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IFM Electronic O3M151, Руководство по программированию

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O3M151 3D Smart Sensor Object Detection

16

5.3  Collision avoidance for mobile working machines

5.3.1  Introduction

Mobile 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 warning

By 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�

Содержание O3M151

Страница 1: ...Programming Manual Mobile 3D Smart Sensor O3M151 Object Detection 706381 01 04 2016 UK ...

Страница 2: ...tions 14 5 2 3 Parametrisation 14 5 2 4 Relevant output 15 5 2 5 Operating properties and performance 15 5 3 Collision avoidance for mobile working machines 16 5 3 1 Introduction 16 5 3 2 Zone based collision warning 16 5 3 3 Intelligent collision prediction 17 5 3 4 Attachment options 20 5 3 5 Parameterisation 22 5 3 6 Operational extension by the ifm controller 23 6 Parameters 25 7 Interface 30 ...

Страница 3: ...ions Read 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 M...

Страница 4: ...mage 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 wit...

Страница 5: ...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...

Страница 6: ...ults 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...

Страница 7: ...arking 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 prediction The 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 stat...

Страница 8: ...ations 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 ...

Страница 9: ...hing 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 ...

Страница 10: ...onitoring 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 ...

Страница 11: ...ment from above B 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 ...

Страница 12: ...ct 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...

Страница 13: ...ning 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 po...

Страница 14: ...e 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 Mo...

Страница 15: ...rning 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 detec...

Страница 16: ...e 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 warning By 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 ...

Страница 17: ...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 vehicl...

Страница 18: ...nvoy 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 maintain...

Страница 19: ...everity 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...

Страница 20: ...tion 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 ...

Страница 21: ...21 O3M151 3D Smart Sensor Object Detection UK For extension of the monitoring area use multiple Smart Sensors ...

Страница 22: ...lity 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 l...

Страница 23: ...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...

Страница 24: ...O3M151 3D Smart Sensor Object Detection 24 ...

Страница 25: ...ter Slave Ca mera Configuration 0 Standalone camera 1 Master camera 2 Slave camera of group 2 3 Slave camera of group 1 Device Settings Syn chronisation of multiple sensors CANProtocol 0 uint8 1 0 1 0 J1939 1 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 cycl...

Страница 26: ... 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 instruction...

Страница 27: ...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 Ca...

Страница 28: ... 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 fo...

Страница 29: ...rns 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 ...

Страница 30: ...001 Error Register 0x7 ro 1018 Identity Object 0x9 SubIndex 01 Vendor ID is 0x0069666D this is the ID for ifm electronic GmbH is fixed SubIndex 02 Product Code O3M150 0x0020 0010 O3M151 0x0020 0011 O3M251 0x0020 0030 O3M211 0x0020 0031 SubIndex 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...

Страница 31: ...7 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 ...

Страница 32: ... 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...

Страница 33: ...it 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...

Страница 34: ...ries 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 Inh...

Страница 35: ...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...

Страница 36: ...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 ...

Страница 37: ...es 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 Inhi...

Страница 38: ... 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 Inhibi...

Страница 39: ...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 ...

Страница 40: ...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 ...

Страница 41: ... 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 ...

Страница 42: ... 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 ...

Страница 43: ... 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 a...

Страница 44: ...7 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...

Страница 45: ...ies 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 0x...

Страница 46: ...b_ 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...

Страница 47: ... 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 paramet...

Страница 48: ... 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...

Страница 49: ... 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 Convers...

Страница 50: ...r 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 whi...

Страница 51: ..._ 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 E...

Страница 52: ...ion 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...

Страница 53: ...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...

Страница 54: ...ect 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 0...

Страница 55: ... 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 Tim...

Страница 56: ...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 Co...

Страница 57: ...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 Name Message Start bit Length bit Value type Factor Offset Minimum Maximum Unit Value table Comment Wheel_Ba sedVehicle Speed EBS21 16 16 Unsigned 0 00390625 0 0...

Страница 58: ... 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_EMER...

Страница 59: ... 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 ...

Страница 60: ...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 ...

Страница 61: ...ehicle 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 s 0 1 m s Acceleration y 0 5 m s 0 5 m s 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 v...

Страница 62: ...O3M151 3D Smart Sensor Object Detection 62 ...

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