Programming Manual Mobile 3D Smart Sensor
O3M151
Object Detection
7063
81 /
01
04 /
2016
UK
O3M151 3D Smart Sensor Object Detection
2
Contents1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
1�1 Symbols used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�3 Other applicable documents� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
2 Smart Sensor � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�2 Measuring principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �52�3 Operating check � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �62�4 Installation position � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6
3 Object Detection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�2 Possible applications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �8
4 Commissioning � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
5 Application examples � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1 Area monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �10
5�1�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �125�1�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �135�1�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2 Reflector tracking of marked driverless vehicles � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �155�2�5 Operating properties and performance� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �15
5�3 Collision avoidance for mobile working machines � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�2 Zone-based collision warning� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�3 Intelligent collision prediction � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �175�3�4 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �205�3�5 Parameterisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �225�3�6 Operational extension by the ifm controller � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �23
6 Parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �25
7 Interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �307�1 CANopen � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �307�2 SAE J1939 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �46
7�2�1 Outputs� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �467�2�2 Inputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �577�2�3 Value tables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �58
8 Appendix: Performance tables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �618�1 Field of view size � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �618�2 Performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �61
This document is the original manual�
Licences and Registered TrademarksMicrosoft®, Windows®, Windows XP®, Windows Vista® and Windows 7® are registered trademarks of the Microsoft Corporation� All trademarks and company names are subject to the copyright of the respective companies�
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O3M151 3D Smart Sensor Object Detection
UK
1 About these instructionsThese instructions explain the 3D O3M151 Smart Sensor's function Object Detection�
For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and the ifm Vision Assistant Programming Manual (→ "1�3 Other applicable documents")
1.1 Symbols used
► Instruction> Reaction, result→ Cross-reference
Important note Failure to observe can result in malfunctions or faults�Information Additional note
1.2 Safety instructionsRead the Operating instructions before putting the device into operation� Make sure that the device is suitable for the applications concerned without restriction�
Disregarding operating instructions or technical information can result in injuries and/or damage�
1.3 Other applicable documents
Document Description Item No.
Device manual Operating Instructions of O3M15x Sensors 706383
Programming ManualOperation instruction of the PC operating program ifm Vision Assistant for carrying out a program update and changing parameters
706384
Quick Guide Quick guide on operating the O3M15x sensor 80222723
The software and documents are available on the ifm homepage in the Download area (→ www.ifm.com → my ifm → Download).
O3M151 3D Smart Sensor Object Detection
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2 Smart Sensor2.1 Functions
The O3M151 Smart Sensor is an optical system which measures the distance between the sensor and the next surface� An additional illumination unit illuminates the scene and the sensor process the light reflected by the surface�
The Smart Sensor is optimised and matched to requirements and needs of mobile machines� It is intend-ed for use in outdoors and for difficult ambient light situations�
The principle is based on PMD technology for outputting 3D image data� In addition to new options for vehicle automation (AGV, automated guided vehicle), it also provides new assistance functions for auto-mation tasks�
Communication is possible via Ethernet or CAN� System parametrisation and monitoring of the 3D data are carried out via the ifm Vision Assistan (→ Ifm Vision Assistant Programming Manual)
The pre-processed functional data are output via the CAN bus, with via CANopen or SAE J 1939 (→ "7 Interface")
The Basic Function with functions such as measurement of minimum, maximum and average distance are available for simple distance tasks�
The Object Detection function provides for automatic object detection of up to 20 objects� This function can, for example, be used as a collision warning�
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O3M151 3D Smart Sensor Object Detection
UK
2.2 Measuring principleThe device measures according to the light runtime method based on a phase measurement with modu-lated light�
Based on this principle, the following points must be taken into account during the measurements:
● Clean sensor window
– Cleanliness is a basis for the reliable operation of optical sensors� Dirt or liquids reduce the light transmission and cause light scatter� This effect can affect the resolution and the measuring range of the sensor system�
– Water droplets on the sensor glass can lead to unclear detection of the scene� The objects are de-tected as larger than they are in reality�
► Installation in areas of the system which become heavily soiled must be avoided�
► Keep sensor window clean�
● Illumination/Range
– The measurement of objects is carried out based on the active illumination by the additional illumi-nation unit� The emitted infrared light makes the sensor virtually independent of the ambient lighting conditions� In case of bright sunlight, restrictions in the system range can result due to increased signal noise�
– The measurement range is dependent on the reflectivity of the object to be detected�
– Due to the optical measuring principle the system performance can be considerably increased by using reflective materials (Factor 3)�
● Clear in immediate vicinity
– Objects in the immediate vicinity (1 m distance) can falsify the measured values of the sensor�
– The wall on which the sensor is mounted should not be within the sensor area�
► Keep the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached parts clear�
sensorO3M15x
illuminationunit
O3M950sensor
O3M15xillumination
unit
O3M950
O3M151 3D Smart Sensor Object Detection
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2.3 Operating checkWith an optical system, detection faults can occur in case of poor visibility (e�g� in heavy fog, heavy dust, very heavy snowfall)� The O3M151 Smart Sensor is equipped with sensory fault detection and generates a message when faults occur�
● the "Blockage Detection" function actively detects relevant soiling, condensation on or icing-up of the sensor; (This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to activate this function later in a firmware update�)
● The "Diffuse Scene" function actively detects diffuse faults, such as dense fog or clouds of dust in the sensor area�
For the internal diagnosis of the hardware, refer to the Operating Instructions�
● Application-specific solutions can result simply and especially conveniently with a controller (e�g� CR040X) or display (e�g CR108X) based on the functional output� There are special CODESYS libraries for receiving and interpreting the CAN signals of the O3M151 Smart Sensor� In addition, various application examples on a CODESYS basis are also available (→ www.ifm.com → my ifm → Download).
2.4 Installation positionDepending on the application, the following aids are available for positioning the O3M151 Smart Sensor:
● Calculation tool for calculating the detection range
● ifm Vision Assistant operating software
● Technical data with performance and values of detection range (→ Data sheet)
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O3M151 3D Smart Sensor Object Detection
UK
3 Object Detection3.1 Functions
Object detection
Reflector tracking
Collision warning, based on object positions
Collision prediction, based on the positions and movements of the vehicle itself and of objects
Do not attach sensor at a height of under 50 cm�
Object detection3D data are used via a CAN interface for object detection�
Up to 20 independent objects are detected and tracked from the measured distance values� A broad range of information is available for each object:
● Position and orientation in the space (x, y, z)
● Size of the object
● Relative speed of the object
● Qualitative evaluation (quality) of this information
Reflector detectionReflectors can be used for marking and individual tracking of interesting objects� These are detected separately and with a greater range� Depending on the reflectivity, it is possible, for example, to use warn-ing vests as reflectors�
Collision warning/Collision predictionThe O3M151 Smart Sensor simultaneously monitors the distance of the vehicle from all objects within the monitoring area� As soon as an object is within the static monitoring area in front of the vehicle, the O3M151 Smart Sensor triggers a signal which warns the vehicle driver of an impending collision�
Collision prediction differs from collision warning by taking into account the speed and direction of move-ment of the vehicle and the objects� By evaluating the movements of objects relative to those of the ve-hicle (relative movements) the O3M151 Smart Sensor can predict potential collisions with great accuracy�
These functions are available from software version OD 3�4�13�
O3M151 3D Smart Sensor Object Detection
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3.2 Possible applications ● Area monitoring with static attachment and with attachment to a vehicle (from several user-definable
areas simultaneously)
● Marking, identification and specific tracking of reflected objects
● Vehicle automation (AGV: automated guided vehicle)
● Collision prediction
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O3M151 3D Smart Sensor Object Detection
UK
4 Commissioning
The O3M151 Smart Sensor can be operated with various functions�
For information on flashing the firmware, refer to the ifm Vision Assistant Programming Manual�
► Make sure that the correct firmware is loaded on the sensor�
► Carry out commissioning with the menu-guided ifm Vision Assistant Programming Manual�
For additional instructions on the sensor update with the ifm Vision Assistant refer to the ifm Vision Assis-tant Programming Manual�
O3M151 3D Smart Sensor Object Detection
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5 Application examples5.1 Area monitoring
5.1.1 IntroductionWith static attachment and with attachment on a vehicle, the Object Detection function enables area monitoring of several user-defined areas simultaneously�
Functions:
● Monitoring of an area in front of a door or access point
● Control and/or signalling of opening via the controller based on the CAN sensor signals�
● Attachment to a vehicle and monitoring of areas in the driving path
● Selective distinction between normal and reflective objects
● Evaluation of the presence of the object in the sensor's field of vision
● Filtering of the objects by size and speed
● Monitoring of access to tunnel boring machines or to other accessible machines
When using an ifm controller or display, the included CODESYS module can be used to receive and inter-pret the CAN signals� CODESYS program examples of various applications are available in the Download area (→ www.ifm.com → my ifm → Download).
5.1.2 Attachment optionsStatic attachment
The Smart Sensor can be attached opposite or above the area to be monitored�
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O3M151 3D Smart Sensor Object Detection
UK
A
B
z
x
Attachment position of sensor for access monitoring, side view
A: Attachment from aboveB: Frontal attachment
● Pos� A: Attachment a height of over 2 m
> Advantage: The sensor is in an overview position and the visible area is limited by the angle�
● Pos� B: Height between 50 cm and 1�50 m
> Advantage: The visible area is only limited by the system range�
> Disadvantage: The visible area can be blocked by a person�
O3M151 3D Smart Sensor Object Detection
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Attachment on vehicleAutomatic object tracking is also suitable for somewhat difficult and/or rough terrain� It recognises the next 20 objects (adjustable) next to the vehicle and passes on information such as the distance, size and posi-tion of each object to the machine controller�
The Object Detection function enables area monitoring by attaching the Smart Sensor to a vehicle�
► Mount the Smart Sensor tilted downward on the vehicle�
► Set the mounting position values in the ifm Vision Assistant operating software�
5.1.3 ParametrisationThere is a separate template/wizard for area monitoring (→ ifm Vision Assistant Programming Manual)
Object detection range (height)A minimal and a maximal object detection height can be defined�
● The minimal height provides for a clear separation between the floor and the objects�
● The maximal height limits the object recognition in the height (height-adjustable objects)�
> The minimal height (Zmin) should be set to 0,5 m and the maximal height (Zmax) should correspond to the vehicle height plus a tolerance (~20 cm)�
Frame rate ► Set the frame rate to 33 Hz�
Object detection type ► Set the Object Detection parameter to "Standard Mode"� (Parameter ObjectListCust_objectDetection-Variant=0) If a distinction is to be made between normal objects and objects with retro reflectors, the parameter ObjectListCust_objectDetectionVariant=1 can be set�
► Set noise suppression filter to "Level 2"�
If the load on the CAN bus is too great, it can be reduced with the setting CAN output cycle Modulo (→ Operating instructions).
