Programming Manual UK O3M151 Object Detection · Object detection Reflector tracking Collision warning, based on object positions Collision prediction, based on the positions and

Programming Manual Mobile 3D Smart Sensor

O3M151

Object Detection

7063

81 /

01

04 /

2016

UK

O3M151 3D Smart Sensor Object Detection

2

Contents1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3

1�1 Symbols used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�3 Other applicable documents� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3

2 Smart Sensor � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�2 Measuring principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �52�3 Operating check � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �62�4 Installation position � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6

3 Object Detection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�2 Possible applications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �8

4 Commissioning � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9

5 Application examples � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1 Area monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �10

5�1�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �105�1�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �125�1�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �135�1�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13

5�2 Reflector tracking of marked driverless vehicles � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �145�2�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �155�2�5 Operating properties and performance� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �15

5�3 Collision avoidance for mobile working machines � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�2 Zone-based collision warning� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �165�3�3 Intelligent collision prediction � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �175�3�4 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �205�3�5 Parameterisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �225�3�6 Operational extension by the ifm controller � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �23

6 Parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �25

7 Interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �307�1 CANopen � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �307�2 SAE J1939 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �46

7�2�1 Outputs� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �467�2�2 Inputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �577�2�3 Value tables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �58

8 Appendix: Performance tables � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �618�1 Field of view size � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �618�2 Performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �61

This document is the original manual�

Licences and Registered TrademarksMicrosoft®, Windows®, Windows XP®, Windows Vista® and Windows 7® are registered trademarks of the Microsoft Corporation� All trademarks and company names are subject to the copyright of the respective companies�

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1 About these instructionsThese instructions explain the 3D O3M151 Smart Sensor's function Object Detection�

For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and the ifm Vision Assistant Programming Manual (→ "1�3 Other applicable documents")

1.1 Symbols used

► Instruction> Reaction, result→ Cross-reference

Important note Failure to observe can result in malfunctions or faults�Information Additional note

1.2 Safety instructionsRead 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 ManualOperation instruction of the PC operating program ifm Vision Assistant for carrying out a program update and changing parameters

706384

Quick Guide Quick guide on operating the O3M15x sensor 80222723

The software and documents are available on the ifm homepage in the Download area (→ www.ifm.com → my ifm → Download).


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2 Smart Sensor2.1 Functions

The O3M151 Smart Sensor is an optical system which measures the distance between the sensor and the next surface� An additional illumination unit illuminates the scene and the sensor process the light reflected by the surface�

The Smart Sensor is optimised and matched to requirements and needs of mobile machines� It is intend-ed for use in outdoors and for difficult ambient light situations�

The principle is based on PMD technology for outputting 3D image 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, with via CANopen or SAE J 1939 (→ "7 Interface")

The Basic Function with functions such as measurement of minimum, maximum and average distance are available for simple distance tasks�

The Object Detection function provides for automatic object detection of up to 20 objects� This function can, for example, be used as a collision warning�

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2.2 Measuring principleThe device measures according to the light runtime method based on a phase measurement with modu-lated light�

Based on this principle, the following points must be taken into account during the measurements:

● Clean sensor window

– Cleanliness is a basis for the reliable operation of optical sensors� Dirt or liquids reduce the light transmission and cause light scatter� This effect can affect the resolution and the measuring range of the sensor system�

– Water droplets on the sensor glass can lead to unclear detection of the scene� The objects are de-tected as larger than they are in reality�

► Installation in areas of the system which become heavily soiled must be avoided�

► Keep sensor 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 of the object to be detected�

– Due to the optical measuring principle the system performance can be considerably increased by using reflective materials (Factor 3)�

● Clear in immediate vicinity

– Objects in the immediate vicinity (1 m distance) can falsify the measured values of the sensor�

– The wall on which the sensor is mounted should not be within the sensor area�

► Keep the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached parts clear�

sensorO3M15x

illuminationunit

O3M950sensor

O3M15xillumination

unit

O3M950


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2.3 Operating checkWith an optical system, detection faults can occur in case of poor visibility (e�g� in heavy fog, heavy dust, very heavy snowfall)� The O3M151 Smart Sensor is equipped with sensory fault detection and generates a message when faults occur�

● the "Blockage Detection" function actively detects relevant soiling, condensation on or icing-up of the sensor; (This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to activate this function later in a firmware update�)

● The "Diffuse Scene" function actively detects diffuse faults, 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 Sensor� In addition, various application examples on a CODESYS basis are also available (→ www.ifm.com → my ifm → Download).

2.4 Installation positionDepending on the application, the following aids are available for positioning the O3M151 Smart Sensor:

● Calculation tool for calculating the detection range

● ifm Vision Assistant operating software

● Technical data with performance and values of detection range (→ Data sheet)

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3 Object Detection3.1 Functions

Object detection

Reflector tracking

Collision warning, based on object positions

Collision prediction, based on the positions and movements of the vehicle itself and of objects

Do not attach sensor at a height of under 50 cm�

Object detection3D data are used via a CAN interface for object detection�

Up to 20 independent objects are detected and tracked from the measured distance values� A broad range of information is available for each object:

● Position and orientation in the space (x, y, z)

● Size of the object

● Relative speed of the object

● Qualitative evaluation (quality) of this information

Reflector detectionReflectors can be used for marking 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 predictionThe 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 static monitoring area in front of the vehicle, the O3M151 Smart Sensor triggers a signal which warns the vehicle driver of an impending collision�

Collision prediction differs from collision warning by taking into account the speed and direction of move-ment of the vehicle and the objects� By evaluating the movements of objects relative to those of the ve-hicle (relative movements) the O3M151 Smart Sensor can predict potential collisions with great accuracy�

These functions are available from software version OD 3�4�13�


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3.2 Possible applications ● 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

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4 Commissioning

The O3M151 Smart Sensor can be operated with various functions�

For information on flashing 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�


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5 Application examples5.1 Area monitoring

5.1.1 IntroductionWith static attachment and with attachment on a vehicle, the Object Detection function enables area monitoring of several user-defined areas simultaneously�

Functions:

● Monitoring of an area in front of a door or access point

● Control and/or signalling of opening via the controller based on the CAN sensor signals�

● Attachment to a vehicle and monitoring 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 the CAN signals� CODESYS program examples of various applications are available in the Download area (→ www.ifm.com → my ifm → Download).

5.1.2 Attachment optionsStatic attachment

The Smart Sensor can be attached opposite or above the area to be monitored�

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A

B

z

x

Attachment position of sensor for access monitoring, side view

A: Attachment from aboveB: 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�


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Attachment on vehicleAutomatic object tracking is also suitable for somewhat difficult and/or rough terrain� It recognises the next 20 objects (adjustable) next to the vehicle and passes on information such as the distance, size and posi-tion of each object to the machine controller�

The Object Detection function enables area monitoring by attaching the Smart Sensor to a vehicle�

► Mount the Smart Sensor tilted downward on the vehicle�

► Set the mounting position values in the ifm Vision Assistant operating software�

5.1.3 ParametrisationThere is a separate template/wizard for area monitoring (→ ifm Vision Assistant Programming Manual)

Object 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)�

Frame rate ► Set the frame rate to 33 Hz�

Object detection type ► Set the Object Detection parameter to "Standard Mode"� (Parameter ObjectListCust_objectDetection-Variant=0) If a distinction is to be made between normal objects and objects with retro reflectors, the parameter ObjectListCust_objectDetectionVariant=1 can be set�

► Set noise suppression filter to "Level 2"�

If the load on the CAN bus is too great, it can be reduced with the setting CAN output cycle Modulo (→ Operating instructions).

