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3 | Using the CAS-M light Information

10 / 28

Collision Avoidance System CAS-M light

Bosch Motorsport

3 Using the CAS-M light Information

3.1 Predefined messages

The system provides predefined CAN-messages with evaluated values for distance and re-

lative speed.

3.1.1 Configuration distance

Object_left/right_dist_range

 defines the distance of the car behind into a color for an LED.

Value

Color

Description

0x0

off

inactive

0x1

green

large distance

0x2

yellow

medium distance

0x4

red

close distance

3.1.2 Configuration relative speed

Object_left/right_approach_spd_range

 defines the relative speed of the car behind into a

blinking frequency for an LED.

Value

LED-Status

Description

0x0

off

inactive

0x1

LED on

low relative speed

0x2

LED flash low frequency

medium relative speed

0x4

LED flash high frequency

high relative speed

3.2 Using raw values

As an alternative to the predefined messages it is possible to use the raw values provided

by the system. Every value is provided for each side (left and right).

Object_left/right_dx

Distance to the car behind [m]

Object_left/right_vx

Relative speed of the car behind [m/s]

Object_left/right_dy

Position of the car behind (relating to the mid axis of the car) [m]

Содержание CAS-M light

Страница 1: ...Collision Avoidance System CAS M light Manual 1 24 01 2019 ...

Страница 2: ...ion 8 2 3 Configuration of the system threshold values 9 3 Using the CAS M light Information 10 3 1 Predefined messages 10 3 1 1 Configuration distance 10 3 1 2 Configuration relative speed 10 3 2 Using raw values 10 4 Available Packages 11 4 1 CAS M light connector 500 kBaud 11 4 2 CAS M light connector 1 MBaud 11 4 3 CAS M light DDU 9 500 kBaud 11 4 4 CAS M light DDU 9 1 MBaud 11 5 Loom Options ...

Страница 3: ...ects are suppressed In large green and medium yellow distance both LEDs left and right are used in paral lel to provide the available information In close red distance a left right determination is done and only the appropriate left or right LED is used to provide information about the object behind the driver All distance and delta speed thresholds based on the physical raw values to control the ...

Страница 4: ...display needed and supplied with 12 V from the supply system on board For the speed calculation of the approaching cars the sensor needs to know the vehicle s speed Pin Designation Description 1 GND Sensor Ground 2 CAN H CAN High 3 CAN L CAN Low 4 Not connected Not connected 5 Not connected Not connected 6 Not connected Not connected 7 Not connected Not connected 8 V Supply voltage for sensor 12 V...

Страница 5: ...500 kBaud or 1 MBaud CAN update rate of Sensor 50 Hz Vehicle Speed Information that needs to be send from the car to the system Message CAN ID Byte order Value type Start bit Length bit Factor Offset Speed 0x616 Intel Unsigned 24 16 0 1 0 Predefined Messages Information that is send from the sensor to the car Message CAN ID Byte order Value type Start bit Length bit Factor Offset Object_left_dist_...

Страница 6: ...12 0 0625 0 Object_left_dy 0x3F3 Intel Signed 24 14 0 015625 0 Object_right_dx 0x3F5 Intel Unsigned 0 12 0 0625 0 Object_right_vx 0x3F5 Intel Signed 12 12 0 0625 0 Object_right_dy 0x3F5 Intel Signed 24 14 0 015625 0 Important note Do not use the messages 0xB9 0x757 or 0x7C1 on the sensor CAN These Messages are not needed but if used the sensor will be affected The sensor sends the additional messa...

Страница 7: ...nting height of 20 cm to 90 cm off the ground will ensure maximum range If a mounting in the vehicle centre line is not possible the offset must be configured via the appropriate CAN message see chapter Configuration of the sensor position 8 The sensor may be mounted flush mounted with the rear fascia It is critical that the radar sensor has an unobstructed or radar transparent view out the rear o...

Страница 8: ...gnment of signed integer values in hex Conversion of negative values into hex with two s complement 10bit Hex value Decimal to hex Physical value Factor 1024 8bit Hex value Decimal to hex Physical value Factor 256 Example for Position X 10Bit value 1m Decimal value 1 0 01 1024 954 Hex value Decimal to hex 954 39C Orientation Description Value Default Connector facing up 1 1 Connector facing down 1...

Страница 9: ...nsigned 16 8 1 0 Speed_medium 0x620 Intel Unsigned 24 8 1 0 Speed high 0x620 Intel Unsigned 32 8 1 0 Distance thresholds Description Comment Default Distance_Near Threshold between near range and medium range m 12 Distance_Medium Threshold between medium range and far range 30 Distance_Far Threshold between far range and out of range no warning 75 Speed thresholds Description Comment Default Speed...

Страница 10: ... 2 Configuration relative speed Object_left right_approach_spd_range defines the relative speed of the car behind into a blinking frequency for an LED Value LED Status Description 0x0 off inactive 0x1 LED on low relative speed 0x2 LED flash low frequency medium relative speed 0x4 LED flash high frequency high relative speed 3 2 Using raw values As an alternative to the predefined messages it is po...