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5.1.4 Relevant outputThe CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used�
The objects are filtered via the object position for area monitoring� Objects which are located within a criti-cal area result in a reaction, e�g� a warning signal or stopping of the vehicle�
The vehicle's own data are expected on the CAN bus� If parameter egodatamode=2, the data are not expected (→ "7 Interface")�
5.1.5 Operating property/performance ● The detection performance is dependent on the distance, size and reflectivity of an object�
● For attachment from above: The minimum detectable object height is dependent on the system parametrisation� Under the poorest conditions, this is 50 cm�
● For frontal attachment: The minimum range for the detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�
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5.2 Reflector tracking of marked driverless vehicles
5.2.1 IntroductionThe Object Detection function enables marking and identification of objects with reflectors and their specific tracking�
Driverless transport systems (DTS) in harbour logistics can automatically detect and track other DTSs us-ing the sensor� The distance between the DTSs can be defined depending on the speed difference�
In addition, it is possible to define areas in front of the vehicle and to monitor them for any desired objects�
5.2.2 Attachment options ► Attach Smart Sensor horizontally on vehicle at a height between 50 cm and 1�50 m�
► Mark vehicles with reflectors�
► Mounting position values in the ifm Vision Assistant operating software�
5.2.3 Parametrisation
If the load on the CAN bus is too great, it can be reduced with the setting CAN output cycle Modulo (→ Operating instructions).
Frame rate ► Set the frame rate to 33 Hz�
Object detection type ► Set parameter (ObjectListCust_objectDetectionVariant=1) to "Reflector Detection"�
► Set noise suppression filter to "Level 2"�
► Recommended number of objects which are transmitted via CAN: 12
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5.2.4 Relevant outputThe CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller�
The objects are filtered via the area position for area monitoring� Objects which are located within a criti-cal area result in a reaction, e�g� a warning signal or stopping of the vehicle�
The vehicle's own data are expected on the CAN bus� If parameter egodatamode=2, the data are not expected (→"7 Interface")�
5.2.5 Operating properties and performance ● The detection performance is dependent on the distance, size and reflectivity of an object�
> Detection performance with reflectors: min� 1 m / max� 60 m
● The minimum range under typical conditions for the detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�
> The relevant speed for this application is typically in the range of ±2 km/h
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5.3 Collision avoidance for mobile working machines
5.3.1 IntroductionMobile working machines often must operate in an environment where they are surrounded by different sorts of objects, which therefore pose a risk of collision� Injuries to personnel and damage to property can be avoided by use of the Object Detection function within the “Collision avoidance" application�
There are 2 collision avoidance strategies available, depending on the availability of vehicle movement data for the mobile working machine:
● Zone -based collision warning (→ "5�3�2 Zone-based collision warning")
● Intelligent collision prediction, based on information on the movement of the vehicle itself (→ "5�3�2 Zone-based collision warning")
5.3.2 Zone-based collision warningBy parameterising the vehicle dimensions and the distance of the potential hazard from it, the Smart Sen-sor defines a virtual static monitoring area in the direction of movement in front of the vehicle� The Smart Sensor detects the objects within the monitoring area, determines their position and size, and ranks them according to their distance from the vehicle� As soon as an object enters the monitoring area, i�e� it is criti-cally close to the vehicle, the Smart Sensor triggers a warning signal�
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5.3.3 Intelligent collision predictionIf the Smart Sensor is supplied cyclically with the vehicle movement data (speed and direction of move-ment, i�e� yaw rate/steering angle) and the vehicle dimensions are parameterised, it can calculate the projected relative positions of the vehicle and the objects� Based on these data the Smart Sensor evalu-ates the risk of potential collision and sends out graded warning signals depending on each scenario�
Compared to a zone-based collision warning this procedure has the following advantages:
● As long as there is no risk of collision, objects in front of the vehicle and close to it do not trigger a warning signal� This applies for instance in the following cases:
– If the vehicle is stationary�
– If the vehicle is moving very slowly�
– If the vehicle is following a curved path which will take it past an obstacle�
This procedure is particularly appropriate when there are many objects around the vehicle�
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● In contrast to the case described above, objects which are more distant from the vehicle but which are on a collision course because of their high relative speed (i�e� the vector difference between the vehicle speed and the object speed is large), do trigger an early warning signal� In this case the time before a potential collision ("time to contact") may be relatively short� Since the warning signal is trig-gered in good time, the driver is able to take evasive action to avoid a collision�
● Where an object close to the vehicle is moving at a speed similar to that of the vehicle (driving in convoy), because of the very low relative speed there is no threat of a collision, and no warning signal is triggered� If the leading driver brakes, the relative speed increases and the Smart Sensor triggers a warning signal�
● If the vehicle is following a curved path, objects in front of the vehicle trigger a warning signal only if they are projected to become critically close based on the vehicle maintaining its current steering angle� An object which for instance is at a minimum distance from the vehicle (i�e� tangentially to the current position on the curve) does not trigger a warning signal�
● Objects (pedestrians or vehicles) moving laterally into the projected path of the vehicle do trigger a warning signal� In contrast, objects which are moving laterally quickly enough out of the path of the vehicle, do not trigger a warning signal�
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● Where there is a risk of collision the Smart Sensor gives additional information regarding the indication of a critical situation� This information consists of the estimated time until the collision and the estimat-ed speed of impact (severity of the collision)� The calculation takes into account amongst other things the customer’s parameterisable reaction time (latency) until the brake force is applied and also an average braking deceleration rate� Based on the additional information the response within the vehicle can be graduated according to criticality and im-minence of the potential collision, as for instance: 1� Visual warning to the driver� 2� Acoustic warning to the driver� 3� Automatic application of the brakes�
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5.3.4 Attachment options ● Long-range monitoring (for operation at high speeds):
– Angle of view (inclination) almost straight ahead (inclined downwards between 0° and 10°)
– Installation height between 0�8 m and 1�6 m
● Close-range monitoring (for operation at high speeds):
– Angle of view (inclination) inclined downwards (inclined downwards between 20° and 60°)
– Installation height between 1�6 m and the top of the vehicle
A: Small inclination angle for monito-ring distant objects: For vehicles running at high speed
B: Large inclination angle for monito-ring near objects: For vehicles running at low speed
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► For extension of the monitoring area, use multiple Smart Sensors�
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5.3.5 ParameterisationThe setting of the general parameters is described in "5�1�3 Parametrisation"�
A collision avoidance set-up wizard ifm vision wizard is available (→ the instruction manual for the ifm vision wizard)�
The following parameters are relevant to the "collision avoidance" application�
Zone-based collision warning
Parameter Description
Size of the warn-ing zone
Zone X start [m] Position and length of the warning zone along the direction of movement in spatial coordinates�Zone X end [m]
Zone Ymin right side [m] Position and width of the warning zone transversely to the direction of move-ment in spatial coordinates�Zone Ymax left side [m]
Sensitivity of collision avoidanceSets the general sensitivity of the function� The higher the sensitivity the earlier an object at the edge of the range or an object of lower quality leads to trigger-ing of a warning�
Inactive time after triggering
Time-based hysteresis for 2 successive triggerings: Depending on the strength of the braking deceleration, several successive individual triggerings may occur during the course of an overall braking proce-dure� These are part of the overall triggering process�
Intelligent collision prediction
Parameter Description
Vehicle size
Xmin vehicle rear [m]
Position and size of the vehicle in spatial coordinates�
Xmax vehicle front [m]
Ymin right side [m]
Ymax left side [m]
Zmax vehicle height [m]
Movement information
Availability of vehicle movement data: ● Vehicle speed and yaw rate/steering angle available ● Only vehicle speed available ● No vehicle movement data available
Speed range
Lower limit [m/s] Valid speed range within which collision avoidance is active� The leading sign determines the direction of movement (0 is included within both the positive and negative ranges):
● Lower limit +, upper limit +: forwards ● Lower limit -, upper limit -: reverse
Upper limit [m/s]
Vehicle dynamics
Degree of dynamics with which the vehicle is capable of moving: ● high: High dynamics, e�g� car ● medium: Medium dynamics, e�g� HGV ● low: Low dynamics, e�g� railway vehicles
Medium braking deceleration [m/s2]
Medium braking deceleration for calculation of the time of collision�A high braking deceleration means the vehicle comes to a stand more quickly after the brake is actuated� Therefore the sensor sends out the collision message later�
Anticipated reaction time [s]
Pre-defined delay between triggering the warning and the braking reaction� ● Example when the O3M is used as a Driver Assistant System: The delay is the driver’s typical reaction time from triggering the warning signal to pressing the brake pedal�
● Example when the O3M is used as an automatic controller: The delay is the latency time from triggering the warning signal to the applica-tion of the brake force�
Minimum distanceHazard distance from the vehicle in the direction of movement� Irrespective of the collision prediction, the Smart Sensor triggers a warning signal as soon as an object encroaches within the hazard distance�
Maximum operating range Maximum distance that the sensor monitors, measured from the vehicle in the direction of movement�
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Parameter Description
Inactive time after triggering
Time-based hysteresis for 2 successive triggerings: Depending on the strength of the braking deceleration, several successive indi-vidual triggerings may occur during the course of an overall braking procedure� These are part of the overall triggering process�
5.3.6 Operational extension by the ifm controllerA pre-defined application for the O3M Smart Sensor is available with the CR0403 ifm CAN controller in com-bination with the CR0451 basic display� The reception and interpretation of the sensor signals, and also the I/O handling are implemented in the controller� The user can perform the parameterisation at the basic display, supported by a graphic interface�The ifm controller package contains the following functionalities:
● Up to 3 sensors can be connected to a CAN bus (reception, interpretation of the outputs and monitor-ing the sensor availability and status)�
● The results are shown on the basic display in a clear format�
● A PWM output is available to activate an acoustic warning signal, which is modulated according to the criticality of the situation (→ see diagram below).