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5.1.4 Relevant outputThe CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used�

The objects are filtered via the object position for area monitoring� Objects which are located within a criti-cal area result in a reaction, e�g� a warning 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 poorest conditions, this is 50 cm�

● For frontal attachment: The minimum range for the detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�


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5.2 Reflector tracking of marked driverless vehicles

5.2.1 IntroductionThe Object Detection function enables marking and identification of objects with reflectors and their specific tracking�

Driverless transport systems (DTS) in harbour logistics can automatically detect and track other DTSs us-ing the sensor� The distance between the DTSs can be defined depending on the speed difference�

In addition, it is possible to define 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 Modulo (→ Operating instructions).

Frame rate ► Set the frame rate to 33 Hz�

Object detection type ► Set parameter (ObjectListCust_objectDetectionVariant=1) to "Reflector Detection"�

► Set noise suppression filter to "Level 2"�

► Recommended number of objects which are transmitted via CAN: 12

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5.2.4 Relevant outputThe CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller�

The objects are filtered via the area position for area monitoring� Objects which are located within a criti-cal area result in a reaction, e�g� a warning 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 detection of persons in the monitoring area is 1 m to 15 m with normal ambient conditions�

> The relevant speed for this application is typically in the range of ±2 km/h


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5.3 Collision avoidance for mobile working machines

5.3.1 IntroductionMobile 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 warningBy 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�

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5.3.3 Intelligent collision predictionIf the Smart Sensor is supplied cyclically with the vehicle movement data (speed and direction of move-ment, i�e� yaw rate/steering angle) and the vehicle dimensions are parameterised, it can calculate the projected relative positions of the vehicle and the objects� Based on these data the Smart Sensor evalu-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 vehicle is moving very slowly�

– If the vehicle is following a curved path which will take it past an obstacle�

This procedure is particularly appropriate when there are many objects around the vehicle�


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● In contrast to the case described above, objects which are more distant from the vehicle but which are on a collision course because of their high relative speed (i�e� the vector difference between the vehicle speed and the object speed is large), do trigger an early warning signal� In this case the time before a potential collision ("time to contact") may be relatively short� Since the warning signal is trig-gered in good time, the driver is able to take evasive action to avoid a collision�

● Where an object close to the vehicle is moving at a speed similar to that of the vehicle (driving in convoy), 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 maintaining its current steering angle� An object which for instance is at a minimum distance from the vehicle (i�e� tangentially to the current position on the curve) does not trigger a warning signal�

● Objects (pedestrians or vehicles) moving laterally into the projected path of the vehicle do trigger a warning signal� In contrast, objects which are moving laterally quickly enough out of the path of the vehicle, do not trigger a warning signal�

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● Where there is a risk of collision the Smart Sensor gives additional information regarding the indication of a critical situation� This information consists of the estimated time until the collision and the estimat-ed speed of impact (severity 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 the driver� 2� Acoustic warning to the driver� 3� Automatic application of the brakes�


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5.3.4 Attachment options ● Long-range monitoring (for operation at high speeds):

– Angle of view (inclination) almost straight ahead (inclined downwards between 0° and 10°)

– Installation 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 at low speed

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► For extension of the monitoring area, use multiple Smart Sensors�


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5.3.5 ParameterisationThe setting of the general parameters is described in "5�1�3 Parametrisation"�

A collision avoidance set-up wizard ifm vision wizard is available (→ the instruction manual for the ifm vision wizard)�

The following parameters are relevant to the "collision avoidance" application�

Zone-based collision warning

Parameter Description

Size of the warn-ing zone

Zone X start [m] Position and length of the warning zone along the direction of movement in spatial coordinates�Zone X end [m]

Zone Ymin right side [m] Position and width of the warning zone transversely to the direction of move-ment in spatial coordinates�Zone Ymax left side [m]

Sensitivity of collision avoidanceSets the general sensitivity of the function� The higher the sensitivity the earlier an object at the edge of the range or an object of lower quality leads to trigger-ing of a warning�

Inactive time after triggering

Time-based hysteresis for 2 successive triggerings: Depending on the strength of the braking deceleration, several successive individual triggerings may occur during the course of an overall braking proce-dure� These are part of the overall triggering process�

Intelligent collision prediction


Vehicle size

Xmin vehicle rear [m]

Position and size of the vehicle in spatial coordinates�

Xmax vehicle front [m]

Ymin right side [m]

Ymax left side [m]

Zmax vehicle height [m]

Movement information

Availability 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 limit -: reverse

Upper limit [m/s]

Vehicle dynamics

Degree of dynamics with which the vehicle is capable of moving: ● high: High dynamics, e�g� car ● medium: Medium dynamics, e�g� HGV ● low: Low dynamics, e�g� railway vehicles

Medium braking deceleration [m/s2]

Medium braking deceleration for calculation of the time of collision�A high braking deceleration means the vehicle comes to a stand more quickly after the brake is actuated� Therefore the sensor sends out the collision message later�

Anticipated reaction time [s]

Pre-defined delay between triggering the warning and the braking reaction� ● Example when the O3M is used as a Driver Assistant System: The delay is the driver’s typical reaction time from triggering the warning signal to pressing the brake pedal�

● Example when the O3M is used as an automatic controller: The delay is the latency time from triggering the warning signal to the applica-tion of the brake force�

Minimum distanceHazard distance from the vehicle in the direction of movement� Irrespective of the collision prediction, the Smart Sensor triggers a warning signal as soon as an object encroaches within the hazard distance�

Maximum operating range Maximum distance that the sensor monitors, measured from the vehicle in the direction of movement�

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Inactive time after triggering

Time-based hysteresis for 2 successive triggerings: Depending on the strength of the braking deceleration, several successive indi-vidual triggerings may occur during the course of an overall braking procedure� These are part of the overall triggering process�

5.3.6 Operational extension by the ifm controllerA pre-defined application for the O3M Smart Sensor is available with the CR0403 ifm CAN controller in com-bination with the CR0451 basic display� The reception and interpretation of the sensor signals, and also the I/O handling are implemented in the controller� The user can perform the parameterisation at the basic display, supported by a graphic interface�The ifm controller package contains the following functionalities:

● Up to 3 sensors can be connected to a CAN bus (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 collision warning: Division of the monitoring area into 3 monitoring areas

– Intelligent collision prediction: Division into 3 time zones up to the anticipated collision

Warning signals and risk of collision reactions can be configured individually for the individual monitor-ing areas or time zones�

● The position and the size of the monitoring areas, together with the warning signals and collision reac-tions can be set and changed on site at the basic display without any other tools�

Various application examples for the ifm controller package are available on a CODESYS basis� These can be downloaded from www.ifm.com → Service → Download → Industrial Image Editing (O3M15X - librar-ies)�


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6 ParametersThe parameters can be changed and adjusted in function of the use of the sensor�

For details on the settings and parameters of the device (→ ifm Vision Assistant Programming Manual)�

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CycleTime 40 uint8 1 20 40 ms Cycle time of the camera (20ms/30ms/40ms)

Application → Image Set-tings → Frame Rate (value as frequency instead of cycle time)

BeginHeatingTemperature 5 sint8 1 -128 127 °C Temperature at which the Heating is turned on (in °C)

Device Settings → Window Heating On Temperature

StopHeatingTemperature 8 sint8 1 -128 127 °C Temperature at which the Heating is turned off (in °C)

Is set by the system auto-matically as Begin Heating Temperature + 3 °C

CANBaudrate 250000 uint32 1 125000 1000000 bit per second

CAN Baudrate, one of 125kbs 250kbs 500kbs 1000kbs

CAN → Baudrate

MasterSlaveConfiguration 0 uint8 1 0 3 – Master Slave Ca-mera Configuration0 = Standalone camera1 = Master camera2 = Slave camera of group 23 = Slave camera of group 1

Device Settings → Syn-chronisation of multiple sensors

CANProtocol 0 uint8 1 0 1 – 0 = J19391 = 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 cycle can messages are sent

CAN → Output Cycle Modulo

J1939SourceAddress 239 uint8 1 1 253 – J1939 source address

CAN → Source Address

CANMaxNumberOf Objects

8 uint8 1 0 20 objects per cycle

Configuration of maximum number of objects in Object List on CAN

CAN → Max Number of Objects

Ipv4AddressCamera 192 168 1 1 uint8 4 0 255 – Ipv4 address of camera

Ethernet → IP address

SubnetMask 255 255 255 0

uint8 4 0 255 – Subnet mask of camera

Ethernet → Subnet Mask

Ipv4AddressDestination 255 255 255 255

uint8 4 0 255 – Ipc4AddressDesti-nation of the UDP packets

Ethernet → IP Destination

destinationUDPPort 42000 uint16 1 0 65535 – Destination UDP port for the UDP packets

Ethernet → UDP Port

EthernetOutput Configuration

0 uint8 1 0 1 – 0 is standard output, 1 debug output

Monitor → Record Options → Debug Data On/Off


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EthernetLoad Configuration

1 uint8 1 1 4 EthernetOutput only every nth system-cycle

–

DistanceImageOnSwitch 1 uint8 1 0 1 0 is DistanceImage off, 1 is DistanceI-mage on

Ethernet Settings → Distance Image On Switch

VehicleDim_xMin -1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane

See the template "Collision Avoidance" in the ifm-Vision-Assistant

VehicleDim_xMax 1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane


VehicleDim_yMin -1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane


VehicleDim_yMax 1 float32 1 -20 20 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane


VehicleDim_zMax 2 float32 1 0 10 m Vehicle dimension description (in world coordinates), axis-parallel box on the ground plane


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]


PMDExtrCalib_ camCal_transZ

1 float32 1 -10 10 m Extrinsic calibration of camera: Z translation [m]


PMDExtrCalib_ camCal_rotX

-1�570796327 float32 1 -3�141592 3�141592 m Extrinsic calibration of camera: Y rotation [rad]


PMDExtrCalib_ camCal_rotY

1�570796327 float32 1 -3�141592 3�141592 rad Extrinsic calibration of camera: Y rotation [rad]


PMDExtrCalib_ camCal_rotZ

0 float32 1 -3�141592 3�141592 rad Extrinsic calibration of camera: Z rotation [rad]


PMDExtrCalib_IlluCal_transX

0�047 float32 1 -10 10 m Extrinsic calibration of camera: X translation [m]


PMDExtrCalib_IlluCal_transY

0�085 float32 1 -10 10 m Extrinsic calibration of camera: Y translation [m]


PMDExtrCalib_IlluCal_transZ

0�948 float32 1 -10 10 m Extrinsic calibration of camera: Z translation [m]


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PMDExtrCalib_ IlluCalibIsRelative

0 uint8 1 0 1 – Flag indicating whether illu calibration is given relative to camera or absolute in world coordinates�

–

ObjectListCust_ sprayRemovalSensitivity

0 uint8 1 0 3 – Spray Removal customization

Application → Image Set-tings → Spray removal

ObjectListCust_ pixelPlausibilization Thresholds

2 uint8 1 0 2 – Pixel plausibilization customization

Application → Image Set-tings → Noise reduction filter

ObjectListCust_ blockageSensitivity

0 uint8 1 0 3 – Blockage customi-zation

Application → Image Settings → Blockage detection

ObjectListCust_ spatialFilterXMin

-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum X

Application → Image Set-tings → Expert Mode

ObjectListCust_ spatialFilterXMax

100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum X


ObjectListCust_ spatialFilterYMin

-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum Y


ObjectListCust_ spatialFilterYMax

100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum Y


ObjectListCust_ spatialFilterZMin

-100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, minimum Z


ObjectListCust_ spatialFilterZMax

100 float32 1 -100 100 m Spatial filter on the Cartesian coordi-nates, maximum Z


ObjectListCust_ reflectorThresholdValue

0�1 float32 1 0 1 – Value for setting the reflectivity threshold to detect retrore-flectors

Application → Image Settings → Reflector Threshold Value (4 pos-sible values: Max, Med, Low, Min)

ObjectListCust_ autocalibrationMode

0 uint8 1 0 42 – Autocalibration Mode (0: disabled, 1: enabled, 42: test mode)

Application → Object De-tection → Auto Calibration Mode

ObjectListCust_ objectDetectionVariant

1 uint8 1 0 1 – Object detection variant selection (0: normal object list + crash predictor, 1: Retroreflector mode)

Application → Object De-tection → Object Detection Type

ObjectListCust_ ObjectDetectionZMin

0�5 float32 1 -10 10 m Minimum z coor-dinate for normal object detection

Application → Object Detection → Min Height of Detection

ObjectListCust_ ObjectDetectionZMax

2 float32 1 -10 10 m Maximum z coor-dinate for normal object detection

Application → Object Detection → Max Height of Detection


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ObjectListCust_ CrashPredictorSensitivity

1 uint8 1 0 2 – Customization of crash predictor 0: low sensitivity (optimized for low false positive rates)1: medium sensi-tivity2: high sensitivity (optimized for high true positive rates)

See Template "Collision Avoidance" in ifm-Vision-Assistant

ObjectListCust_ EgoMotionDynamics

2 uint8 1 0 2 – Parametrization of the sidestepping capabilities for crash avoidance calculations�0: no sidestepping modelled (e�g�, railway)1: low sidestepping dynamics (e�g�, trucks, 0�1 rad/s)2: high sidestepping dynamics (e�g�, cars, 0�3 rad/s)


