains a validity bit. If the validity bit is set to Valid/True, the corresponding parameter will be updated in the ARS, otherwise it is ignored. If a parameter is updated, it will also be stored in non-volatile memory so that it is automatically set at startup on any subsequent power up.
Figure 3: Radar Configuration message structure (0x200) (Bytes 5-7 and Bits in white are unused)
Signal
Start
Len
Byte Order
Value Type
Res
radar_range_lengthV
0
1
Motorola
Unsigned
1
radar_range_length
15
8
Motorola
Unsigned
1m
radar_output_typeV
3
1
Motorola
Unsigned
1
radar_output_type
26
2
Motorola
Unsigned
1
radar_enablePowerReductionV
2
1
Motorola
Unsigned
1
Continental Engineering Services GmbH August 3, 2012 page 8
Value Range 0 -> Invalid 0x0 1 -> Valid 0x1 50 m, 51 m, 52 m …………....... 200 m 0 x 32 ( = 50) 0 x C8 (= 200) 0 -> Invalid 1 -> Valid 0 -> (0 x 0) inapplicable 1 -> (0 x 1) SendObjects 2 -> (0 x 2) SendTargets 3 -> (0 x 3) inapplicable 0 -> Invalid 1 -> Valid
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Standardized ARS Interface radar_elevationV
1
1
Motorola
radar_enablePowerReduction
24
1
Motorola
radar_elevation
23
8
Motorola
radar_sensor_idV
4
1
Motorola
radar_sensor_id
32
3
Motorola
0 -> Invalid 1 -> Valid 0 -> False Unsigned 1 1 -> True 00, 0.250, 0.500 0.25 ……………… 320 Unsigned deg (Sky -> Road) 0 -> False Unsigned 1 1 -> True 0…7 Unsigned 1 Unsigned
1
Table 2: Radar Configuration - message description (0x200)
Start
Len
Byte Order
Value Type
Res
radar_range_lengthV
0
1
Motorola
Unsigned
1
radar_range_length
15
8
Motorola
Unsigned
1m
radar_output_typeV
3
1
Motorola
Unsigned
1
0 -> Invalid
radar_output_type
26
2
Motorola
Unsigned
1
2 -> Send Targets
radar_enablePowerReductionV
2
1
Motorola
Unsigned
1
0 -> Invalid
radar_elevationV
1
1
Motorola
Unsigned
1
0 -> Invalid
radar_enablePowerReduction
24
1
Motorola
radar_elevation
23
8
Motorola
radar_sensor_idV
4
1
Motorola
radar_sensor_id
32
3
Motorola
0 -> False tpcl.: 160 (+- 10) 0 x 40 ( = 16) 0.25 possible > 160 Unsigned deg after calibration possible < 160 after calibration 0 -> False Unsigned 1 0 Unsigned 1
Signal
Unsigned
Default Factory Settings
0 -> Invalid 200 m
1
Table 3: Radar Configuration message - Default factory settings (0x200)
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7.
State Output
Message 0x201 contains signals which report the state of the sensor. After configuring a parameter, (except for the object/target selection) by sending message 0x200 to the ARS308-2C or ARS 308-21, the corresponding signal in message 0x201 can be checked in order to verify that the configuration change was accepted. The following list shows the correspondence between the configuration parameters and the signals in message 0x201 which can be used to verify that the configuration change has been accepted. 1. Radar range length -> currRangeLengthCal 2. Elevation of the sensor’s plate -> currElevationCal 3. Power reduction mode -> RadarPowerReduction 4. Sensor ID -> SensorID
Figure 4 shows the layout of the 0x201 message, while Table 4 shows the details of each signal.