● The monitoring can be set to recognise 3 different steps of criticality (→ see diagram below):
– Zone-based collision warning: Division of the monitoring area into 3 monitoring areas
– Intelligent collision prediction: Division into 3 time zones up to the anticipated collision
Warning signals and risk of collision reactions can be configured individually for the individual monitor-ing areas or time zones�
● The position and the size of the monitoring areas, together with the warning signals and collision reac-tions can be set and changed on site at the basic display without any other tools�
Various application examples for the ifm controller package are available on a CODESYS basis� These can be downloaded from www.ifm.com → Service → Download → Industrial Image Editing (O3M15X - librar-ies)�
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6 ParametersThe parameters can be changed and adjusted in function of the use of the sensor�
For details on the settings and parameters of the device (→ ifm Vision Assistant Programming Manual)�
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CycleTime 40 uint8 1 20 40 ms Cycle time of the camera (20ms/30ms/40ms)
Application → Image Set-tings → Frame Rate (value as frequency instead of cycle time)
BeginHeatingTemperature 5 sint8 1 -128 127 °C Temperature at which the Heating is turned on (in °C)
Device Settings → Window Heating On Temperature
StopHeatingTemperature 8 sint8 1 -128 127 °C Temperature at which the Heating is turned off (in °C)
Is set by the system auto-matically as Begin Heating Temperature + 3 °C
CANBaudrate 250000 uint32 1 125000 1000000 bit per second
CAN Baudrate, one of 125kbs 250kbs 500kbs 1000kbs
CAN → Baudrate
MasterSlaveConfiguration 0 uint8 1 0 3 – Master Slave Ca-mera Configuration0 = Standalone camera1 = Master camera2 = Slave camera of group 23 = Slave camera of group 1
Device Settings → Syn-chronisation of multiple sensors
CANProtocol 0 uint8 1 0 1 – 0 = J19391 = CANopen
CAN → CAN Protocol
CANopenNodeAddress 10 uint8 1 1 127 – CANopen Node value
CAN → Node ID
CANOutputCycleModulo 1 uint8 1 1 3 – Defines the the cycletime of can messages: every n-th camera cycle can messages are sent
CAN → Output Cycle Modulo
J1939SourceAddress 239 uint8 1 1 253 – J1939 source address
CAN → Source Address
CANMaxNumberOf Objects
8 uint8 1 0 20 objects per cycle
Configuration of maximum number of objects in Object List on CAN
CAN → Max Number of Objects
Ipv4AddressCamera 192 168 1 1 uint8 4 0 255 – Ipv4 address of camera
Ethernet → IP address
SubnetMask 255 255 255 0
uint8 4 0 255 – Subnet mask of camera
Ethernet → Subnet Mask
Ipv4AddressDestination 255 255 255 255
uint8 4 0 255 – Ipc4AddressDesti-nation of the UDP packets
Ethernet → IP Destination
destinationUDPPort 42000 uint16 1 0 65535 – Destination UDP port for the UDP packets
Ethernet → UDP Port
EthernetOutput Configuration
0 uint8 1 0 1 – 0 is standard output, 1 debug output
Monitor → Record Options → Debug Data On/Off
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EthernetLoad Configuration
1 uint8 1 1 4 EthernetOutput only every nth system-cycle
–
DistanceImageOnSwitch 1 uint8 1 0 1 0 is DistanceImage off, 1 is DistanceI-mage on
Ethernet Settings → Distance Image On Switch
VehicleDim_xMin -1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane
See the template "Collision Avoidance" in the ifm-Vision-Assistant
VehicleDim_xMax 1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane
See the template "Collision Avoidance" in the ifm-Vision-Assistant
VehicleDim_yMin -1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane
See the template "Collision Avoidance" in the ifm-Vision-Assistant
VehicleDim_yMax 1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane
See the template "Collision Avoidance" in the ifm-Vision-Assistant
VehicleDim_zMax 2 float32 1 0 10 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane
See the template "Collision Avoidance" in the ifm-Vision-Assistant
PMDExtrCalib_ camCal_transX
0 float32 1 -10 10 m Extrinsic calibration of camera: X trans-lation [m]
Calibration → follow the instructions
PMDExtrCalib_ camCal_transY
0 float32 1 -10 10 m Extrinsic calibration of camera: Y translation [m]
Calibration → follow the instructions
PMDExtrCalib_ camCal_transZ
1 float32 1 -10 10 m Extrinsic calibration of camera: Z translation [m]
Calibration → follow the instructions
PMDExtrCalib_ camCal_rotX
-1�570796327 float32 1 -3�141592 3�141592 m Extrinsic calibration of camera: Y rotation [rad]
Calibration → follow the instructions
PMDExtrCalib_ camCal_rotY
1�570796327 float32 1 -3�141592 3�141592 rad Extrinsic calibration of camera: Y rotation [rad]
Calibration → follow the instructions
PMDExtrCalib_ camCal_rotZ
0 float32 1 -3�141592 3�141592 rad Extrinsic calibration of camera: Z rotation [rad]
Calibration → follow the instructions
PMDExtrCalib_IlluCal_transX
0�047 float32 1 -10 10 m Extrinsic calibration of camera: X translation [m]
Calibration → follow the instructions
PMDExtrCalib_IlluCal_transY
0�085 float32 1 -10 10 m Extrinsic calibration of camera: Y translation [m]
Calibration → follow the instructions
PMDExtrCalib_IlluCal_transZ
0�948 float32 1 -10 10 m Extrinsic calibration of camera: Z translation [m]
Calibration → follow the instructions
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PMDExtrCalib_ IlluCalibIsRelative
0 uint8 1 0 1 – Flag indicating whether illu calibration is given relative to camera or absolute in world coordinates�
–
ObjectListCust_ sprayRemovalSensitivity
0 uint8 1 0 3 – Spray Removal customization
Application → Image Set-tings → Spray removal
ObjectListCust_ pixelPlausibilization Thresholds
2 uint8 1 0 2 – Pixel plausibilization customization
Application → Image Set-tings → Noise reduction filter
ObjectListCust_ blockageSensitivity
0 uint8 1 0 3 – Blockage customi-zation
Application → Image Settings → Blockage detection
ObjectListCust_ spatialFilterXMin
-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum X
Application → Image Set-tings → Expert Mode
ObjectListCust_ spatialFilterXMax
100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum X
Application → Image Set-tings → Expert Mode
ObjectListCust_ spatialFilterYMin
-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum Y
Application → Image Set-tings → Expert Mode
ObjectListCust_ spatialFilterYMax
100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum Y
Application → Image Set-tings → Expert Mode
ObjectListCust_ spatialFilterZMin
-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum Z
Application → Image Set-tings → Expert Mode
ObjectListCust_ spatialFilterZMax
100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum Z
Application → Image Set-tings → Expert Mode
ObjectListCust_ reflectorThresholdValue
0�1 float32 1 0 1 – Value for setting the reflectivity threshold to detect retrore-flectors
Application → Image Settings → Reflector Threshold Value (4 pos-sible values: Max, Med, Low, Min)
ObjectListCust_ autocalibrationMode
0 uint8 1 0 42 – Autocalibration Mode (0: disabled, 1: enabled, 42: test mode)
Application → Object De-tection → Auto Calibration Mode
ObjectListCust_ objectDetectionVariant
1 uint8 1 0 1 – Object detection variant selection (0: normal object list + crash predictor, 1: Retroreflector mode)
Application → Object De-tection → Object Detection Type
ObjectListCust_ ObjectDetectionZMin
0�5 float32 1 -10 10 m Minimum z coor-dinate for normal object detection
Application → Object Detection → Min Height of Detection
ObjectListCust_ ObjectDetectionZMax
2 float32 1 -10 10 m Maximum z coor-dinate for normal object detection
Application → Object Detection → Max Height of Detection
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ObjectListCust_ CrashPredictorSensitivity
1 uint8 1 0 2 – Customization of crash predictor 0: low sensitivity (optimized for low false positive rates)1: medium sensi-tivity2: high sensitivity (optimized for high true positive rates)
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_ EgoMotionDynamics
2 uint8 1 0 2 – Parametrization of the sidestepping capabilities for crash avoidance calculations�0: no sidestepping modelled (e�g�, railway)1: low sidestepping dynamics (e�g�, trucks, 0�1 rad/s)2: high sidestepping dynamics (e�g�, cars, 0�3 rad/s)
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_ accBrake
5 float32 1 0 30 m/s2 Definition of brake deceleration for crash predictor�
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_ delayBrake
1 float32 1 0 3 s Definition of brake delay for crash predictor
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_egoVMin 0 float32 1 -40 40 m/s Definition of mini-mal ego velocity for calculating crash events
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_egoVMax 18 float32 1 -40 40 m/s Definition of maxi-mal ego velocity for calculating crash events
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_ EgoDataMode
2 uint8 1 0 2 – Enables ego velo-city calculation and yaw rate input0: ego velocity and Yaw Rate are taken into account1: only ego velocity2: no data used�
See Template "Collision Avoidance" in ifm-Vision-Assistant
ObjectListCust_ cpDeactivateTime AfterTrigger
10 float32 1 0 60 s Minimal time bet-ween two predicted crashes�
–
ObjectListCust_ cpMaxCrashObject Distance
25 float32 1 0 50 m Maximum distance for relevant objects�
–
ObjectListCust_ cpMinDistAllowed
0�5 float32 1 0 5 m Objects with a distance below this value lead to a pre-dicted collision�
–
ObjectListCust_cpActivate 0 uint8 1 0 1 – Enable flag for colli-sion detection�
–
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AutoCalibParam_numberOfPatterns
0 uint8 1 0 8 – Number of patterns to be used for autocalibration (0,1 : autocalibration disabled)
–
AutoCalibParam_xPattern 0 float32 8 -30 30 m x coordinates [m] of the autocalibration patterns
–
AutoCalibParam_yPattern 0 float32 8 -30 30 m y coordinates [m] of the autocalibration patterns
–
AutoCalibParam_zPattern 0 float32 8 -30 30 m z coordinates [m] of the autocalibration patterns
–
AutoCalibParam_ patternType
0 uint8 8 0 10 – type of the autocali-bration patterns
–
twoD_mirrorX 0 uint8 1 0 1 – Flag whether 2D image is mirrored in X direction (2D imager ROI read out back-wards)
–
twoD_mirrorY 0 uint8 1 0 1 – Flag whether 2D image is mirrored in Y direction
–
triggeredStreetCalibration 0 uint8 1 0 1 – Flag indicating if the triggered calibration based on the street plane estimation is active
–
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7 InterfaceThe output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939�
7.1 CANopen
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1000 DeviceType – – 0x7 ro 0 – – Fixed to "0" (Zero) until there is an adequate CA-Nopen profile available
1001 Error Register – – 0x7 ro – – – –
1018 Identity Object – – 0x9 – – – – SubIndex 01: Vendor ID is 0x0069666D, this is the ID for ifm electronic GmbH, is fixedSubIndex 02: Product Code: O3M150: 0x0020 0010 O3M151: 0x0020 0011 O3M251: 0x0020 0030 O3M211: 0x0020 0031SubIndex 03: Revision Number: should be filled at runtime with 0x00 <Major number> <Minor number> <Patch Level> of the SW Version�SubIndex 04: Serial number: should be filled at runtime with the serial number of the camera�
0 Number of entries 0x7 ro 4 1 4
1 Vendor Id 0x7 ro 0x0069666D 1 4
2 Product Code 0x7 ro 0 1 4
3 Revision number 0x7 ro 0 1 4
4 Serial number 0x7 ro 0 1 4
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1003 Predefined Error Field
– – 0x8 – – – – SubIndex 00: Number of Errors is defined accor-ding the size of the error memory in the diagnosis�
0 Number of Errors 0x7 rw 0 1 4 –
1 Standard Error Field
0x7 ro 0 1 4 –
