8014493/ YDB5/2014-11-25
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6 Ego motion information
Algorithms working in the LD-MRS are designed to use ego motion information if the
sensor is mounted e.g. on a vehicle. The ego motion data is the data from the vehicle,
e.g. ist speed, that is supplied to the sensor.
Generally this data is not mandatory, but data quality from the sensor will increase if
sensor is moving and reliable ego motion information is supplied via CAN. Data update
rate must be at least the scan frequency of the LD-MRS, but may be higher for better
results.
If vehicle motion data is supplied, it must be sent in the predefined CAN messages
specified below.
Note: Data encoding is Big Endian format.
0x303
Data area
Data type
Description
Version
byte 0
UINT8
Set to 2.
Velocity
bytes 1…2 INT16
Veloci
ty in 0.01 m/s. Two’s complement.
Forward: positive values.
0x304
Data area
Data type
Description
Version
byte 0
UINT8
Set to 2.
Cross acceleration
bytes 1…2 INT16
Cross acceleration in 0.001 m/s²
. Two’s
complement. To the left: positive values.
0x305
Data area
Data type
Description
Version
byte 0
UINT8
Set to 2.
Steering wheel
angle
bytes 1…2 INT16
Steering wheel angle in 0.001 rad. Two’s
complement. To the left: positive values.
0x306
Data area
Data type
Description
Version
byte 0
UINT8
Set to 2.
Yaw rate
bytes 1…2 INT16
Yaw rate
in 0.0001 rad/s. Two’s
complement. To the left: positive values.