Figure 4: Radar State message Structure (0x201) (Bits in white are unused)
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Signal NVMwriteStatus
NVMreadStatus
Start Len 20
19
1
2
Byte Order
Value Type
Res
Motorola
Unsigned
1
Motorola
Unsigned
1
1m
Value Range
0 -> failed
1 -> successful
0 -> pending
1 -> successful
2 -> failed
3 -> irrelevant/unused
currRangeLengthCal
39
8
Motorola
Unsigned
currElevationCal
31
8
Motorola
Unsigned
RadarPowerReduction
7
1
Motorola
Unsigned
1
CurrentRadarPower
1
1
Motorola
Unsigned
1
SupVolt_L
6
1
Motorola
Unsigned
1
RxInvalid
17
2
Motorola
Unsigned
1
SensDef
5
1
Motorola
Unsigned
1
SensTempErr
3
1
Motorola
Unsigned
1
SensorID
8
4
Motorola
Unsigned
1
# swMajorVersion
47
8
Motorola
Unsigned
1
0 -> 255
# swMinorVersion
55
8
Motorola
Unsigned
1
0 -> 255
# swBuildVersion
63
8
Motorola
Unsigned
1
0 -> 255
0.25 deg
50m, 51m, 52m … 199m, 200m 00, 0.250, 0.500 ……. 31.750, 320
0 -> disabled
1 -> enabled
0 -> radarLowPower
1 -> radarHighPower
0 -> False
1 -> True 0 -> noneMissing 1 -> speedMissing 2 -> yawRateMissing 3 -> speedAndYawRate Missing
0 -> False
1 -> True
0 -> False
1 -> True
0…7
0xF -> invalid
Table 4: Radar State message description (0x201)
# Valid only for the Company’s internal use
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The following is a detailed description of each of the signals in message 0x201: 1. NVMwriteStatus - Shows the state of storing a configuration parameter to nonvolatile memory. It can be equal to the following values a. failed – a problem occurred during the last attempt to write a parameter. b. successful – the last configuration parameter received was successfully written to non-volatile memory 2. NVMreadStatus - Shows the state of reading the configuration parameters from non-volatile memory at startup. It can be equal to the following values a. pending – configuration not read yet. b. successful – the configuration parameters were successfully read from nonvolatile memory c. failed – the configuration parameters were not read from non-volatile memory 3. currRangeLengthCal – The current value of the Radar range length configuration parameter 4. currElevationCal – The current value of the elevation angle of the reflector plate. 5. RadarPowerReduction - The current value of the Power reduction mode configuration parameter 6. CurrentRadarPower – The actual current radar power level (radarLowPower or radarHighPower) 7. SupVolt_L – True if the supply voltage of the ARS300 is too low. 8. RxInvalid – Shows the state of the speed and yaw rate CAN input signals. Can be one of the following states: a. noneMissing – Both the speed and yaw rate are being received. b. speedMissing – Only the yaw rate is being received c. yawRateMissing – Only the speed is being received d. speedAndYawRateMissing – Both the speed and yaw rate are not being received. 9. SensDef – Sensor defective if 1 10. SensTempErr – 1 indicates that the Sensor is switched off because the operating temperature is too high. 11. SensorID – Invalid sensor ID if 0xF otherwise 0 - 7 12. #swMajorVersion – Major version of the radar firmware 13. #swMinorVersion – Minor version of the radar firmware 14. #swBuildVersion – Build version of the radar firmware
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8.
Input Signals
Input messages 0x300 and 0x301 are accepted by the ARS308-2C ans ARS 308-21. The radar sensor will still function without these two messages. After a 500 ms timeout, the sensor will default to the following states: 1. Speed -> 0 m/s and standstill 2. Yaw rate -> 0 deg/s Each message has independent timeout monitoring. The timeout state is reflected in signal RxInvalid in message 0x201. The input signals are used to evaluate a vehicle course with is used to determine the movement of detected objects and their position relative to the vehicle course. 8.1.
Speed Information
Figure 5: Speed Information message structure (0x300) (Bytes 3-7 and Bits in white are unused)
Signal
Start Len
radarDeviceSpeed
4
radarDeviceSpeedDirection
13
17
2
Byte Order
Value Type
Motorola
Unsigned
Motorola
Res
Value Range
0.02m/s 0 m/s -> 163.8 m/s
Unsigned
1
0 -> Standstill
1-> Forward
2 -> Reverse
3 -> irrelevant / unused
Table 5: Speed Information message description (0x300)
1. Radar Device Speed - Shows the absolute magnitude of speed in the direction the Radar is moved while looking into positive straight ahead direction (see Figure 2)
a. Input unit: m/s b. Range: 0 m/s – 163.8 m/s = 0 kph – 589.68 kph
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2. Radar Device Speed Direction - Indicates the direction of the Radar while looking into positive straight ahead direction (see Figure 2)
a. Standstill – no movement in any direction b. Forward – Radar is moved into positive straight ahead direction c. Reverse – Radar is moved against positive forward direction = backwards d. No use – no matter if high or low 8.2.