2 Standard Error Field_2
0x7 ro 0 1 4 –
3 Standard Error Field_3
0x7 ro 0 1 4 –
4 Standard Error Field_4
0x7 ro 0 1 4 –
5 Standard Error Field_5
0x7 ro 0 1 4 –
6 Standard Error Field_6
0x7 ro 0 1 4 –
7 Standard Error Field_7
0x7 ro 0 1 4 –
8 Standard Error Field_8
0x7 ro 0 1 4 –
9 Standard Error Field_9
0x7 ro 0 1 4 –
A Standard Error Field_a
0x7 ro 0 1 4 –
B Standard Error Field_b
0x7 ro 0 1 4
C Standard Error Field_c
0x7 ro 0 1 4
D Standard Error Field_d
0x7 ro 0 1 4
E Standard Error Field_e
0x7 ro 0 1 4 –
F Standard Error Field_f
0x7 ro 0 1 4 –
10 Standard Error Field_10
0x7 ro 0 1 4 –
11 Standard Error Field_11
0x7 ro 0 1 4 –
12 Standard Error Field_12
0x7 ro 0 1 4 –
13 Standard Error Field_13
0x7 ro 0 1 4 –
14 Standard Error Field_14
0x7 ro 0 1 4 –
1005 COB ID SYNC – – 0x7 rw 0x00000080 0x00000080 –
1006 Communication Cycle Period
– – 0x7 rw 0x00000000 – – –
1008 Manufacturer Device Name
– – 0x7 const O3D151 – – (No SubIndex) should be filled at runtime with the article number (Artikel-nummer) of the camera� Device is Smart Sensor: O3M151 (OD is the Ob-ject detection variant) Device is 2D3D two box Sensor: O3M251
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1009 Manufacturer Hardware Version
– – 0x7 const – – – (No SubIndex) should be filled at runtime with the HW Version of the camera
100A Manufacturer Software Version
– – 0x7 const – – – (No SubIndex) should be filled at runtime with the Software version number and variant of the camera with <Major>�<Minor>� <Patchlevel> <Variant>
1010 Store Parame-ter Field
– – 0x8 – – – not implemented yet
0 Number of entries 0x7 ro 1 1 4
1 Save all Para-meters
0x7 rw 1 1 4
1011 Restore Default Parameters
– – 0x8 – – – – not implemented yet
0 Number of entries 0x7 ro 1 1 4
1 Restore all Default Parameters
0x7 rw 1 1 4
1014 COB ID EMCY – – 0x7 ro $NODEID+0x80 0x00000080 0x00000100 –
1400 Receive PDO Communication Parameter - SyncMsg
– – 0x9 – – – – Objects 0x1400-0x1402, 0x1600-0x1602, 0x1800-0x1837: SubIndex 02 Transmission Type: 254 (Manufacturer defined): The mobile camera is typically running with internally defined time/frequency Thus it will send out the data (TPDOs) as availa-ble, typically with cycle time of 20ms, 30ms, 40ms or multiple time: double or three times the cycle time�
0 Number of entries 0x7 ro 2 0x02 0x02 –
1 COB ID 0x7 rw $NODEID+0x200 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
1401 Receive PDO Communication Parameter - EgoMotion
– – 0x9 – – – – –
0 Number of entries 0x7 ro 2 0x02 0x02
1 COB ID 0x7 rw $NODEID+0x300 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
1600 Receive PDO Mapping Parameter - SyncMsg
– – 0x9 – – – – –
0 Number of entries 0x7 rw 3 0 3
1 PDO Mapping Entry - Syn-cMsg_Rx
0x7 rw 0x21000220 0 3
1601 Receive PDO Mapping Parameter - EgoMotion
– – 0x9 – – – – –
0 Number of entries 0x7 rw 3 0 3
1 PDO Mapping Entry - Wheel_Ba-sedVehicleSpeed
0x7 rw 0x21300110 0 3
2 PDO Mapping Entry - Driving_Di-rection
0x7 rw 0x21300208 0 3
3 PDO Mapping Entry - Yaw_Rate
0x7 rw 0x21300310 0 3
33
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
h Li
mit
Com
men
t
1800 Transmit PDO Communication Parameter - SyncMsg
– – 0x9 – – – – Objects 0x1400-0x1402, 0x1600-0x1602, 0x1800-0x1837: SubIndex 02 Transmission Type: 254 (Manufacturer defined): The mobile camera is typically running with internally defined time/frequency Thus it will send out the data (TPDOs) as availa-ble, typically with cycle time of 20ms, 30ms, 40ms or multiple time: double or three times the cycle time� Object 1800: This TPDO will be sent out depen-ding on the configuration of the parameter KP_CPARType�MasterSlave-Configuration: For the value of KP_CPARType�MasterSlave-Configuration==1 (Sensor is sync master) this object will be sent � For all other values of KP_CPARType�MasterS-laveConfiguration this object will not be sent�
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0x40000180 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1801 Transmit PDO Communication Parameter - Global_Infor-mation
0x9 Object 0x1801 Transmit PDO Communication Parameter: The Transmission parameters for the Global_Information object are defined in such a way that the camera will immediately start to send out data when the communication state is set to "Operational" (Valid bit set to 0)� If the user wishes to use different COBIDs then the TPDOs must be deactivated, then change the COBID, then activate the TPDOs�
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0x40000280 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1802 Transmit PDO Communication Parameter - Crash_Predic-tor_Info
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1809 Transmit PDO Communication Parameter - Dynamic_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission type 0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit time 0x7 rw 0 0x00000080 0xFFFFFFFF
O3M151 3D Smart Sensor Object Detection
34
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
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mit
Com
men
t
180A Transmit PDO Communication Parameter - Constant_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission type 0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1810 Transmit PDO Communication Parameter Ob-ject 0 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1811 Transmit PDO Communication Parameter Ob-ject 0 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1812 Transmit PDO Communication Parameter Ob-ject 1 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1813 Transmit PDO Communication Parameter Ob-ject 1 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1814 Transmit PDO Communication Parameter Ob-ject 2 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1815 Transmit PDO Communication Parameter Ob-ject 2 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1816 Transmit PDO Communication Parameter Ob-ject 3 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
35
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
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mit
Com
men
t
1817 Transmit PDO Communication Parameter Ob-ject 3 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1818 Transmit PDO Communication Parameter Ob-ject 4 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1819 Transmit PDO Communication Parameter Ob-ject 4 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
181A Transmit PDO Communication Parameter Ob-ject 5 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
181B Transmit PDO Communication Parameter Ob-ject 5 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
181C Transmit PDO Communication Parameter Ob-ject 6 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
181D Transmit PDO Communication Parameter Ob-ject 6 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
181E Transmit PDO Communication Parameter Ob-ject 7 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
O3M151 3D Smart Sensor Object Detection
36
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
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mit
Com
men
t
181F Transmit PDO Communication Parameter Ob-ject 7 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1820 Transmit PDO Communication Parameter Ob-ject 8 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1821 Transmit PDO Communication Parameter Ob-ject 8 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1822 Transmit PDO Communication Parameter Ob-ject 9 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1823 Transmit PDO Communication Parameter Ob-ject 9 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1824 Transmit PDO Communication Parameter Ob-ject 10 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1825 Transmit PDO Communication Parameter Ob-ject 10 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1826 Transmit PDO Communication Parameter Ob-ject 11 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
37
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
h Li
mit
Com
men
t
1827 Transmit PDO Communication Parameter Ob-ject 11 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1828 Transmit PDO Communication Parameter Ob-ject 12 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1829 Transmit PDO Communication Parameter Ob-ject 12 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
182A Transmit PDO Communication Parameter Ob-ject 13 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
182B Transmit PDO Communication Parameter Ob-ject 13 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
182C Transmit PDO Communication Parameter Ob-ject 14 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
182D Transmit PDO Communication Parameter Ob-ject 14 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
182E Transmit PDO Communication Parameter Ob-ject 15 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
O3M151 3D Smart Sensor Object Detection
38
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
h Li
mit
Com
men
t
182F Transmit PDO Communication Parameter Ob-ject 15 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1830 Transmit PDO Communication Parameter Ob-ject 16 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1831 Transmit PDO Communication Parameter Ob-ject 16 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1832 Transmit PDO Communication Parameter Ob-ject 17 - Part A
– – 0x9 – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1833 Transmit PDO Communication Parameter Ob-ject 17 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1834 Transmit PDO Communication Parameter Ob-ject 18 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1835 Transmit PDO Communication Parameter Ob-ject 18 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1836 Transmit PDO Communication Parameter Ob-ject 19 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
39
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
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Low
Lim
it
Hig
h Li
mit
Com
men
t
1837 Transmit PDO Communication Parameter Ob-ject 19 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 ro 3 0x03 0x03
1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF
2 Transmission Type
0x7 rw 254 0x00000080 0xFFFFFFFF
3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
1A00 Transmit PDO Mapping Parameter - SyncMsg
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry - KP_Ma-sterTime_LastTx-TimeStamp
0x7 rw 0x21000120 0 1
1A01 Transmit PDO Mapping Para-meter - Global_Information
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry - Global_In-formation
0x7 rw 0x21010138 0 1
1A02 Transmit PDO Mapping Para-meter - Crash_Predictor_Info
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry - Crash_Predictor_Info
0x7 rw 0x21020120 0 1
1A09 Transmit PDO Mapping Parameter - Dynamic_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Map-ping Entry - Dynamic_2D_Ca-lib_Data
0x7 rw 0x21090140 0 1
1A0A Transmit PDO Mapping Parameter - Constant_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 rw 2 0 3
1 PDO Map-ping Entry - Constant_2D_Ca-lib_Data_Mux
0x7 rw 0x210a0108 0 3
2 PDO Map-ping Entry - ConstCalib_2D_muxed
0x7 rw 0x210a0220 0 3
1A10 Transmit PDO Mapping Para-meter Object 0 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21100140 0 1
1A11 Transmit PDO Mapping Para-meter Object 0 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21100240 0 1
1A12 Transmit PDO Mapping Para-meter Object 1 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21110140 0 1
1A13 Transmit PDO Mapping Para-meter Object 1 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21110240 0 1
O3M151 3D Smart Sensor Object Detection
40
Obj
ect N
o.
