8014493/ YDB5/2014-11-25
© SICK AG · Germany · All rights reserved · Subject to change without notice
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3 Object Data
Object data can be transmitted via CAN if the corresponding output flag is enabled in the
sensor.
The ID range is CAN base ID … CAN base ID + 0x7, first and last ID included.
For a base ID 0x500 the range is [0x500, 0x507].
One set of object data consist of:
A list header message
A timestamp message
For each object:
o
A Tracking1 message
o
A Tracking2 message
o
A Class and box1 message
o
A Box2 message
o
A contour header message
o
For each next 1-3 contour points:
A Contour point message
Note: Data encoding is Big Endian format.
3.1 List header: CAN Base ID (e.g. 0x500)
Content
Data area
Data type
Description
Version
byte 0
UINT8
Version of the object data format. This
document describes version 1.
Number of objects byte 1
UINT8
Number of objects transmitted in this
cycle.
View range
estimation
byte 2
UINT8
Estimated maximum sensor view range
on typical vehicles in percent [0,100].
100: full view range
0: low view range
0xFF: invalid (no estimation possible)
Sensor
temperature
byte 3
INT8
Current sensor temperature in °C. 0x80
indicates an invalid value.
Object data info
flags
byte 4
bit field
8 bits
bit 0: Velocity type
0 = absolute velocities,
1 = relative velocities.
bit 1: Bounding boxes
0 = boxes are object boxes (aligned to
object),
1 = boxes are bounding boxes (aligned
to axes of coordinate system).
bits 2…7:
reserved