Yaw Rate Information
Figure 6: Yaw Rate Information message structure (0x301) (Bytes 2-7 are unused)
Signal
Start
radarDeviceYaw Rate
Len
Byte Order
Value Type
Res 0.01 deg/s
7
16
Motorola
unsigned
(-) to Right
Offset
Value Range
-327.68
-327.68 deg/s …..
deg/s
…+327.66 deg/s
(+) to Left
Table 6: Yaw Rate Information message description (0x301)
1. Radar Device Yaw Rate – Rate of change of angular velocity a. Input unit: deg/s b. Range: - 327.66 deg/s to +327.68 deg/s
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9.
Data Output
The data about detected targets or objects are transmitted on CAN1. Targets are newly determined by the processing of the detected radar reflections every cycle. However, the objects are evaluated form by tracking the targets, so they inhibit a history about multiple cycles. 9.1.
Target List
The target list output consists of three messages: CAN1_Target_Status (0x600), CAN1_Target_1 (0x701) and CAN1_Target_2 (0x702). For each cycle the status message and 96 message pairs (CAN1_Target_1, CAN1_Target_2) for identified targets are sent. The first 32 targets are from near range, the following 64 targets are from far range.
Figure 7: CAN1_Target_Status message structure (0x600) (Bytes 3-7 are unused)
Signal
Start
Len
Byte Order
Value Type
Res
Offset
NoOfTargetsNear
0
8
Motorola
unsigned
1
0
NoOfTargetsFar
8
8
Motorola
unsigned
1
0
# TCIV
16
8
Motorola
unsigned
0.1
0
Value Range 0 -> 255 tpcl.: 1->32 0 -> 255 tpcl.: 1->64 0 -> 25.5
Table 7 CAN1_Target_Status message description (0x600)
# Valid only for the Company’s internal use
The following is a detailed description of each of the signals in message 0x600: 1. NoOfTargetsNear – Number of detected targets in the near range 2. NoOfTargetsFar – Number of detected targets in the far range 3. #TCIV – Target list Can Interface Version
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Figure 8: CAN1_Target_1 message structure (0x701) (Byte 7 and the Bit in white are unused)
Start
Len
Byte Order
Value Type
Res
Offset
NoOfTarget_1
0
8
Motorola
Unsigned
1
0
Tar_Dist_rms
8
8
Motorola
Unsigned
0.1 m
-10 m
Tar_Ang_rms
17
7
Motorola
Unsigned
0.1 deg
00
Tar_Vrel_rms
24
9
Motorola
Unsigned
0.03 m/s
-5 m/s
Tar_Vrel
44
12
Motorola
Unsigned
0.03 m/s
-25 m/s
Tar_Dist
48
11
Motorola
Unsigned
0.1 m
0m
Signal
Value Range 0 -> 255 tpcl.: 1 -> 96 -10 m -> +15.5 m 00 -> 12.70 - 5 m/s -> + 10.33 m/s -25 m/s -> + 97.85 m/s 0 m -> 204.7 m
Table 8: CAN1_Target_1 message description (0x701)
The following is a detailed description of each of the signals in message 0x701: 1. NoOfTarget_1 – Target number 2. Tar_Dist_rms – Target range standard deviation 3. Tar_Ang_rms – Target angle standard deviation 4. Tar_Vrel_rms – Target relative velocity standard deviation 5. Tar_Vrel – Target relative velocity 6. Tar_Dist – Target range Continental Engineering Services GmbH August 3, 2012 page 16
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Figure 9: CAN1_Target_2 message structure (0x702) (Bits in white are unused)
Signal
Start
Len
Byte Order
Value Type
Res
Offset
Value Range
NoOfTarget_2
0
8
Motorola
Unsigned
1
0
0 -> 255 tpcl.: 1 -> 96
Tar_PdH0
9
7
Motorola
Unsigned
1%
0%
0 % ->127 %
Tar_Length
16
9
Motorola
Unsigned
0.1 m
0m
0 m ->51.1 m
Tar_Width
32
9
Motorola
Unsigned
0.1 m
0m
0 m ->51.1 m
Tar_Ang_stat
44
2
Motorola
Unsigned
1
0
0 -> 3
Tar_Type
46
2
Motorola
Unsigned
1
0
0 -> 3
Tar_Ang
50
10
Motorola
Unsigned
0.1 deg
-300
Tar_RCSValue
56
10
Motorola
Unsigned
0.1 dBm²
-300 -> 72.30 - 50 dBm2 -> -50dBm² + 52.3 dBm2
Table 9: CAN1_Target_2 message description (0x702)
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The following is a detailed description of each of the signals in message 0x702: 1. NoOfTarget_2 – Target number (same as NoOfTarget_1 in 0x701) 2. Tar_PdH0 – Target false alarm probability 3. Tar_Length – Target length 4. Tar_Width – Target width 5. Tar_Ang_stat – Target angle status •
0 -> Expanded target
•
1 -> Point target
•
2 -> Digital
•
3 -> invalid
6. Tar_Type – Target type •
0 -> No target
•
1 -> Oncoming
•
2 -> Stationary
•
3 -> Invalid data
7. Tar_Ang – Target angle 8. Tar_RCSValue – Radar cross section
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Standardized ARS Interface 9.2.