Obj
ect N
ame
SubI
ndex
No.
Para
met
e N
ame
Obj
ect T
ype
Acc
ess
Type
Def
ault
Valu
e
Low
Lim
it
Hig
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Com
men
t
1A14 Transmit PDO Mapping Para-meter Object 2 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21120140 0 1
1A15 Transmit PDO Mapping Para-meter Object 2 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21120240 0 1
1A16 Transmit PDO Mapping Para-meter Object 3 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21130140 0 1
1A17 Transmit PDO Mapping Para-meter Object 3 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21130240 0 1
1A18 Transmit PDO Mapping Para-meter Object 4 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21140140 0 1
1A19 Transmit PDO Mapping Para-meter Object 4 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21140240 0 1
1A1A Transmit PDO Mapping Para-meter Object 5 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21150140 0 1
1A1B Transmit PDO Mapping Para-meter Object 5 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21150240 0 1
1A1C Transmit PDO Mapping Para-meter Object 6 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21160140 0 1
1A1D Transmit PDO Mapping Para-meter Object 6 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21160240 0 1
1A1E Transmit PDO Mapping Para-meter Object 7 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21170140 0 1
1A1F Transmit PDO Mapping Para-meter Object 7 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21170240 0 1
41
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
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Obj
ect N
ame
SubI
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Para
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1A20 Transmit PDO Mapping Para-meter Object 8 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21180140 0 1
1A21 Transmit PDO Mapping Para-meter Object 8 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21180240 0 1
1A22 Transmit PDO Mapping Para-meter Object 9 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21190140 0 1
1A23 Transmit PDO Mapping Para-meter Object 9 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21190240 0 1
1A24 Transmit PDO Mapping Para-meter Object 10 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211a0140 0 1
1A25 Transmit PDO Mapping Para-meter Object 10 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211a0240 0 1
1A26 Transmit PDO Mapping Para-meter Object 11 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211b0140 0 1
1A27 Transmit PDO Mapping Para-meter Object 11 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211b0240 0 1
1A28 Transmit PDO Mapping Para-meter Object 12 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211c0140 0 1
1A29 Transmit PDO Mapping Para-meter Object 12 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211c0240 0 1
1A2A Transmit PDO Mapping Para-meter Object 13 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211d0140 0 1
1A2B Transmit PDO Mapping Para-meter Object 13 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211d0240 0 1
O3M151 3D Smart Sensor Object Detection
42
Obj
ect N
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ect N
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1A2C Transmit PDO Mapping Para-meter Object 14 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211e0140 0 1
1A2D Transmit PDO Mapping Para-meter Object 14 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211e0240 0 1
1A2E Transmit PDO Mapping Para-meter Object 15 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211f0140 0 1
1A2F Transmit PDO Mapping Para-meter Object 15 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x211f0240 0 1
1A30 Transmit PDO Mapping Para-meter Object 16 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21200140 0 1
1A31 Transmit PDO Mapping Para-meter Object 16 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21200240 0 1
1A32 Transmit PDO Mapping Para-meter Object 17 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21210140 0 1
1A33 Transmit PDO Mapping Para-meter Object 17 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21210240 0 1
1A34 Transmit PDO Mapping Para-meter Object 18 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21220140 0 1
1A35 Transmit PDO Mapping Para-meter Object 18 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21220240 0 1
1A36 Transmit PDO Mapping Para-meter Object 19 - Part A
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21230140 0 1
1A37 Transmit PDO Mapping Para-meter Object 19 - Part B
– – 0x9 – – – – –
0 Number of entries 0x7 rw 1 0 1
1 PDO Mapping Entry
0x7 rw 0x21230240 0 1
43
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
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Obj
ect N
ame
SubI
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2100 SyncMsg – – 0x9 – – – – –
0 Number of entries 0x7 ro 2 1 1 –
1 SyncMsg 0x7 ro 2 1 1 SyncMaster: send out measured time value of last sent transmission of this signal on CAN
2 SyncMsg_Rx 0x7 wo 2 1 1 Slave: receive SyncMsg message of the Sync-Master
2101 Global_Infor-mation
– – 0x9 – – – – –
0 Number of entries 0x7 ro 1 1 1 –
1 Global_Informa-tion
0x7 ro 1 1 1 See Message Global_In-formation in J1939
2102 Crash_ Predictor_Info
– – 0x9 – – – – –
0 Number of entries 0x7 ro 1 1 1 –
1 Crash_Predic-tor_Info
0x7 ro 1 1 1 See message Crash_Predictor in J1939
2109 Dynamic_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 ro 1 1 1 –
1 Dynamic_2D_Ca-lib_Data
0x7 ro 1 1 1 See message Dynamic_2D_Calib_Data in J1939
210A Constant_2D_Calib_Data
– – 0x9 – – – – –
0 Number of entries 0x7 ro 2 2 2
1 Constant_2D_Ca-lib_Data_Mux
0x7 ro 2 2 2
2 ConstCalib_2D_muxed
0x7 ro 2 2 2 See message Constant_2D_Calib_Data in J1939
210F Standby_ Control
– – 0x7 rw 0 1
2110 Object 0 – – 0x9 – – – – Objects 0x2110-0x2123 Mobile Camera Object : See the messages Mo-Ca_Obj_<0��19>_A and MoCa_Obj_<0��19>_B
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2111 Object 1 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2112 Object 2 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2113 Object 3 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2114 Object 4 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
O3M151 3D Smart Sensor Object Detection
44
Obj
ect N
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2115 Object 5 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2116 Object 6 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2117 Object 7 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2118 Object 8 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2119 Object 9 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211A Object 10 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211B Object 11 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211C Object 12 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211D Object 13 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211E Object 14 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
211F Object 15 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
45
O3M151 3D Smart Sensor Object Detection
UK
Obj
ect N
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2120 Object 16 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2121 Object 17 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2122 Object 18 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2123 Object 19 – – 0x9 – – – – See Object 2100
0 Number of entries 0x7 ro 2 2 2
1 Part A 0x7 ro 2 2 2
2 Part B 0x7 ro 2 2 2
2130 Ego_Motion – – 0x9 – – – – –
0 Number of entries 0x7 ro 3 2 2
1 Wheel_BasedVe-hicleSpeed
0x7 wo 3 2 2
2 Driving_Direction 0x7 wo 3 2 2
3 Yaw_Rate 0x7 wo 3 2 2
21A0 EDS_File_ Version
– – 0x9 – – – – –
0 Number of entries 0x7 ro 1 1 1
1 EDS_File_Version 0x7 ro 1 1 1
O3M151 3D Smart Sensor Object Detection
46
7.2 SAE J1939
7.2.1 OutputsN
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Constant_ 2D_Calib_ Data_Mux
Constant_2D_Calib_Data
0 MobCa 8 0 1 0 0 12 – – Multiplexor
IntrCalib_ 2D_alpha
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x4
IntrCalib_ 2D_center_ tx
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xA