ObjectListCust_ accBrake

5 float32 1 0 30 m/s2 Definition of brake deceleration for crash predictor�


ObjectListCust_ delayBrake

1 float32 1 0 3 s Definition of brake delay for crash predictor


ObjectListCust_egoVMin 0 float32 1 -40 40 m/s Definition of mini-mal ego velocity for calculating crash events


ObjectListCust_egoVMax 18 float32 1 -40 40 m/s Definition of maxi-mal ego velocity for calculating crash events


ObjectListCust_ EgoDataMode

2 uint8 1 0 2 – Enables ego velo-city calculation and yaw rate input0: ego velocity and Yaw Rate are taken into account1: only ego velocity2: no data used�


ObjectListCust_ cpDeactivateTime AfterTrigger

10 float32 1 0 60 s Minimal time bet-ween two predicted crashes�

–

ObjectListCust_ cpMaxCrashObject Distance

25 float32 1 0 50 m Maximum distance for relevant objects�

–

ObjectListCust_ cpMinDistAllowed

0�5 float32 1 0 5 m Objects with a distance below this value lead to a pre-dicted collision�

–

ObjectListCust_cpActivate 0 uint8 1 0 1 – Enable flag for colli-sion detection�

–

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AutoCalibParam_numberOfPatterns

0 uint8 1 0 8 – Number of patterns to be used for autocalibration (0,1 : autocalibration disabled)

–

AutoCalibParam_xPattern 0 float32 8 -30 30 m x coordinates [m] of the autocalibration patterns

–

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 1 0 1 – Flag whether 2D image is mirrored in Y direction

–

triggeredStreetCalibration 0 uint8 1 0 1 – Flag indicating if the triggered calibration based on the street plane estimation is active

–


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7 InterfaceThe output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939�

7.1 CANopen

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1000 DeviceType – – 0x7 ro 0 – – Fixed to "0" (Zero) until there is an adequate CA-Nopen profile available

1001 Error Register – – 0x7 ro – – – –

1018 Identity Object – – 0x9 – – – – SubIndex 01: Vendor ID is 0x0069666D, this is the ID for ifm electronic GmbH, is fixedSubIndex 02: Product Code: O3M150: 0x0020 0010 O3M151: 0x0020 0011 O3M251: 0x0020 0030 O3M211: 0x0020 0031SubIndex 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 at runtime with the serial number of the camera�

0 Number of entries 0x7 ro 4 1 4

1 Vendor Id 0x7 ro 0x0069666D 1 4

2 Product Code 0x7 ro 0 1 4

3 Revision number 0x7 ro 0 1 4

4 Serial number 0x7 ro 0 1 4

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1003 Predefined Error Field

– – 0x8 – – – – SubIndex 00: Number of Errors is defined accor-ding the size of the error memory in the diagnosis�

0 Number of Errors 0x7 rw 0 1 4 –

1 Standard Error Field

0x7 ro 0 1 4 –

2 Standard Error Field_2

0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


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 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –


0x7 ro 0 1 4 –

1005 COB ID SYNC – – 0x7 rw 0x00000080 0x00000080 –

1006 Communication Cycle Period

– – 0x7 rw 0x00000000 – – –

1008 Manufacturer Device Name

– – 0x7 const O3D151 – – (No SubIndex) should be filled at runtime with the article number (Artikel-nummer) of the camera� Device is Smart Sensor: O3M151 (OD is the Ob-ject detection variant) Device is 2D3D two box Sensor: O3M251


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1009 Manufacturer Hardware Version

– – 0x7 const – – – (No SubIndex) should be filled at runtime with the HW Version of the camera

100A Manufacturer Software Version

– – 0x7 const – – – (No SubIndex) should be filled at runtime with the Software version number and variant of the camera with <Major>�<Minor>� <Patchlevel> <Variant>

1010 Store Parame-ter Field

– – 0x8 – – – not implemented yet


1 Save all Para-meters

0x7 rw 1 1 4

1011 Restore Default Parameters

– – 0x8 – – – – not implemented yet


1 Restore all Default Parameters

0x7 rw 1 1 4

1014 COB ID EMCY – – 0x7 ro $NODEID+0x80 0x00000080 0x00000100 –

1400 Receive PDO Communication Parameter - SyncMsg

– – 0x9 – – – – Objects 0x1400-0x1402, 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

2 Transmission Type

0x7 rw 254 0x00000080 0xFFFFFFFF

1401 Receive PDO Communication Parameter - EgoMotion

– – 0x9 – – – – –

0 Number of entries 0x7 ro 2 0x02 0x02


2 Transmission Type


1600 Receive PDO Mapping Parameter - SyncMsg

– – 0x9 – – – – –

0 Number of entries 0x7 rw 3 0 3

1 PDO Mapping Entry - Syn-cMsg_Rx

0x7 rw 0x21000220 0 3

1601 Receive PDO Mapping Parameter - EgoMotion

– – 0x9 – – – – –


1 PDO Mapping Entry - Wheel_Ba-sedVehicleSpeed

0x7 rw 0x21300110 0 3

2 PDO Mapping Entry - Driving_Di-rection

0x7 rw 0x21300208 0 3

3 PDO Mapping Entry - Yaw_Rate

0x7 rw 0x21300310 0 3

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1800 Transmit PDO Communication Parameter - SyncMsg

– – 0x9 – – – – Objects 0x1400-0x1402, 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� Object 1800: This TPDO will be sent out depen-ding on the configuration of the parameter KP_CPARType�MasterSlave-Configuration: For the value of KP_CPARType�MasterSlave-Configuration==1 (Sensor is sync master) this object will be sent � For all other values of KP_CPARType�MasterS-laveConfiguration this object will not be sent�



2 Transmission Type


3 Inhibit 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 different COBIDs then the TPDOs must be deactivated, then change the COBID, then activate the TPDOs�



2 Transmission Type



1802 Transmit PDO Communication Parameter - Crash_Predic-tor_Info

– – 0x9 – – – – –


1 COB ID 0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF

2 Transmission Type



1809 Transmit PDO Communication Parameter - Dynamic_2D_Calib_Data

– – 0x9 – – – – –



2 Transmission type 0x7 rw 254 0x00000080 0xFFFFFFFF

3 Inhibit time 0x7 rw 0 0x00000080 0xFFFFFFFF


34

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180A Transmit PDO Communication Parameter - Constant_2D_Calib_Data

– – 0x9 – – – – –



2 Transmission type 0x7 rw 254 0x00000080 0xFFFFFFFF

3 Inhibit time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

1810 Transmit PDO Communication Parameter Ob-ject 0 - Part A

– – 0x9 – – – – –



2 Transmission Type



1811 Transmit PDO Communication Parameter Ob-ject 0 - Part B

– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type



35


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– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type



181A Transmit PDO Communication Parameter Ob-ject 5 - Part A

– – 0x9 – – – – –



2 Transmission Type



181B Transmit PDO Communication Parameter Ob-ject 5 - Part B

– – 0x9 – – – – –



2 Transmission Type



181C Transmit PDO Communication Parameter Ob-ject 6 - Part A

– – 0x9 – – – – –



2 Transmission Type



181D Transmit PDO Communication Parameter Ob-ject 6 - Part B

– – 0x9 – – – – –



2 Transmission Type



181E Transmit PDO Communication Parameter Ob-ject 7 - Part A

– – 0x9 – – – – –



2 Transmission Type

0x7 rw $NODEID+0xC0000000 0x00000080 0xFFFFFFFF



36

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181F Transmit PDO Communication Parameter Ob-ject 7 - Part B

– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type



37


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– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type



182A Transmit PDO Communication Parameter Ob-ject 13 - Part A

– – 0x9 – – – – –



2 Transmission Type



182B Transmit PDO Communication Parameter Ob-ject 13 - Part B

– – 0x9 – – – – –



2 Transmission Type



182C Transmit PDO Communication Parameter Ob-ject 14 - Part A

– – 0x9 – – – – –



2 Transmission Type



182D Transmit PDO Communication Parameter Ob-ject 14 - Part B

– – 0x9 – – – – –



2 Transmission Type



182E Transmit PDO Communication Parameter Ob-ject 15 - Part A

– – 0x9 – – – – –



2 Transmission Type




38

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182F Transmit PDO Communication Parameter Ob-ject 15 - Part B

– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type




– – 0x9 – – – – –



2 Transmission Type



39


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– – 0x9 – – – – –



2 Transmission Type



1A00 Transmit PDO Mapping Parameter - SyncMsg

– – 0x9 – – – – –


1 PDO Mapping Entry - KP_Ma-sterTime_LastTx-TimeStamp

0x7 rw 0x21000120 0 1

1A01 Transmit PDO Mapping Para-meter - Global_Information

– – 0x9 – – – – –


1 PDO Mapping Entry - Global_In-formation

0x7 rw 0x21010138 0 1

1A02 Transmit PDO Mapping Para-meter - Crash_Predictor_Info

– – 0x9 – – – – –


1 PDO Mapping Entry - Crash_Predictor_Info

0x7 rw 0x21020120 0 1

1A09 Transmit PDO Mapping Parameter - Dynamic_2D_Calib_Data

– – 0x9 – – – – –


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 – – – – –


1 PDO Map-ping Entry - Constant_2D_Ca-lib_Data_Mux

0x7 rw 0x210a0108 0 3

2 PDO Map-ping Entry - ConstCalib_2D_muxed

0x7 rw 0x210a0220 0 3

1A10 Transmit PDO Mapping Para-meter Object 0 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21100140 0 1

1A11 Transmit PDO Mapping Para-meter Object 0 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21100240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21110140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21110240 0 1


40

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– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21120140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21120240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21130140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21130240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21140140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21140240 0 1

1A1A Transmit PDO Mapping Para-meter Object 5 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21150140 0 1

1A1B Transmit PDO Mapping Para-meter Object 5 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21150240 0 1

1A1C Transmit PDO Mapping Para-meter Object 6 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21160140 0 1

1A1D Transmit PDO Mapping Para-meter Object 6 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21160240 0 1

1A1E Transmit PDO Mapping Para-meter Object 7 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21170140 0 1

1A1F Transmit PDO Mapping Para-meter Object 7 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21170240 0 1

41


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– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21180140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21180240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21190140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21190240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211a0140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211a0240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211b0140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211b0240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211c0140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211c0240 0 1

1A2A Transmit PDO Mapping Para-meter Object 13 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211d0140 0 1

1A2B Transmit PDO Mapping Para-meter Object 13 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211d0240 0 1


42

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1A2C Transmit PDO Mapping Para-meter Object 14 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211e0140 0 1

1A2D Transmit PDO Mapping Para-meter Object 14 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211e0240 0 1

1A2E Transmit PDO Mapping Para-meter Object 15 - Part A

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211f0140 0 1

1A2F Transmit PDO Mapping Para-meter Object 15 - Part B

– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x211f0240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21200140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21200240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21210140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21210240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21220140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21220240 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21230140 0 1


– – 0x9 – – – – –


1 PDO Mapping Entry

0x7 rw 0x21230240 0 1

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2100 SyncMsg – – 0x9 – – – – –

0 Number of entries 0x7 ro 2 1 1 –

1 SyncMsg 0x7 ro 2 1 1 SyncMaster: send out measured time value of last sent transmission of this signal on CAN

2 SyncMsg_Rx 0x7 wo 2 1 1 Slave: receive SyncMsg message of the Sync-Master

2101 Global_Infor-mation

– – 0x9 – – – – –


1 Global_Informa-tion

0x7 ro 1 1 1 See Message Global_In-formation in J1939

2102 Crash_ Predictor_Info

– – 0x9 – – – – –


1 Crash_Predic-tor_Info

0x7 ro 1 1 1 See message Crash_Predictor in J1939

2109 Dynamic_2D_Calib_Data

– – 0x9 – – – – –


1 Dynamic_2D_Ca-lib_Data

0x7 ro 1 1 1 See message Dynamic_2D_Calib_Data in J1939

210A Constant_2D_Calib_Data

– – 0x9 – – – – –


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 and MoCa_Obj_<0��19>_B


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

2111 Object 1 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2


44

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1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 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


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

211B Object 11 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

211C Object 12 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

211D Object 13 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

211E Object 14 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

211F Object 15 – – 0x9 – – – – See Object 2100


1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2

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1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 0x7 ro 2 2 2



1 Part A 0x7 ro 2 2 2

2 Part B 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 – – – – –


1 Wheel_BasedVe-hicleSpeed

0x7 wo 3 2 2

2 Driving_Direction 0x7 wo 3 2 2

3 Yaw_Rate 0x7 wo 3 2 2

21A0 EDS_File_ Version

– – 0x9 – – – – –


1 EDS_File_Version 0x7 ro 1 1 1


46

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Constant_ 2D_Calib_ Data_Mux

Constant_2D_Calib_Data

0 MobCa 8 0 1 0 0 12 – – Multiplexor

IntrCalib_ 2D_alpha


8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0x4

IntrCalib_ 2D_center_ tx


8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xA

IntrCalib_ 2D_center_ ty


8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xB

IntrCalib_ 2D_center_ tz


8 MobCa 32 0 1 0 0 0 – – Constant_2D_Calib_Data_Mux = 0xC

IntrCalib_ 2D_fx



IntrCalib_ 2D_fy



IntrCalib_ 2D_k1



IntrCalib_ 2D_k2



IntrCalib_ 2D_k3



IntrCalib_ 2D_k4



IntrCalib_ 2D_k5



IntrCalib_ 2D_mx



IntrCalib_ 2D_my



CP_obj_id Crash_Predic-tor_Info

0 MobCa 8 0 1 0 0 255 n/a – object id cau-sing the crash

CP_ttc Crash_Predic-tor_Info

8 MobCa 8 0 0�04 0 0 6 s VtSig_ CP_ttc

time to collision for predicted crash

CP_impact_ velocity

Crash_Predic-tor_Info

16 MobCa 9 0 0�1 0 0 30 m/s VtSig_ CP_im-pact_ velocity

impact velocity for predicted crash

CP_crash_ predicted


25 MobCa 3 0 1 -2 -2 2 enum VtSig_ CP_crash_ predicted

–

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Crash_ Predictor_ Info_cnt


30 MobCa 2 0 1 0 0 2 – – –

Variant DBC_File_Ver-sion

0 MobCa 8 0 1 0 0 0 – VtSig_ Variant

–

Major DBC_File_Ver-sion

8 MobCa 8 0 1 0 0 255 – – –

Minor DBC_File_Ver-sion

16 MobCa 8 0 1 0 0 255 – – –

Protect LampStatus

DM1 0 MobCa 2 0 1 0 0 3 – – This lamp is used to relay trouble code informatio that is reporting a problem with a vehicle system that is most��

Amber Warning LampStatus

DM1 2 MobCa 2 0 1 0 0 3 – – This lamp is used to relay trouble code information that is reporting a problem 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 parameter provides the capability to flash the engine protect lamp (SPN 3041)�

FlashAmber Warning Lamp

DM1 10 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the AWL (SPN 3040)�

FlashRed StopLamp

DM1 12 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the RSL (SPN 3039)�

Flash Malfunc Indicator Lamp

DM1 14 MobCa 2 0 1 0 0 3 – – This parameter provides the capability to flash the MIL (SPN 3038)�

SPN1 DM1 16 MobCa 16 0 1 0 0 65536 – – SPN #1 (Conversion Version 4)


48

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Failure Mode Identifier1

DM1 32 MobCa 5 0 1 0 0 0 – – The FMI defines the type of fai-lure detected in the subsystem identified by an SPN�

SPN1High DM1 37 MobCa 3 0 1 0 0 7 – – SPN #1 (Conversion Version 4)

Occurence Count1

DM1 40 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 Method1

DM1 47 MobCa 1 0 1 0 0 1 – –





Occurence Count2



DM1 79 MobCa 1 0 1 0 0 1 – –





Occurence Count3


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DM1 111 MobCa 1 0 1 0 0 1 – –





Occurence Count4



DM1 143 MobCa 1 0 1 0 0 1 – –





Occurence Count5



DM1 175 MobCa 1 0 1 0 0 1 – – –

ExtrCalib_ 2D_rot_x

Dynamic_2D_Calib_Data

0 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_x

–

ExtrCalib_ 2D_delta_tx


12 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_tx

–

ExtrCalib_ 2D_rot_y


20 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_y

–

ExtrCalib_ 2D_delta_ty


32 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_ty

–


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ExtrCalib_ 2D_rot_z


40 MobCa 12 0 0�00174533 -345�575 -345�575 345�575 rad VtSig_ ExtrCalib_ 2D_rot_z

–

ExtrCalib_ 2D_delta_tz


52 MobCa 8 0 0�01 -1�2 -1�2 01� Feb m VtSig_ ExtrCalib_ 2D_del-ta_tz

–

Dynamic_ 2D_Calib_ Data_cnt


62 MobCa 2 0 1 0 0 3 – – –

Vehicle ABSActive

EBS21 0 Envi-ron-ment

2 0 1 0 0 1 – – Signal indica-ting the ABS is active/passive�

Vehicle Retarder CtrlActive


2 0 1 0 0 3 – – This signal indi-cates the active/passive state in all cases when the installed re-tarder is applied by the driver’s demand or by other systems (brakes)�

Vehicle ServiceBrake Active


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


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 which indicates that Vehicle Dy-namic Control (VDC) is active/passive�

SupplyLine Braking Request


2 0 1 0 0 1 – – Signal indica-ting the trailer is requesting to be braked by the commercial vehicle by me-ans of bleeding the pneumatic supply line�

Wheel_ Based VehicleSpeed


16 0 0�00390625 0 0 251 km/ – Actual speed of the vehicle (positive value for forward and backward speed) calcu-lated as the average of the wheel speeds of one axle influenced by slip and filtered by a frequency range of 5 Hz to 20 Hz�

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Actual Retarder PercTorque


8 0 1 -125 -125 125 % – Actual torque of the retarder as negative percentage of maximum�

WheelSpeed DiffMainAxle


16 0 0�00390625 -125 -125 125 km/h – Difference between the wheel speed at the right side and and the left side of the main axle�

GLOB_ master_time

Global_Informa-tion

0 MobCa 32 0 1 0 0 4�29E+14 µs –

GLOB_ sensor_ available

Global_Informa-tion

32 MobCa 8 0 1 0 0 255 bit mask

– BIT_INTERFE-RENCE_DE-TECTED (1u) BIT_SPRAY_DETECTION (2u) BIT_TRA-CKING_ER-ROR (4u) BIT_INVALID_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 Envi-ron-ment

4 0 1 0 0 3 – VtSig_ FlowStatus

ProtocolCtrlIn-formation = 0x3 (Flow control )

SingleFrame DataLength

ISO15765_Funct 0 Envi-ron-ment

4 0 1 0 0 7 Byte – ProtocolCtrlIn-formation = 0x0 (Single frame)

SN ISO15765_Funct 0 Envi-ron-ment

4 0 1 0 0 15 – – ProtocolCtrlIn-formation = 0x2 (Consecutive frame)

ProtocolCtrl Information


4 0 1 0 0 3 – VtSig_ Protocol Ctrl Information

Multiplexor

BlockSize ISO15765_Funct 8 Envi-ron-ment

8 0 1 0 0 255 – – ProtocolCtrlIn-formation = 0x3 (Flow control )


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FirstFrame DataLength


12 0 1 0 0 4095 Byte – ProtocolCtrlIn-formation = 0x1 (First frame)

Separation Time


8 0 1 0 0 255 ms – ProtocolCtrlIn-formation = 0x3 (Flow control )

FlowStatus ISO15765_Phys 0 Envi-ron-ment

4 0 1 0 0 3 – VtSig_ FlowStatus

ProtocolCtrlIn-formation = 0x3 (Flow control )

SingleFrame DataLength

ISO15765_Phys 0 Envi-ron-ment

4 0 1 0 0 7 Byte – ProtocolCtrlIn-formation = 0x0 (Single frame)

SN ISO15765_Phys 0 Envi-ron-ment

4 0 1 0 0 15 – – ProtocolCtrlIn-formation = 0x2 (Consecutive frame)

ProtocolCtrl Information


4 0 1 0 0 3 – VtSig_ ProtocolC-trl Information

Multiplexor

BlockSize ISO15765_Phys 8 Envi-ron-ment

8 0 1 0 0 255 – – ProtocolCtrlIn-formation = 0x3 (Flow control )

FirstFrame DataLength


12 0 1 0 0 4095 Byte – ProtocolCtrlIn-formation = 0x1 (First frame)

Separation Time


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/s VtSig_ Obj_0_vy

relative velocity of object, y direction

Obj_0_Measured

MoCa_Obj_0_A 15 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_0_ Measured