Object List
The object list output consists of four messages: CAN1_VersionID (0x700), CAN1_Obj_Status (0x60A), CAN1_Obj_1 (0x60B) and CAN1_Obj_2 (0x60C). For each cycle the status message and 40 message pairs (CAN1_Obj_1, CAN1_Obj_2) for identified objects are sent.
Figure 10: CAN1_Obj_Status message structure (0x60A) (Byte 7 is not used)
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Signal
Start
Len
Byte Order
Value Type
Res
Offset
NoOfObjects
0
8
Motorola
Unsigned
1
0
0 -> 255 tpcl.: 1 -> 40 0 -> 65535
MeasCounter
16
16
Motorola
Unsigned
1
0
Recount starts after 65535
24
1
Motorola
Unsigned
1
0
0->1
25
1
Motorola
Unsigned
1
0
0->1
26
1
Motorola
Unsigned
1
0
0->1
27
1
Motorola
Unsigned
1
0
0->1
28
1
Motorola
Unsigned
1
0
0->1
29
1
Motorola
Unsigned
1
0
0->1
(§) Sensor RxInvalid
30
1
Motorola
Unsigned
1
0
0->1
(§) Reserved
31
1
Motorola
Unsigned
1
0
0->1
(§)SensorOutput Reduced (§) Sensor External Disturbed (§) Sensor SwitchedOff (§) Sensor Misaligned (§) Sensor Defective (§)SensorSupply VoltageLow
Value Range
InterfaceVersion Number (§) NumOfLanes Right
32
4
Motorola
Unsigned
0
0
0 -> 16
36
2
Motorola
Unsigned
1
0
0->3
(§) NumOfLanes Left
38
2
Motorola
Unsigned
1
0
0->3
(§) LatDistTo Border Left
40
8
Motorola
Unsigned
0.1 m
0m
0 m ->25.4 m
(§) LatDistTo Border Right
48
8
Motorola
Unsigned
0.1 m
0m
0 m ->25.4 m
Table 10: CAN1_Obj_Status message description (0x60A)
(§) Signal is exclusive ONLY for the automotive applications and NOT for industrial functions.
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The following is a detailed description of each of the signals in message 0x60A: 1. NoOfObjects – Number of Objects 2. MeasCounter – Counts the number of measurements made 3. (§) SensorOutputReduced – Value 1 indicates output of sensor is reduced 4. (§) SensorExternalDisturbed - Value 1 indicates Sensor has external disturbance 5. (§) SensorSwitchedOff - Value 1 indicates Sensor is switched off due to High Temperature 6. (§) Sensor Misaligned - Value 1 indicates Sensor is misaligned 7. (§) SensorDefective - Value 1 indicates Sensor is defective 8. (§) SensorSupplyVoltageLow - Value 1 indicates Low Voltage 9. (§) SensorRxInvalid – Value 1 indicates data received is invalid 10. InterfaceVersionNumber – Unique number that identifies the version of the CAN interface 11. (§) Reserved – this bit is reserved for automotive applications 12. (§) NumOfLanesRight – Position of Object expressed as Number of adjacent lanes to the Right 13. (§) NumOfLanesLeft – Position of Object expressed as Number of adjacent lanes to the Left
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Figure 11: CAN1_Obj_1 message structure (0x60B)
Signal
Start
Len
Byte Order
Value Type
Res
Offset
Value Range
Obj_RolCount
0
2
Motorola
Unsigned
1
0
Obj_ID
2
6
Motorola
Unsigned
1
0
Obj_LongDispl
21
11
Motorola
Unsigned
0.1 m
0m
Obj_VrelLong
25
12
Motorola
Unsigned
0.0625 m/s
-128 m/s
0 m -> 204 m - 128 m/s -> + 127.9375 m/s
Obj_AccelLong
32
9
Motorola
Unsigned
0.0625 m/s²
-16 m/s²
-16 m/s² -> + 15,9375 m/s²
Obj_ProbOfExist
48
3
Motorola
Unsigned
1
0
Obj_DynProp
51
3
Motorola
Unsigned
1
0
0 -> 7 0 -> 7 (only 0->4 used)
Obj_LatDispl
54
10
Motorola
Unsigned
0.1 m
-52 m
-51.9 m -> 52 m
Obj_Length
56
3
Motorola
Unsigned
1
0
0 -> 7
Obj_Width
59
3
Motorola
Unsigned
1
0
0 -> 7
Obj_MeasStat
62
2
Motorola
Unsigned
1
0
0 -> 3
0 -> 3 0 -> 63 tpcl.: 1 -> 40