IntrCalib_ 2D_center_ ty
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xB
IntrCalib_ 2D_center_ tz
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xC
IntrCalib_ 2D_fx
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x0
IntrCalib_ 2D_fy
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x1
IntrCalib_ 2D_k1
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x5
IntrCalib_ 2D_k2
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x6
IntrCalib_ 2D_k3
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x8
IntrCalib_ 2D_k4
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x9
IntrCalib_ 2D_k5
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x7
IntrCalib_ 2D_mx
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x2
IntrCalib_ 2D_my
Constant_2D_Calib_Data
8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x3
CP_obj_id Crash_Predic-tor_Info
0 MobCa 8 0 1 0 0 255 n/a – object id cau-sing the crash
CP_ttc Crash_Predic-tor_Info
8 MobCa 8 0 0�04 0 0 6 s VtSig_ CP_ttc
time to collision for predicted crash
CP_impact_ velocity
Crash_Predic-tor_Info
16 MobCa 9 0 0�1 0 0 30 m/s VtSig_ CP_im-pact_ velocity
impact velocity for predicted crash
CP_crash_ predicted
Crash_Predic-tor_Info
25 MobCa 3 0 1 -2 -2 2 enum VtSig_ CP_crash_ predicted
–
47
O3M151 3D Smart Sensor Object Detection
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Crash_ Predictor_ Info_cnt
Crash_Predic-tor_Info
30 MobCa 2 0 1 0 0 2 – – –
Variant DBC_File_Ver-sion
0 MobCa 8 0 1 0 0 0 – VtSig_ Variant
–
Major DBC_File_Ver-sion
8 MobCa 8 0 1 0 0 255 – – –
Minor DBC_File_Ver-sion
16 MobCa 8 0 1 0 0 255 – – –
Protect LampStatus
DM1 0 MobCa 2 0 1 0 0 3 – – This lamp is used to relay trouble code informatio that is reporting a problem with a vehicle system that is most���
Amber Warning LampStatus
DM1 2 MobCa 2 0 1 0 0 3 – – This lamp is used to relay trouble code information that is reporting a problem with the vehicle system but the vehicle need���
RedStop LampState
DM1 4 MobCa 2 0 1 0 0 3 – – This lamp is uesed to relay trouble code in-formation that is of a severe en-ought condition that it warrants stopping the vehicle�
Malfunction Indicator LampStatus
DM1 6 MobCa 2 0 1 0 0 3 – – A lamp used to relay only emissions-rela-ted trouble code information�
FlashProtect Lamp
DM1 8 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the engine protect lamp (SPN 3041)�
FlashAmber Warning Lamp
DM1 10 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the AWL (SPN 3040)�
FlashRed StopLamp
DM1 12 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the RSL (SPN 3039)�
Flash Malfunc Indicator Lamp
DM1 14 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the MIL (SPN 3038)�
SPN1 DM1 16 MobCa 16 0 1 0 0 65536 – – SPN #1 (Conversion Version 4)
O3M151 3D Smart Sensor Object Detection
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Failure Mode Identifier1
DM1 32 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�
SPN1High DM1 37 MobCa 3 0 1 0 0 7 – – SPN #1 (Conversion Version 4)
Occurence Count1
DM1 40 MobCa 7 0 1 0 0 126 – – The 7 bit oc-curence count field contains the number of times a fault has gone from active to previ-ously active�
SPN Conversion Method1
DM1 47 MobCa 1 0 1 0 0 1 – –
SPN2 DM1 48 MobCa 16 0 1 0 0 65536 – – SPN #2 (Conversion Version 4)
Failure Mode Identifier2
DM1 64 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�
SPN2High DM1 69 MobCa 3 0 1 0 0 7 – – SPN #2 (Conversion Version 4)
Occurence Count2
DM1 72 MobCa 7 0 1 0 0 126 – – The 7 bit oc-curence count field contains the number of times a fault has gone from active to previ-ously active�
SPN Conversion Method2
DM1 79 MobCa 1 0 1 0 0 1 – –
SPN3 DM1 80 MobCa 16 0 1 0 0 65536 – – SPN #3 (Conversion Version 4)
Failure Mode Identifier3
DM1 96 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�
SPN3High DM1 101 MobCa 3 0 1 0 0 7 – – SPN #3 (Conversion Version 4)
Occurence Count3
DM1 104 MobCa 7 0 1 0 0 126 – – The 7 bit oc-curence count field contains the number of times a fault has gone from active to previ-ously active�
49
O3M151 3D Smart Sensor Object Detection
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SPN Conversion Method3
DM1 111 MobCa 1 0 1 0 0 1 – –
SPN4 DM1 112 MobCa 16 0 1 0 0 65536 – – SPN #4 (Conversion Version 4)
Failure Mode Identifier4
DM1 128 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�
SPN4High DM1 133 MobCa 3 0 1 0 0 7 – – SPN #4 (Conversion Version 4)
Occurence Count4
DM1 136 MobCa 7 0 1 0 0 126 – – The 7 bit oc-curence count field contains the number of times a fault has gone from active to previ-ously active�
SPN Conversion Method4
DM1 143 MobCa 1 0 1 0 0 1 – –
SPN5 DM1 144 MobCa 16 0 1 0 0 65536 – – SPN #5 (Conversion Version 4)
Failure Mode Identifier5
DM1 160 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�
SPN5High DM1 165 MobCa 3 0 1 0 0 7 – – SPN #5 (Conversion Version 4)
Occurence Count5
DM1 168 MobCa 7 0 1 0 0 126 – – The 7 bit oc-curence count field contains the number of times a fault has gone from active to previ-ously active�
SPN Conversion Method5
DM1 175 MobCa 1 0 1 0 0 1 – – –
ExtrCalib_ 2D_rot_x
Dynamic_2D_Calib_Data
0 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_x
–
ExtrCalib_ 2D_delta_tx
Dynamic_2D_Calib_Data
12 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_tx
–
ExtrCalib_ 2D_rot_y
Dynamic_2D_Calib_Data
20 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_y
–
ExtrCalib_ 2D_delta_ty
Dynamic_2D_Calib_Data
32 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_ty
–
O3M151 3D Smart Sensor Object Detection
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ExtrCalib_ 2D_rot_z
Dynamic_2D_Calib_Data
40 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_z
–
ExtrCalib_ 2D_delta_tz
Dynamic_2D_Calib_Data
52 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_tz
–
Dynamic_ 2D_Calib_ Data_cnt
Dynamic_2D_Calib_Data
62 MobCa 2 0 1 0 0 3 – – –
Vehicle ABSActive
EBS21 0 Envi-ron-ment
2 0 1 0 0 1 – – Signal indica-ting the ABS is active/passive�
Vehicle Retarder CtrlActive
EBS21 2 Envi-ron-ment
2 0 1 0 0 3 – – This signal indi-cates the active/passive state in all cases when the installed re-tarder is applied by the driver’s demand or by other systems (brakes)�
Vehicle ServiceBrake Active
EBS21 4 Envi-ron-ment
2 0 1 0 0 1 – – Signal indica-ting the service brake of the towed vehicle is active/passive, by observing the brake pres-sure�
Autom Towed VehBreak Active
EBS21 6 Envi-ron-ment
2 0 1 0 0 1 – – Signal indica-ting the automa-tic towed vehicle braking is active/pas-sive�
VDCActive EBS21 8 Envi-ron-ment
2 0 1 0 0 1 – – Signal which indicates that Vehicle Dy-namic Control (VDC) is active/passive�
SupplyLine Braking Request
EBS21 10 Envi-ron-ment
2 0 1 0 0 1 – – Signal indica-ting the trailer is requesting to be braked by the commercial vehicle by me-ans of bleeding the pneumatic supply line�
Wheel_ Based VehicleSpeed
EBS21 16 Envi-ron-ment
16 0 0�00390625 0 0 251 km/ – Actual speed of the vehicle (positive value for forward and backward speed) calcu-lated as the average of the wheel speeds of one axle influenced by slip and filtered by a frequency range of 5 Hz to 20 Hz�
51
O3M151 3D Smart Sensor Object Detection
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Actual Retarder PercTorque
EBS21 32 Envi-ron-ment
8 0 1 -125 -125 125 % – Actual torque of the retarder as negative percentage of maximum�
WheelSpeed DiffMainAxle
EBS21 40 Envi-ron-ment
16 0 0�00390625 -125 -125 125 km/h – Difference between the wheel speed at the right side and and the left side of the main axle�
GLOB_ master_time
Global_Informa-tion
0 MobCa 32 0 1 0 0 4�29E+14 µs –
GLOB_ sensor_ available
Global_Informa-tion
32 MobCa 8 0 1 0 0 255 bit mask
– BIT_INTERFE-RENCE_DE-TECTED (1u) BIT_SPRAY_DETECTION (2u) BIT_TRA-CKING_ER-ROR (4u) BIT_INVALID_CAM_ORIEN-TATION (8u) BIT_SIGNAL_PATH_MONI-TORING (16u) BIT_INTER-NAL_ERROR (32u) BIT_BLO-CKAGE_DE-TECTED (64u) BIT_FORCE_CALIBRATI-ON_RESET (128u)
Blockage_ Status
Global_Informa-tion
40 MobCa 8 0 1 0 0 100 % VtSig_ Blockage_ Status
–
SwCtrl_ OpMode
Global_Informa-tion
48 MobCa 6 0 1 0 0 63 – VtSig_ SwCtrl_ OpMode
–
Global_ Information_ cnt
Global_Informa-tion
54 MobCa 2 0 1 0 0 3 – – –
