ifm Vision Assistant O3M
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14.7 Steering computation
With the "steering computation", the standard output format for recognised line structures is set . The
standard output format is set via CAN and Ethernet and contains, among other things, the following
information:
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Line offset to the reference point
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Line angle to the driving direction
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Colour and height of the line structure
If the device receives CAN input data, the vehicle can be steered via an alternative output and with a
curving command . The curving command describes the direction to which the vehicle is supposed to turn
by putting the point of intersection on a defined radius . It is provided in the format "1/km" .
With "steering angle output computation point" and the speed of the vehicle, a distance is set at which the
vehicle is supposed to intersect the projection of the line direction . With "Min x for steering computation"
and "Max x for steering computation", the distance can be limited .
The higher the value "steering angle output computation point" the greater the damping of the
vehicle behaviour .
14.8 CAN data for vehicle movement
It is possible to supply the device via CAN with movement-related information of the vehicle . With
the movement-related information, the knowledge of vehicle movements improves and thereby the
recognition of line structures .
The device expects cyclic messages that contain the vehicle speed and optionally the yaw rate . The
messages must be J1939 messages and updated at least every 120 ms .