Table 11: CAN1_Obj_1 message description (0x60B)
Continental Engineering Services GmbH August 3, 2012 page 22
This document is related to ARS308 software v2
Standardized ARS Interface
The following is a detailed description of each of the signals in message 0x60B: 1. Obj_RolCount – Rolling counter 2. Obj_ID – Object ID 3. Obj_LongDispl – Longitudinal displacement 4. Obj_VrelLong – Relative longitudinal speed 5. Obj_AccelLong – Relative longitudinal acceleration 6. Obj_ProbOfExist –Probability of existence calculated for an Object •
0: invalid
•
1: < 25 %
•
2: < 50 %
•
3: < 75 %
•
4: < 90 %
•
5: < 99 %
•
6: < 99.9 %
•
7: < 99.99%
7. Obj_DynProp – Dynamic property: •
0: unclassified
•
1: standing
•
2: stopped (has never been moving before)
•
3: moving
•
4: oncoming
8. Obj_LatDispl – Lateral displacement 9. Obj_Length – Object length •
0: unknown
•
1: < 0.5 m
•
2: < 2 m
•
3: < 4 m
•
4: < 6 m
•
5: < 10 m
•
6: < 20 m
•
7: exceeds
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This document is related to ARS308 software v2
Standardized ARS Interface
10. Obj_Width – Object width •
0: unknown
•
1: < 0.5 m (pedestrian)
•
2: < 1 m (bike)
•
3: < 2 m (car)
•
4: < 3 m (truck)
•
5: < 4 m
•
6: < 6 m
•
7: exceeds
11. Obj_MeasStat – Object measurement status •
0: no object
•
1: new object
•
2: object not measured
•
3: object measured
Continental Engineering Services GmbH August 3, 2012 page 24
This document is related to ARS308 software v2
Standardized ARS Interface
Figure 12: CAN1_Obj_2 message structure (0x60C) (Bytes 3-7 and the Bit 23 in white are unused)
Signal
Start
Len
Byte Order
Value Type
Res
Offset
Value Range
Obj_RCSValue
0
8
Motorola
Unsigned
0.5 dBm²
-64 dBm²
Obj_LatSpeed
8
8
Motorola
Unsigned
0.25 m/s
-32 m/s
- 64 dBm² -> + 63.5 dBm² - 32 m/s -> + 31.75 m/s
Obj_Obstacle Probability
16
7
Motorola
Unsigned
1%
0%
0 % ->100 %
Table 12: CAN1_Obj_2 message description (0x60C)
The following is a detailed description of each of the signals in message 0x60C: 1. Obj_RCSValue – Radar cross section (RCS) is the measure of the reflective strength of a target or in other words it is the measure of power scattered in a given spatial direction when a target is illuminated by an incident wave. 2. Obj_LatSpeed – Object lateral velocity •
negative value: object moves left to right
•
positive value: object moves right to left
3. Obj_ObstacleProbability – Probability that the Object is an Obstacle
Continental Engineering Services GmbH August 3, 2012 page 25
This document is related to ARS308 software v2
Standardized ARS Interface
Figure 13: CAN1_VersionID message structure (0x700) (Bytes 3-7 are unused)
Signal
Start
Len
Byte Order
Value Type
Res
Offset
Value Range
#MajorRelease Number
0
8
Motorola
Unsigned
1
0
0 -> 256
#MinorRelease Number
8
8
Motorola
Unsigned
1
0
0 -> 256
#PatchLevel
16
8
Motorola
Unsigned
1
0
0 -> 256
Table 13: CAN1_VersionID message description (0x700)
The following is a detailed description of each of the signals in message 0x700: Each of the following three numbers is Binary Coded Numbers of the MCU 1. #MajorReleaseNumber – Major release number 2. #MinorReleaseNumber – Minor release number 3. #PatchLevel – Patch level # Valid only for the Company’s internal use
Continental Engineering Services GmbH August 3, 2012 page 26
This document is related to ARS308 software v2
Standardized ARS Interface
10.
