Installation & Operating Guide

18
Object
14
th
Closest
Object
0x31D
0x32D
0x33D
0x34D
0x35D
0x36D
0x37D
0x38D
15
th
Closest
Object
0x31E
0x32E
0x33E
0x34E
0x35E
0x36E
0x37E
0x38E
16
th
Closest
Object
0x31F
0x32F
0x33F
0x34F
0x35F
0x36F
0x37F
0x38F
5.7 Detection Message
Detection data for each detected object (per sensor) is reported in a single CAN message
from the sensor with a message as detailed in section 3.2. Detection location data, relative
speed, reflected power level and various detection flags are contained in individual bytes for
ease of processing.
The message structure for the data field is detailed in the table below:
Detection
Data
Data Field
Start
Data
Length
Data
Offset
Message
Resolution
Physical
Value
Byte Value
Byte
Bit
(No.Bits)
Min
Max
Min
Max
Polar Radius
Line of sight from sensor to
object
0
0
8
0
0.25m
0m
60.25m
0x00
0xF0
Polar Angle
Position perpendicular to front
fa ce is 0
o
1
0
8
-128
1⁰
-70⁰
+70 ⁰
0x3A
0xC6
Co-ordinates X
Distance in front of sensor
2
0
8
0
0.25m
0m
+60m
0x00
0xF0
Co-ordinates Y
Distance Left/Right of sensor
3
0
8
-128
0.25m
-8m
+8m
0x60
0xA0
Relative Speed
Difference between object &
vehicle speeds
4
0
8
-128
0.5KPH
-64KPH
+63.5KPH
0x00
0xFF
Signal Power (dB)
Radar signal power reflected
from object
5
0
8
0
1
0dB
127dB
0x00
0x7F
Object ID
Closest object has lowest ID
number
6
5
3
0
1
0
15
N/A
N/A
Object Appearance
Status
1 = New detection
0 = Repeated detection
6
4
1
0
N/A
0
1
N/A
N/A
Trigger Event
0 = Keep alive
1 = Object detection
2 = Unprogrammed sensor
3 = Not used
6
1
2
0
1
0
3
N/A
N/A
Not used
6
0
1
N/A
N/A
N/A
N/A
N/A
N/A
Sensor Error 4
0 = No Error
1 = CAN Error
7
7
1
N/A
N/A
0
1
N/A
N/A