Flag indica-ting that this object has been measured in actual frame

Obj_0_ay MoCa_Obj_0_A 16 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_0_ay

relative accele-ration of object, y direction

Obj_0_ep MoCa_Obj_0_A 21 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_0_ep

existence pro-bability

Obj_0_ax MoCa_Obj_0_A 24 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_0_ax

relative accele-ration of object, x direction

Obj_0_qvx MoCa_Obj_0_A 29 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_0_qvx

quality of vx signal

Obj_0_az MoCa_Obj_0_A 32 MobCa 4 0 1 -5 -5 5 m/s2 VtSig_ Obj_0_az

relative accele-ration of object, z direction

Obj_0_Tra-ckAge

MoCa_Obj_0_A 36 MobCa 2 0 1 0 0 3 enum VtSig_ Obj_0_ TrackAge

Age of track

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Obj_0_Id MoCa_Obj_0_A 38 MobCa 8 0 1 0 0 255 n/a id of object

Obj_0_zMin MoCa_Obj_0_A 46 MobCa 11 0 0�02 -10 -10 30 m VtSig_ Obj_0_zMin

minimum z coordinate of object

Obj_0_vz MoCa_Obj_0_A 57 MobCa 5 0 0�5 -6 -6 6 m/s VtSig_ Obj_0_vz

relative velocity of object, z direction

Obj_0_A_ cnt

MoCa_Obj_0_A 62 MobCa 2 0 1 0 0 3 – – Obj 0 part A message counter

Obj_0_dz MoCa_Obj_0_B 0 MobCa 8 0 0�02 0 0 5 m VtSig_ Obj_0_dz

maximum z coordinate of object (zMax = zMin + dz, dz = zMax - zMin)

Obj_0_dy MoCa_Obj_0_B 8 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_0_dy

delta value of y coordinate of object's second point (y2 = y1 + dy, dy = y2 - y1)

Obj_0_dx MoCa_Obj_0_B 20 MobCa 12 0 0�02 -40 -40 40 m VtSig_ Obj_0_dx

delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)

Obj_0_x1 MoCa_Obj_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 on bus

Obj_0_B_cnt MoCa_Obj_0_B 62 MobCa 2 0 1 0 0 3 – – Obj 0 part B message counter

repeats until message MoCa_Obj_19_A

Obj_19_vx MoCa_Obj_19_A 0 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_19_vx

relative velocity of object, x direction

Obj_19_ Type

MoCa_Obj_19_A 7 MobCa 1 0 1 0 0 1 n/a – Type identifier of the object - 0: normal object - 1: retroreflec-tor object

Obj_19_vy MoCa_Obj_19_A 8 MobCa 7 0 0�5 -30 -30 30 m/s VtSig_ Obj_19_vy

relative velocity of object, y direction

Obj_19_Measured

MoCa_Obj_19_A 15 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_19_ Measured

Flag indica-ting that this object has been measured in actual frame

Obj_19_ay MoCa_Obj_19_A 16 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_19_ay

relative accele-ration of object, y direction


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Obj_19_ep MoCa_Obj_19_A 21 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_ep

existence pro-bability

Obj_19_ax MoCa_Obj_19_A 24 MobCa 5 0 1 -10 -10 10 m/s2 VtSig_ Obj_19_ax

relative accele-ration of object, x direction

Obj_19_qvx MoCa_Obj_19_A 29 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_qvx

quality of vx signal

Obj_19_az MoCa_Obj_19_A 32 MobCa 4 0 1 -5 -5 5 m/s2 VtSig_ Obj_19_az

relative accele-ration of object, z direction

Obj_19_ TrackAge

MoCa_Obj_19_A 36 MobCa 2 0 1 0 0 3 enum VtSig_ Obj_19_ TrackAge

Age of track

Obj_19_Id MoCa_Obj_19_A 38 MobCa 8 0 1 0 0 255 n/a – id of object

Obj_19_ zMin

MoCa_Obj_19_A 46 MobCa 11 0 0�02 -10 -10 30 m VtSig_ Obj_19_zMin

minimum z coordinate of object

Obj_19_vz MoCa_Obj_19_A 57 MobCa 5 0 0�5 -6 -6 6 m/s VtSig_ Obj_19_vz

relative velocity of object, 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�02 -40 -40 40 m VtSig_ Obj_19_dx

delta value of x coordinate of object's second point (x2 = x1 + dx, dx = x2 - x1)

Obj_19_x1 MoCa_Obj_19_B 32 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_19_x1

x coordinate of object's first point

Obj_19_y1 MoCa_Obj_19_B 45 MobCa 13 0 0�02 -80 -80 80 m VtSig_ Obj_19_y1

y coordinate of object's first point

Obj_19_qvy MoCa_Obj_19_B 58 MobCa 3 0 1 0 0 6 enum VtSig_ Obj_19_qvy

quality of vy signal

Obj_19_ History

MoCa_Obj_19_B 61 MobCa 1 0 1 0 0 1 n/a VtSig_ Obj_19_ History

Flag indicating that this object has been seen on bus

Obj_19_B_ cnt

MoCa_Obj_19_B 62 MobCa 2 0 1 0 0 3 – – Obj 19 part B message counter

Parameter Group Number

RQST 0 Envi-ron-ment

24 0 1 0 0 1�68E+12 – – PGN which is requested by Request2 message

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Parameter Group Number

RQST2 0 Envi-ron-ment

24 0 1 0 0 1�68E+12 – – PGN which is requested by Request2 message

UseTransfer Mode

RQST2 24 Envi-ron-ment

2 0 1 0 0 3 – – Requester is to respond via the Transfer PGN

Standby_ Control

Standby_Control 0 Envi-ron-ment

1 0 1 0 0 1 – VtSig_ Standby_ Control

–

Mastertime_LastTxTime Stamp

SyncMsg 0 MobCa 32 0 1 0 0 4�29E+14 us – –

Driver1 Working State

TCO1 0 Envi-ron-ment

3 0 1 0 0 7 – – State of work of the driver�

Driver2 Working State


3 0 1 0 0 7 – – State of work of the driver�

Drive Recognize


2 0 1 0 0 3 – – Indicates whether motion of the vehicle is detected or not�

Driver1 TimeRelated States


4 0 1 0 0 15 – – Indicates if the driver approaches or exceeds working time limits (or other limits)�

DriverCard Driver1


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 TimeRelated States


4 0 1 0 0 15 – – Indicates if the driver approaches or exceeds working time limits (or other limits)�

DriverCard Driver2


2 0 1 0 0 3 – – –

System Event


2 0 1 0 0 3 – – Indicates that a tachograph event has occurred�

Handling Information


2 0 1 0 0 3 – – Indicates that handling information is present�

Tachograph Performance


2 0 1 0 0 3 – – –

Direction Indicator


2 0 1 0 0 3 – – Indicates the direction of the vehicle�


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Tachograph Output ShaftSpeed


16 0 0�125 0 0 8031�88 rpm – Calculated speed of the transmission output shaft�

Tachograph VehicleSpeed


16 0 0�00390625 0 0 250�996 km/h – Speed of the vehicle regi-stered by the tachograph�

ControlByte TPCM 0 MobCa 8 0 1 0 0 255 – VtSig_ Control-Byte

Multiplexor

Connection AbortReason

TPCM 8 MobCa 8 0 1 0 0 255 – – ControlByte = 0xFF (Abort)