Collision Detection
For some sensor variants (ARS 308-2C (SS/HS NO/AO) a collision detection functionality is available. The CAN additional messages are described in the following sections. 10.1. Warning Configuration Input This message is used for configuration of the collision detection warning function.
Figure 14: CollDetWarnConfig message structure (0x400) (Bit 4-7 and Byte 3-7 are not used)
Signal
Start
Len Byte Order
Value Type
Res
Offset
Value Range 0 -> Idle
WarningReset
0
CollisionDetectionActivation 1
1
1
Motorola
Motorola
Unsigned
Unsigned
1
1
0
0
1 -> Reset warning 0 -> deactivated 1 -> activated 0 -> Idle
ObjWidthSetFlag
2
1
Motorola
Unsigned
1
0
1 -> Change object width 0 -> Idle
ObjDetectionTimeSetFlag
3
Continental Engineering Services GmbH August 3, 2012 page 27
1
Motorola
Unsigned
1
0
1 -> Change time
This document is related to ARS308 software v2
Standardized ARS Interface
CfgObjMinWidth
8
8
Motorola
Unsigned
0.1
0
0 -> 25.5 m
CfgObjMinDetectionTime
16
8
Motorola
Unsigned
0.1
0
0 -> 25.5 s
Table 14: CollDetWarnConfig message description (0x400)
The following is a detailed description of each of the signals in message 0x400: 1. WarningReset – Reset currently active warnings 2. CollisionDetectionActivation – De-/activate collision detection function 3. ObjWidthSetFlag – Allow change of object width parameter 4. ObjDetectionTimeSetFlag – Allow change of time parameter 5. CfgObjMinWidth – Minimum width of detected objects to trigger warning 6. CfgObjMinDetectionTime – Minimum time an object needs to be detected before a warning is triggered 10.2. Region configuration Input This message is used to configure the regions which are monitored.
Figure 15: CollDetRegionConfig message structure (0x401) (Bits in white are unused)
Continental Engineering Services GmbH August 3, 2012 page 28
This document is related to ARS308 software v2
Standardized ARS Interface Signal
Start
Len Byte Order
Value Type
Res
Offset
Value Range 0 -> Idle
ClearRegions
0
RegionActivation
1
1
1
Motorola
Motorola
Unsigned
Unsigned
1
1
0
1 -> Clear all regions 0 -> deactived
0
1 -> activated 0 -> Idle CoordinatesSetFlag
2
1
Motorola
Unsigned
1
0
CfgRegionID
8
3
Motorola
Unsigned
1
0
0 … 7 -> Region ID
CfgRegionPoint1X
30
10
Motorola
Unsigned
0.2
0
0 … 200 m
CfgRegionPoint1Y
32
9
Motorola
Unsigned
0.1
-50 m
- 50 … 50 m
CfgRegionPoint2X
54
10
Motorola
Unsigned
0.2
0
0 … 200 m
CfgRegionPoint2Y
56
9
Motorola
Unsigned
0.1
-50 m
- 50 … 50 m
1 -> Change coordinates
Table 15: CollDetRegionConfig message description (0x401)
The following is a detailed description of each of the signals in message 0x401: 1. ClearRegions – Clear all region settinsg 2. RegionActivation – De-/activate current region 3. CoordinatesSetFlag – Allow change of current regions coordinates 4. CfgRegionID – ID of current region to configure 5. CfgRegionPoint1X – 1st X coordinate of region 6. CfgRegionPoint1Y – 1st Y coordinate of region 7. CfgRegionPoint2X – 2nd X coordinate of region 8. CfgRegionPoint2Y – 2nd Y coordinate of region 10.3. State Output This message shows the state of the collision detection function. The warning parameters as well as the region configuration are shown multiplexed by the signal StateMsgType.