Страница 11: ...t system can be ordered without loom and display The system includes CAS M light sensor with 1 MBaud CAN speed mating connector Part number F 02U V02 220 01 4 3 CAS M light DDU 9 500 kBaud The CAS M light system can be ordered directly with a DDU 9 The set includes CAS M light sensor with 500 kBaud CAN speed mating connector DDU 9 Part number F 02U V02 591 01 4 4 CAS M light DDU 9 1 MBaud The CAS ...

Страница 12: ...nd loom can be used to connect the sensor to an existing display unit The loom is compatible with the CAS M light packages F 02U V02 021 01 and F 02U V02 220 01 The loom includes Sensor matting connector F 037 B00 168 01 Removable 120 Ω terminating resistor Open end loom for display unit Part number F 02U V02 105 01 ...

Страница 13: ...6A 1 5 149 36B 1 49 148 36C 1 48 147 36D 1 47 146 36E 1 46 145 36F 1 45 144 370 1 44 143 371 1 43 142 372 1 42 141 373 1 41 140 374 1 4 139 375 1 39 138 376 1 38 137 377 1 37 136 378 1 36 135 379 1 35 134 37A 1 34 133 37B 1 33 132 37C 1 32 131 37D 1 31 130 37E 1 3 129 37F 1 29 128 380 1 28 127 381 1 27 126 382 1 26 125 383 1 25 124 384 1 24 123 385 1 23 122 386 1 22 121 387 1 21 ...

Страница 14: ...91 1 11 110 392 1 1 109 393 1 09 108 394 1 08 107 395 1 07 106 396 1 06 105 397 1 05 104 398 1 04 103 399 1 03 102 39A 1 02 101 39B 1 01 100 39C 1 99 39D 0 99 98 39E 0 98 97 39F 0 97 96 3A0 0 96 95 3A1 0 95 94 3A2 0 94 93 3A3 0 93 92 3A4 0 92 91 3A5 0 91 90 3A6 0 9 89 3A7 0 89 88 3A8 0 88 87 3A9 0 87 86 3AA 0 86 85 3AB 0 85 84 3AC 0 84 83 3AD 0 83 82 3AE 0 82 81 3AF 0 81 80 3B0 0 8 79 3B1 0 79 ...

Страница 15: ...B 0 69 68 3BC 0 68 67 3BD 0 67 66 3BE 0 66 65 3BF 0 65 64 3C0 0 64 63 3C1 0 63 62 3C2 0 62 61 3C3 0 61 60 3C4 0 6 59 3C5 0 59 58 3C6 0 58 57 3C7 0 57 56 3C8 0 56 55 3C9 0 55 54 3CA 0 54 53 3CB 0 53 52 3CC 0 52 51 3CD 0 51 50 3CE 0 5 49 3CF 0 49 48 3D0 0 48 47 3D1 0 47 46 3D2 0 46 45 3D3 0 45 44 3D4 0 44 43 3D5 0 43 42 3D6 0 42 41 3D7 0 41 40 3D8 0 4 39 3D9 0 39 38 3DA 0 38 37 3DB 0 37 ...

Страница 16: ...3E4 0 28 27 3E5 0 27 26 3E6 0 26 25 3E7 0 25 24 3E8 0 24 23 3E9 0 23 22 3EA 0 22 21 3EB 0 21 20 3EC 0 2 19 3ED 0 19 18 3EE 0 18 17 3EF 0 17 16 3F0 0 16 15 3F1 0 15 14 3F2 0 14 13 3F3 0 13 12 3F4 0 12 11 3F5 0 11 10 3F6 0 1 9 3F7 0 09 8 3F8 0 08 7 3F9 0 07 6 3FA 0 06 5 3FB 0 05 4 3FC 0 04 3 3FD 0 03 2 3FE 0 02 1 3FF 0 01 0 0 0 1 1 0 01 2 2 0 02 3 3 0 03 4 4 0 04 5 5 0 05 ...

Страница 17: ...Hex Physical m 128 80 1 28 127 81 1 27 126 82 1 26 125 83 1 25 124 84 1 24 123 85 1 23 122 86 1 22 121 87 1 21 120 88 1 2 119 89 1 19 118 8A 1 18 117 8B 1 17 116 8C 1 16 115 8D 1 15 114 8E 1 14 113 8F 1 13 112 90 1 12 111 91 1 11 110 92 1 1 109 93 1 09 108 94 1 08 107 95 1 07 106 96 1 06 105 97 1 05 104 98 1 04 103 99 1 03 102 9A 1 02 101 9B 1 01 100 9C 1 99 9D 0 99 ...