FlowStatus ISO15765_Funct 0 Envi-ron-ment
4 0 1 0 0 3 – VtSig_ FlowStatus
ProtocolCtrlIn-formation = 0x3 (Flow control )
SingleFrame DataLength
ISO15765_Funct 0 Envi-ron-ment
4 0 1 0 0 7 Byte – ProtocolCtrlIn-formation = 0x0 (Single frame)
SN ISO15765_Funct 0 Envi-ron-ment
4 0 1 0 0 15 – – ProtocolCtrlIn-formation = 0x2 (Consecutive frame)
ProtocolCtrl Information
ISO15765_Funct 4 Envi-ron-ment
4 0 1 0 0 3 – VtSig_ Protocol Ctrl Information
Multiplexor
BlockSize ISO15765_Funct 8 Envi-ron-ment
8 0 1 0 0 255 – – ProtocolCtrlIn-formation = 0x3 (Flow control )
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FirstFrame DataLength
ISO15765_Funct 8 Envi-ron-ment
12 0 1 0 0 4095 Byte – ProtocolCtrlIn-formation = 0x1 (First frame)
Separation Time
ISO15765_Funct 16 Envi-ron-ment
8 0 1 0 0 255 ms – ProtocolCtrlIn-formation = 0x3 (Flow control )
FlowStatus ISO15765_Phys 0 Envi-ron-ment
4 0 1 0 0 3 – VtSig_ FlowStatus
ProtocolCtrlIn-formation = 0x3 (Flow control )
SingleFrame DataLength
ISO15765_Phys 0 Envi-ron-ment
4 0 1 0 0 7 Byte – ProtocolCtrlIn-formation = 0x0 (Single frame)
SN ISO15765_Phys 0 Envi-ron-ment
4 0 1 0 0 15 – – ProtocolCtrlIn-formation = 0x2 (Consecutive frame)
ProtocolCtrl Information
ISO15765_Phys 4 Envi-ron-ment
4 0 1 0 0 3 – VtSig_ ProtocolC-trl Information
Multiplexor
BlockSize ISO15765_Phys 8 Envi-ron-ment
8 0 1 0 0 255 – – ProtocolCtrlIn-formation = 0x3 (Flow control )
FirstFrame DataLength
ISO15765_Phys 8 Envi-ron-ment
12 0 1 0 0 4095 Byte – ProtocolCtrlIn-formation = 0x1 (First frame)
Separation Time
ISO15765_Phys 16 Envi-ron-ment
8 0 1 0 0 255 ms – ProtocolCtrlIn-formation = 0x3 (Flow control )
Obj_0_vx MoCa_Obj_0_A 0 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_0_vx
relative velocity of object, x direction
Obj_0_Type MoCa_Obj_0_A 7 MobCa 1 0 1 0 0 1 n/a – Type identifier of the object - 0: normal object - 1: retroreflec-tor object
Obj_0_vy MoCa_Obj_0_A 8 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_0_vy
relative velocity of object, y direction
Obj_0_Measured
MoCa_Obj_0_A 15 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_0_ Measured
Flag indica-ting that this object has been measured in actual frame
Obj_0_ay MoCa_Obj_0_A 16 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_0_ay
relative accele-ration of object, y direction
Obj_0_ep MoCa_Obj_0_A 21 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_0_ep
existence pro-bability
Obj_0_ax MoCa_Obj_0_A 24 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_0_ax
relative accele-ration of object, x direction
Obj_0_qvx MoCa_Obj_0_A 29 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_0_qvx
quality of vx signal
Obj_0_az MoCa_Obj_0_A 32 MobCa 4 0 1 -5 -5 5 m/s2 VtSig_ Obj_0_az
relative accele-ration of object, z direction
Obj_0_Tra-ckAge
MoCa_Obj_0_A 36 MobCa 2 0 1 0 0 3 enum VtSig_ Obj_0_ TrackAge
Age of track
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Obj_0_Id MoCa_Obj_0_A 38 MobCa 8 0 1 0 0 255 n/a id of object
Obj_0_zMin MoCa_Obj_0_A 46 MobCa 11 0 0�02 -10 -10 30 m VtSig_ Obj_0_zMin
minimum z coordinate of object
Obj_0_vz MoCa_Obj_0_A 57 MobCa 5 0 0�5 -6 -6 6 m/s VtSig_ Obj_0_vz
relative velocity of object, z direction
Obj_0_A_ cnt
MoCa_Obj_0_A 62 MobCa 2 0 1 0 0 3 – – Obj 0 part A message counter
Obj_0_dz MoCa_Obj_0_B 0 MobCa 8 0 0�02 0 0 5 m VtSig_ Obj_0_dz
maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin)
Obj_0_dy MoCa_Obj_0_B 8 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_0_dy
delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1)
Obj_0_dx MoCa_Obj_0_B 20 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_0_dx
delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)
Obj_0_x1 MoCa_Obj_0_B 32 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_0_x1
x coordinate of object's first point
Obj_0_y1 MoCa_Obj_0_B 45 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_0_y1
y coordinate of object's first point
Obj_0_qvy MoCa_Obj_0_B 58 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_0_qvy
quality of vy signal
Obj_0_ History
MoCa_Obj_0_B 61 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_0_ History
Flag indicating that this object has been seen on bus
Obj_0_B_cnt MoCa_Obj_0_B 62 MobCa 2 0 1 0 0 3 – – Obj 0 part B message counter
repeats until message MoCa_Obj_19_A
Obj_19_vx MoCa_Obj_19_A 0 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_19_vx
relative velocity of object, x direction
Obj_19_ Type
MoCa_Obj_19_A 7 MobCa 1 0 1 0 0 1 n/a – Type identifier of the object - 0: normal object - 1: retroreflec-tor object
Obj_19_vy MoCa_Obj_19_A 8 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_19_vy
relative velocity of object, y direction
Obj_19_Measured
MoCa_Obj_19_A 15 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_19_ Measured
Flag indica-ting that this object has been measured in actual frame
Obj_19_ay MoCa_Obj_19_A 16 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_19_ay
relative accele-ration of object, y direction
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Obj_19_ep MoCa_Obj_19_A 21 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_ep
existence pro-bability
Obj_19_ax MoCa_Obj_19_A 24 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_19_ax
relative accele-ration of object, x direction
Obj_19_qvx MoCa_Obj_19_A 29 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_qvx
quality of vx signal
Obj_19_az MoCa_Obj_19_A 32 MobCa 4 0 1 -5 -5 5 m/s2 VtSig_ Obj_19_az
relative accele-ration of object, z direction
Obj_19_ TrackAge
MoCa_Obj_19_A 36 MobCa 2 0 1 0 0 3 enum VtSig_ Obj_19_ TrackAge
Age of track
Obj_19_Id MoCa_Obj_19_A 38 MobCa 8 0 1 0 0 255 n/a – id of object
Obj_19_ zMin
MoCa_Obj_19_A 46 MobCa 11 0 0�02 -10 -10 30 m VtSig_ Obj_19_zMin
minimum z coordinate of object
Obj_19_vz MoCa_Obj_19_A 57 MobCa 5 0 0�5 -6 -6 6 m/s VtSig_ Obj_19_vz
relative velocity of object, z direction
Obj_19_A_ cnt
MoCa_Obj_19_A 62 MobCa 2 0 1 0 0 3 – – Obj 19 part A message counter
Obj_19_dz MoCa_Obj_19_B 0 MobCa 8 0 0�02 0 0 5 m VtSig_ Obj_19_dz
maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin)
Obj_19_dy MoCa_Obj_19_B 8 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_19_dy
delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1)
Obj_19_dx MoCa_Obj_19_B 20 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_19_dx
delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)
Obj_19_x1 MoCa_Obj_19_B 32 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_19_x1
x coordinate of object's first point
Obj_19_y1 MoCa_Obj_19_B 45 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_19_y1
y coordinate of object's first point
Obj_19_qvy MoCa_Obj_19_B 58 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_qvy
quality of vy signal
Obj_19_ History
MoCa_Obj_19_B 61 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_19_ History
Flag indicating that this object has been seen on bus
Obj_19_B_ cnt
MoCa_Obj_19_B 62 MobCa 2 0 1 0 0 3 – – Obj 19 part B message counter
Parameter Group Number
RQST 0 Envi-ron-ment
24 0 1 0 0 1�68E+12 – – PGN which is requested by Request2 message
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Parameter Group Number
RQST2 0 Envi-ron-ment
24 0 1 0 0 1�68E+12 – – PGN which is requested by Request2 message
UseTransfer Mode
RQST2 24 Envi-ron-ment
2 0 1 0 0 3 – – Requester is to respond via the Transfer PGN
Standby_ Control
Standby_Control 0 Envi-ron-ment
1 0 1 0 0 1 – VtSig_ Standby_ Control
–
Mastertime_LastTxTime Stamp
SyncMsg 0 MobCa 32 0 1 0 0 4�29E+14 us – –
Driver1 Working State
TCO1 0 Envi-ron-ment
3 0 1 0 0 7 – – State of work of the driver�
Driver2 Working State
TCO1 3 Envi-ron-ment
3 0 1 0 0 7 – – State of work of the driver�
Drive Recognize
TCO1 6 Envi-ron-ment
2 0 1 0 0 3 – – Indicates whether motion of the vehicle is detected or not�
Driver1 TimeRelated States
TCO1 8 Envi-ron-ment
4 0 1 0 0 15 – – Indicates if the driver approaches or exceeds working time limits (or other limits)�
DriverCard Driver1
TCO1 12 Envi-ron-ment
2 0 1 0 0 3 – – –
Overspeed TCO1 14 Envi-ron-ment
2 0 1 0 0 3 – – Indicates whether the vehicle is exceeding the legal speed limit set in the tachograph�
Driver2 TimeRelated States
TCO1 16 Envi-ron-ment