Continental Engineering Services GmbH August 3, 2012 page 29
This document is related to ARS308 software v2
Standardized ARS Interface
Figure 16: CollDetState message structure (0x408) (StateMsgType == Warn info) (Bits in white are unused)
Figure 17: CollDetState message structure (0x408) (StateMsgType == Region info) (Bits in white are unused)
Continental Engineering Services GmbH August 3, 2012 page 30
This document is related to ARS308 software v2
Standardized ARS Interface
Signal
Start
Len Byte Order
Value Type
Res
Offset
Value Range
StateMsgCounter
0
4
Unsigned
1
0
0 … 15
Motorola
0 -> Warn info
StateMsgType
4
2
Motorola
Unsigned
1
0
ObjMinWidth (Warn info)
8
8
Motorola
Unsigned
0.1
0
0 … 25.5 m
ObjMinDetectionTime (Warn info)
16
8
Motorola
Unsigned
0.1
0
0 … 25.5 s
RegionIDState (Region info)
8
3
Motorola
Unsigned
1
0
0…7
NumberOfRegions (Region info)
12
3
Motorola
Unsigned
1
0
0…7
RegionPoint1X (Region info) 30
10
Motorola
Unsigned
0.1
0
0 … 200 m
RegionPoint1Y (Region info) 32
9
Motorola
Unsigned
0.1
-50 m
- 50 … 50 m
RegionPoint2X (Region info) 54
10
Motorola
Unsigned
0.2
0
0 … 200 m
RegionPoint2Y (Region info) 56
9
Motorola
Unsigned
0.1
-50 m
- 50 … 50 m
1 -> Region info
Table 16: CollDetState message description (0x408)
The following is a detailed description of each of the signals in message 0x408: 1. StateMsgCounter – Message cycle counter 2. StateMsgType – Multiplexor for message type 3. ObjMinWidth – Value of configured minimum object width 4. ObjMinDetectionTime – Value of configured minimum object detection time 5. RegionIDState – Region ID 6. NumberOfRegions – Number of regions 7. RegionPoint1X – 1st X coordinate of region 8. RegionPoint1Y – 1st Y coordinate of region 9. RegionPoint2X – 2nd X coordinate of region 10. RegionPoint2Y – 2nd Y coordinate of region
Continental Engineering Services GmbH August 3, 2012 page 31
This document is related to ARS308 software v2
Standardized ARS Interface 10.4. Warning Output This message shows warning information. A message is transmitted for each region and object which triggers a warning.
Figure 18: CollDetWarn message structure (0x409)
Signal
Start
Len Byte Order
WarnMsgCounter
0
5
RegionID
5
3
Value Type
Res
Offset Value Range
Motorola Unsigned
1
0
0 … 31
Motorola Unsigned
1
0
0…7 0 -> No warning
WarningLevel
8
2
Motorola Unsigned
1
1 -> Object warning
0
2 -> Reserved 3 -> Warning deactivated
ObjectID
10
6
Motorola Unsigned
1
0
0 … 63
ObjLatPos
30
10
Motorola Unsigned
0.1
-52 m
-51.9 … 52 m
ObjLongSpd
34
12
Motorola Unsigned
0.0625
-128 m/s
-127.9375 … 128 m/s
Continental Engineering Services GmbH August 3, 2012 page 32
This document is related to ARS308 software v2
Standardized ARS Interface
ObjLatSpd
42
8
Motorola Unsigned
0.25
-32 m/s
-32 … 31.75 m/s
ObjWidth
56
7
Motorola Unsigned
0.1
0
0 … 12.7 m
ObjLongPos
63
11
Motorola Unsigned
0.1
0
0 … 204 m
Table 17: CollDetWarn message description (0x409)
The following is a detailed description of each of the signals in message 0x409: 1. WarnMsgCounter – Message cycle counter 2. RegionID – Region ID for current warning 3. WarningLevel – Warning level 4. ObjectID – Object ID for current warning 5. ObjLatPos – Lateral position of object 6. ObjLongSpd – Longitudinal speed of object 7. ObjLatSpd – Lateral speed of object 8. ObjWidth – Object width 9. ObjLongPos – Longitudinal position of object
Continental Engineering Services GmbH August 3, 2012 page 33
This document is related to ARS308 software v2