NumberOf Packets ThatCanBe Sent

TPCM 8 MobCa 8 0 1 0 0 255 – – ControlByte = 0x11 (CTS)

TotalMessa-geSize

TPCM 8 MobCa 16 0 1 0 0 64255 counts – ControlByte = 0x10 (RTS)

TotalMessage SizeBAM

TPCM 8 MobCa 16 0 1 0 0 64255 counts – ControlByte = 0x20 (BAM)

TotalMessage SizeEoMA

TPCM 8 MobCa 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 – – ControlByte = 0x10 (RTS)

PGNumber TPCM 40 MobCa 24 0 1 0 0 1�68E+12 – VtSig_ PGNumber

–

Sequence Number

TPDT 0 MobCa 8 0 1 0 0 252 – – –

SteerWheel Angle

VDC2 0 Envi-ron-ment

16 0 0�000976563 -31�374 -31�374 31�374 rad – The main operator`s steering wheel angle (on the steering column, not the actual wheel angle)�

SteerWheel TurnCounter


6 0 1 -32 -32 29 turns – Indicates number of steering wheel turns, absolute position or relative position at ignition on�

SteerWheel AngleSensor Type


2 0 1 0 0 3 – – –

YawRate VDC2 24 Envi-ron-ment

16 0 0�00012207 -3�92 -3�92 Mrz 92 rad/s – Indicates the ro-tation about the vertical axis�

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Lateral Acceleration


16 0 0�000488281 -15�687 -15�687 15�687 m/s² – Indicates a late-ral acceleration of the vehicle�

Longitudinal Acceleration


8 0 0�1 -12�5 -12�5 12� Mai m/s² – Indicates the longitudinal acceleration of the vehicle�

PGNof Requsted Information

XFER 0 Envi-ron-ment

24 0 1 0 0 1�68E+12 – – PGN associated with this trans-fer message

LengthOf DataForThe ReportedPGN


8 0 1 0 0 255 – – Length of data reported with the associated PGN via the Transfer PGN�

ShrtNameOf Actual Reporting Device


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

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Wheel_Ba-sedVehicle-Speed

EBS21 16 16 Unsigned 0�00390625 0 0 251 km/ –

Actual speed of the vehicle (positive value for forward and backward speed) calculated as the average of the wheel speeds of one axle influenced by slip and filtered by a frequency range of 5 Hz to 20 Hz�

DirectionIndi-cator TCO1 30 2 Unsigned 1 0 0 3 – – Indicates the direction of the vehicle�

YawRate VDC2 24 16 Unsigned 0�00012207 -3�92 -3�92 3�92 rad/s – Indicates the rotation of the vertical axis�


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7.2.3 Value tablesValue table Code ValueGP2D_Ack_Signal 4 Neg�Ack,data invalid

3 Neg�Ack,too much data, resend

2 Neg�Ack,wrong seq,please resend

1 Neg�Ack�time out, please resend

0 Pos� Ack, data received

Standby_Control 1 Standby mode on

0 Standby mode off

ExtrCalib_2D_delta_tz 255 Error

254 Out of upper bound

253 Out of lower bound

ExtrCalib_2D_delta_ty 255 Error



ExtrCalib_2D_delta_tx 255 Error



ExtrCalib_2D_rot_z 4095 Error



ExtrCalib_2D_rot_y 4095 Error



ExtrCalib_2D_rot_x 4095 Error



Variant 2 LG

1 OD

0 DI

Blockage_Status 255 Error

254 Not Available

SwCtrl_OpMode 35 SWCTRL_STANDBY

49 SWCTRL_EMERGENCY

34 SWCTRL_RUN

33 SWCTRL_LIMITED_RUN

32 SWCTRL_RUN_SUPER_STATE

23 SWCTRL_PARAMETERIZING

21 SWCTRL_WAIT_DSP_BOOTED

20 SWCTRL_SELFTEST

19 SWCTRL_DSP_BOOT

18 SWCTRL_STARTUP

17 SWCTRL_INIT

Obj_0_qvx 6 ]0�95��1�0]

5 ]0�90��0�95]

4 ]0�85��0�90]

3 ]0�75��0�85]

2 ]0�50��0�75]

1 ]0�25��0�50]

0 [0�00��0�25]

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Value table Code Value

Obj_0_Measured 1 measured in current frame

0 not measured in current frame

Obj_0_ax 31 Error



Obj_0_az 15 Error



Obj_0_ay 31 Error



Obj_0_ep 6 ]0�95��1�0]

5 ]0�90��0�95]

4 ]0�85��0�90]

3 ]0�75��0�85]

2 ]0�50��0�75]

1 ]0�25��0�50]

0 [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



Obj_0_vz 31 Error



Obj_0_vy 127 Error



Obj_0_vx 127 Error



Obj_0_History 1 Object seen

0 Object not seen

Obj_0_qvy 6 ]0�95��1�0]

5 ]0�90��0�95]

4 ]0�85��0�90]

3 ]0�75��0�85]

2 ]0�50��0�75]

1 ]0�25��0�50]

0 [0�00��0�25]

Obj_0_dz 255 Error



Obj_0_dy 4095 Error




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Value table Code Value

Obj_0_y1 8191 Error



Obj_0_dx 4095 Error



Obj_0_x1 8191 Error



CP_ttc 255 Error



CP_impact_velocity 511 Error



CP_crash_predicted 4 Error

3 crash predicted

2 no crash predicted

1 temporarily not available

0 crash predictor disabled

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8 Appendix: Performance tables8.1 Field of view size

Measuring distance [m] Length [m] Width [m] Center pixel [cm]

1 1�40 0�40 2�19 x 2�52

5 7�00 2�02 10�94 x 12�62

10 14�00 4�04 21�88 x 25�24

20 28�00 8�08 43�76 x 50�48

30 42�00 12�12 65�64 x 75�,72

8.2 PerformanceMeasurement Range

Target type Typical measurement range for object detection on different targets [m]Vehicle (car) 0�25 to 35

Pedestrian 0�25 to 12

Retroreflector (reflective vest) 2 to 55

Accuracy

Value Typical measurement accuracy for object detection (valid for all target types)without vehicle data available on CAN with vehicle data available on CAN

(vehicle 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/s² <0�1 m/s²

Acceleration y *** <0�5 m/s² <0�5 m/s²

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 vehicle yaw rate)Distance (x-value)* <0�2 m <0�2 m

Lateral position (y-value) ** <0�2 m <0�2 m

Velocity x *** <1 km/h <0�5 km/h

Velocity y *** <2 km/h <0�5 km/h

Acceleration x *** <0�5 m/s² <0�1 m/s²

Acceleration y *** <1 m/s² <1 m/s²

* Distance accuracy and reproducibility depending on reflectivity and distance to sensor** Lateral position accuracy and reproducibility depending resolution of sensor and distance to sensor*** Data type on Ethernet/CAN may limit accuracy/reproducibility (discretization)


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Documents

Programming Manual UK O3M151 Object Detection · Object detection Reflector tracking Collision warning, based on object positions Collision prediction, based on the positions and