Страница 18: ...A6 0 9 89 A7 0 89 88 A8 0 88 87 A9 0 87 86 AA 0 86 85 AB 0 85 84 AC 0 84 83 AD 0 83 82 AE 0 82 81 AF 0 81 80 B0 0 8 79 B1 0 79 78 B2 0 78 77 B3 0 77 76 B4 0 76 75 B5 0 75 74 B6 0 74 73 B7 0 73 72 B8 0 72 71 B9 0 71 70 BA 0 7 69 BB 0 69 68 BC 0 68 67 BD 0 67 66 BE 0 66 65 BF 0 65 64 C0 0 64 63 C1 0 63 62 C2 0 62 61 C3 0 61 60 C4 0 6 59 C5 0 59 58 C6 0 58 57 C7 0 57 ...

Страница 19: ...0 0 48 47 D1 0 47 46 D2 0 46 45 D3 0 45 44 D4 0 44 43 D5 0 43 42 D6 0 42 41 D7 0 41 40 D8 0 4 39 D9 0 39 38 DA 0 38 37 DB 0 37 36 DC 0 36 35 DD 0 35 34 DE 0 34 33 DF 0 33 32 E0 0 32 31 E1 0 31 30 E2 0 3 29 E3 0 29 28 E4 0 28 27 E5 0 27 26 E6 0 26 25 E7 0 25 24 E8 0 24 23 E9 0 23 22 EA 0 22 21 EB 0 21 20 EC 0 2 19 ED 0 19 18 EE 0 18 17 EF 0 17 16 F0 0 16 15 F1 0 15 ...

Страница 20: ... 7 F9 0 07 6 FA 0 06 5 FB 0 05 4 FC 0 04 3 FD 0 03 2 FE 0 02 1 FF 0 01 0 0 0 1 1 0 01 2 2 0 02 3 3 0 03 4 4 0 04 5 5 0 05 6 6 0 06 7 7 0 07 8 8 0 08 9 9 0 09 10 A 0 1 11 B 0 11 12 C 0 12 13 D 0 13 14 E 0 14 15 F 0 15 16 10 0 16 17 11 0 17 18 12 0 18 19 13 0 19 20 14 0 2 21 15 0 21 22 16 0 22 23 17 0 23 24 18 0 24 25 19 0 25 26 1A 0 26 27 1B 0 27 ...

Страница 21: ...4 0 36 37 25 0 37 38 26 0 38 39 27 0 39 40 28 0 4 41 29 0 41 42 2A 0 42 43 2B 0 43 44 2C 0 44 45 2D 0 45 46 2E 0 46 47 2F 0 47 48 30 0 48 49 31 0 49 50 32 0 5 51 33 0 51 52 34 0 52 53 35 0 53 54 36 0 54 55 37 0 55 56 38 0 56 57 39 0 57 58 3A 0 58 59 3B 0 59 60 3C 0 6 61 3D 0 61 62 3E 0 62 63 3F 0 63 64 40 0 64 65 41 0 65 66 42 0 66 67 43 0 67 68 44 0 68 69 45 0 69 ...

Страница 22: ...8 79 4F 0 79 80 50 0 8 81 51 0 81 82 52 0 82 83 53 0 83 84 54 0 84 85 55 0 85 86 56 0 86 87 57 0 87 88 58 0 88 89 59 0 89 90 5A 0 9 91 5B 0 91 92 5C 0 92 93 5D 0 93 94 5E 0 94 95 5F 0 95 96 60 0 96 97 61 0 97 98 62 0 98 99 63 0 99 100 64 1 101 65 1 01 102 66 1 02 103 67 1 03 104 68 1 04 105 69 1 05 106 6A 1 06 107 6B 1 07 108 6C 1 08 109 6D 1 09 110 6E 1 1 111 6F 1 11 ...

Страница 23: ...lision Avoidance System CAS M light 23 28 112 70 1 12 113 71 1 13 114 72 1 14 115 73 1 15 116 74 1 16 117 75 1 17 118 76 1 18 119 77 1 19 120 78 1 2 121 79 1 21 122 7A 1 22 123 7B 1 23 124 7C 1 24 125 7D 1 25 126 7E 1 26 127 7F 1 27 ...

Страница 24: ...015 Arnold 03 6 CAN speed start bit 27 03 2015 Arnold 04 6 CAN baud rate 30 03 2015 Arnold 05 8 Position Z 16 04 2015 Arnold 06 6 12 14 1 MBaud version new part no Loom options 11 05 2015 Schick 07 7 Byte order vehicle speed 29 06 2015 Schick 08 1 4 CAN update rate 02 10 2015 Schick 09 1 4 2 2 2 3 Date values CAN cycles CAN messages 13 10 2015 Schick 10 2 2 4 5 6 Hex values for signed integer DDU ...

Страница 25: ...Bosch Motorsport Collision Avoidance System CAS M light 25 28 ...

Страница 26: ...26 28 Collision Avoidance System CAS M light Bosch Motorsport ...

Страница 27: ...Bosch Motorsport Collision Avoidance System CAS M light 27 28 ...

Страница 28: ...Bosch Engineering GmbH Motorsport Robert Bosch Allee 1 74232 Abstatt Germany www bosch motorsport com ...

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