4 0 1 0 0 15 – – Indicates if the driver approaches or exceeds working time limits (or other limits)�
DriverCard Driver2
TCO1 20 Envi-ron-ment
2 0 1 0 0 3 – – –
System Event
TCO1 24 Envi-ron-ment
2 0 1 0 0 3 – – Indicates that a tachograph event has occurred�
Handling Information
TCO1 26 Envi-ron-ment
2 0 1 0 0 3 – – Indicates that handling information is present�
Tachograph Performance
TCO1 28 Envi-ron-ment
2 0 1 0 0 3 – – –
Direction Indicator
TCO1 30 Envi-ron-ment
2 0 1 0 0 3 – – Indicates the direction of the vehicle�
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Tachograph Output ShaftSpeed
TCO1 32 Envi-ron-ment
16 0 0�125 0 0 8031�88 rpm – Calculated speed of the transmission output shaft�
Tachograph VehicleSpeed
TCO1 48 Envi-ron-ment
16 0 0�00390625 0 0 250�996 km/h – Speed of the vehicle regi-stered by the tachograph�
ControlByte TPCM 0 MobCa 8 0 1 0 0 255 – VtSig_ Control-Byte
Multiplexor
Connection AbortReason
TPCM 8 MobCa 8 0 1 0 0 255 – – ControlByte = 0xFF (Abort)
NumberOf Packets ThatCanBe Sent
TPCM 8 MobCa 8 0 1 0 0 255 – – ControlByte = 0x11 (CTS)
TotalMessa-geSize
TPCM 8 MobCa 16 0 1 0 0 64255 counts – ControlByte = 0x10 (RTS)
TotalMessage SizeBAM
TPCM 8 MobCa 16 0 1 0 0 64255 counts – ControlByte = 0x20 (BAM)
TotalMessage SizeEoMA
TPCM 8 MobCa 16 0 1 0 0 64255 counts – ControlByte = 0x13 (EoMA)
NextPacket NumberToBe Sent
TPCM 16 MobCa 8 0 1 0 0 255 – – ControlByte = 0x11 (CTS)
TotalNumber OfPackets
TPCM 24 MobCa 8 0 1 0 0 255 – – ControlByte = 0x10 (RTS)
TotalNumber OfPackets BAM
TPCM 24 MobCa 8 0 1 0 0 255 – – ControlByte = 0x20 (BAM)
TotalNumber OfPackets EoMA
TPCM 24 MobCa 8 0 1 0 0 255 – – ControlByte = 0x13 (EoMA)
Maximum Number OfPackets
TPCM 32 MobCa 8 0 1 0 0 255 – – ControlByte = 0x10 (RTS)
PGNumber TPCM 40 MobCa 24 0 1 0 0 1�68E+12 – VtSig_ PGNumber
–
Sequence Number
TPDT 0 MobCa 8 0 1 0 0 252 – – –
SteerWheel Angle
VDC2 0 Envi-ron-ment
16 0 0�000976563 -31�374 -31�374 31�374 rad – The main operator`s steering wheel angle (on the steering column, not the actual wheel angle)�
SteerWheel TurnCounter
VDC2 16 Envi-ron-ment
6 0 1 -32 -32 29 turns – Indicates number of steering wheel turns, absolute position or relative position at ignition on�
SteerWheel AngleSensor Type
VDC2 22 Envi-ron-ment
2 0 1 0 0 3 – – –
YawRate VDC2 24 Envi-ron-ment
16 0 0�00012207 -3�92 -3�92 Mrz 92 rad/s – Indicates the ro-tation about the vertical axis�
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Lateral Acceleration
VDC2 40 Envi-ron-ment
16 0 0�000488281 -15�687 -15�687 15�687 m/s² – Indicates a late-ral acceleration of the vehicle�
Longitudinal Acceleration
VDC2 56 Envi-ron-ment
8 0 0�1 -12�5 -12�5 12� Mai m/s² – Indicates the longitudinal acceleration of the vehicle�
PGNof Requsted Information
XFER 0 Envi-ron-ment
24 0 1 0 0 1�68E+12 – – PGN associated with this trans-fer message
LengthOf DataForThe ReportedPGN
XFER 24 Envi-ron-ment
8 0 1 0 0 255 – – Length of data reported with the associated PGN via the Transfer PGN�
ShrtNameOf Actual Reporting Device
XFER 32 Envi-ron-ment
32 0 1 0 0 0 (232 -1) – Short name of reporting device of the requested PGN via the Transfer PGN�
7.2.2 Inputs
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Wheel_Ba-sedVehicle-Speed
EBS21 16 16 Unsigned 0�00390625 0 0 251 km/ –
Actual speed of the vehicle (positive value for forward and backward speed) calculated as the average of the wheel speeds of one axle influenced by slip and filtered by a frequency range of 5 Hz to 20 Hz�
DirectionIndi-cator TCO1 30 2 Unsigned 1 0 0 3 – – Indicates the direction of the vehicle�
YawRate VDC2 24 16 Unsigned 0�00012207 -3�92 -3�92 3�92 rad/s – Indicates the rotation of the vertical axis�
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7.2.3 Value tablesValue table Code ValueGP2D_Ack_Signal 4 Neg�Ack,data invalid
3 Neg�Ack,too much data, resend
2 Neg�Ack,wrong seq,please resend
1 Neg�Ack�time out, please resend
0 Pos� Ack, data received
Standby_Control 1 Standby mode on
0 Standby mode off
ExtrCalib_2D_delta_tz 255 Error
254 Out of upper bound
253 Out of lower bound
ExtrCalib_2D_delta_ty 255 Error
254 Out of upper bound
253 Out of lower bound
ExtrCalib_2D_delta_tx 255 Error
254 Out of upper bound
253 Out of lower bound
ExtrCalib_2D_rot_z 4095 Error
4094 Out of upper bound
4093 Out of lower bound
ExtrCalib_2D_rot_y 4095 Error
4094 Out of upper bound
4093 Out of lower bound
ExtrCalib_2D_rot_x 4095 Error
4094 Out of upper bound
4093 Out of lower bound
Variant 2 LG
1 OD
0 DI
Blockage_Status 255 Error
254 Not Available
SwCtrl_OpMode 35 SWCTRL_STANDBY
49 SWCTRL_EMERGENCY
34 SWCTRL_RUN
33 SWCTRL_LIMITED_RUN
32 SWCTRL_RUN_SUPER_STATE
23 SWCTRL_PARAMETERIZING
21 SWCTRL_WAIT_DSP_BOOTED
20 SWCTRL_SELFTEST
19 SWCTRL_DSP_BOOT
18 SWCTRL_STARTUP
17 SWCTRL_INIT
Obj_0_qvx 6 ]0�95��1�0]
5 ]0�90��0�95]
4 ]0�85��0�90]
3 ]0�75��0�85]
2 ]0�50��0�75]
1 ]0�25��0�50]
0 [0�00��0�25]
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Value table Code Value
Obj_0_Measured 1 measured in current frame
0 not measured in current frame
Obj_0_ax 31 Error
30 Out of upper bound
29 Out of lower bound
Obj_0_az 15 Error
14 Out of upper bound
13 Out of lower bound
Obj_0_ay 31 Error
30 Out of upper bound
29 Out of lower bound
Obj_0_ep 6 ]0�95��1�0]
5 ]0�90��0�95]
4 ]0�85��0�90]
3 ]0�75��0�85]
2 ]0�50��0�75]
1 ]0�25��0�50]
0 [0�00��0�25]
Obj_0_TrackAge 3 > 25 frames
2 [13��25] frames
1 [3��12] frames
0 [0��2] frames
Obj_0_zMin 2047 Error
2046 Out of upper bound
2045 Out of lower bound
Obj_0_vz 31 Error
30 Out of upper bound
29 Out of lower bound
Obj_0_vy 127 Error
126 Out of upper bound
125 Out of lower bound
Obj_0_vx 127 Error
126 Out of upper bound
125 Out of lower bound
Obj_0_History 1 Object seen
0 Object not seen
Obj_0_qvy 6 ]0�95��1�0]
5 ]0�90��0�95]
4 ]0�85��0�90]
3 ]0�75��0�85]
2 ]0�50��0�75]
1 ]0�25��0�50]
0 [0�00��0�25]
Obj_0_dz 255 Error
254 Out of upper bound
253 Out of lower bound
Obj_0_dy 4095 Error
4094 Out of upper bound
4093 Out of lower bound
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Value table Code Value
Obj_0_y1 8191 Error
8190 Out of upper bound
8189 Out of lower bound
Obj_0_dx 4095 Error
4094 Out of upper bound
4093 Out of lower bound
Obj_0_x1 8191 Error
8190 Out of upper bound
8189 Out of lower bound
CP_ttc 255 Error
254 Out of upper bound
253 Out of lower bound
CP_impact_velocity 511 Error
510 Out of upper bound
509 Out of lower bound
CP_crash_predicted 4 Error
3 crash predicted
2 no crash predicted
1 temporarily not available
0 crash predictor disabled
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8 Appendix: Performance tables8.1 Field of view size
Measuring distance [m] Length [m] Width [m] Center pixel [cm]
1 1�40 0�40 2�19 x 2�52
5 7�00 2�02 10�94 x 12�62
10 14�00 4�04 21�88 x 25�24
20 28�00 8�08 43�76 x 50�48
30 42�00 12�12 65�64 x 75�,72
8.2 PerformanceMeasurement Range
Target type Typical measurement range for object detection on different targets [m]Vehicle (car) 0�25 to 35
Pedestrian 0�25 to 12
Retroreflector (reflective vest) 2 to 55
Accuracy
Value Typical measurement accuracy for object detection (valid for all target types)without vehicle data available on CAN with vehicle data available on CAN
(vehicle velocity and vehicle yaw rate)Distance (x-value)* <0�3 m <0�3 m
Lateral position (y-value) ** <0�4 m <0�4 m
Velocity x *** <1 km/h <0�5 km/h
Velocity y *** <1 km/h <0�5 km/h
Acceleration x *** <0�5 m/s² <0�1 m/s²
Acceleration y *** <0�5 m/s² <0�5 m/s²
Value Typical reproducibility for object detection (1 sigma) (valid for all target types)without vehicle data available on CAN with vehicle data available on CAN
(vehicle velocity and vehicle yaw rate)Distance (x-value)* <0�2 m <0�2 m
Lateral position (y-value) ** <0�2 m <0�2 m
Velocity x *** <1 km/h <0�5 km/h
Velocity y *** <2 km/h <0�5 km/h
Acceleration x *** <0�5 m/s² <0�1 m/s²
Acceleration y *** <1 m/s² <1 m/s²
* Distance accuracy and reproducibility depending on reflectivity and distance to sensor** Lateral position accuracy and reproducibility depending resolution of sensor and distance to sensor*** Data type on Ethernet/CAN may limit accuracy/reproducibility (discretization)
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