ADAS CAN Output for VBOX 3i FW v2.8 Units
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This page covers the ADAS CAN Output information for VBOX 3i units with firmware version 2.8.
The CAN messages are transmitted from the VBOX 3i when testing with 1 Target Vehicle in a ACC, AEB, BSD or FCW test.
It is possible to output the VBOX ADAS channels to a 3rd party data logger on the VBOX ‘VCI’ CAN port, which is as default assigned to the ‘SER’ connector.
If the 3rd party logger has a 9-way b connector then an RLCAB019L cable should provide the required interface.
Note: When this CAN port is outputting CAN, the VBOX unit cannot log CAN signals via this port.
All standard and ADAS parameters are output in a set format, which is outlined in the CAN Bus data format section below.
It is possible to change the ID of each output CAN message, via the CAN page of VBOX Setup Software.
CAN Signal Latency
In vehicle separation mode in ADAS testing, the VBOX unit will have the following CAN output timings:
The ADAS modes add the following delays to the standard CAN output (20ms if using Fixed delay):
- 1 Target Mode (no Moving Base) = 50ms
- 1 Target Mode (Moving Base) = 60ms
VBOX output CAN message is 5 ms in length at 500 kbit/s.
Listed below are the standard CAN messages that are transmitted from the VBOX 3i unit in any mode of operation.
All CAN IDs with yellow background are not subject to the additional 4 or 5-sample delay that is present when any ADAS mode is enabled.
Click here to download ADAS .DBC files.
Data format: Motorola
Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x301 | (1) Sats | (2) Time since midnight UTC | (3) Position Latitude | |||||||||||||
| 0x302 | (4) Position Longitude | (5) Speed (kts) | (6) Heading ( °) | |||||||||||||
| 0x303 | (7) Altitude (m) | (8) Vertical velocity (m/s) | Unused | (9) Status | (10) Status | |||||||||||
| 0x304 | (11) Trigger Distance (m) | (12) Longitudinal Accel (g) | (13) Lateral Accel (g) | |||||||||||||
| 0x305 | (14) Distance (m) | (15) Trigger Time | (16) Trigger Speed (kts) | |||||||||||||
| 0x306 | (17) Speed Quality (km/h) | (18) True Heading ( °)** | (19) Slip Angle ( °)** | (20) Pitch Angle ( °)** | ||||||||||||
| 0x307 | (21) Lateral Velocity (km/h) | (22) Yaw Rate (°/s)** | (23) Roll Angle ( °)** | (24) Longitudinal Velocity (km/h) | ||||||||||||
| 0x308 | (25) Position latitude 48-bit | (26) Position Quality |
(27) Solution Type |
|||||||||||||
| 0x309 | (28) Position longitude 48-bit | (29) Robot Nav Speed (kts)** | ||||||||||||||
| 0x313 | (30) Slip Angle Front Left ( °)** | (31) Slip Angle Front Right ( °)** | (32) Slip Angle Rear Left ( °)** | (33) Slip Angle Rear Right ( °)** | ||||||||||||
| 0x314 | (34) Slip Angle COG ( °) | (35) Sats Robot Nav | (36) Time Since Midnight Robot Nav | (37) RobotHead Robot Nav ( °)** | ||||||||||||
| 0x322 | (38) Trigger Event UTC Part 1 | (39) Trigger Event UTC Part 2 | ||||||||||||||
| 0x323 | (40) Heading IMU ( °)*** | (41) Roll Ang IMU ( °)*** | (42) Pitch Ang IMU ( °)*** | (43) Status KF | ||||||||||||
| 0x324 | (44) Dant Mode | (45) MP Type Number | Unused | (46) FW Version | ||||||||||||
| 0x329 | (47) X-Position | (48) Y-Position | ||||||||||||||
| 0x32A | (49) RobotHead Vehico ( °) | (50) Speed Vehico (km/h) | (51) Position Quality Vehico |
(52) Solution Type Vehico |
Unused | |||||||||||
| 0x32B | (53) GPSDayH | (54) GPSDayL | (55) Diff Age | Unused | (56) Serial Number | (57) VBOX Type | Unused | |||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
**Channels only present on dual-antenna systems.
***Channels only present when IMU is enabled.
- If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
- Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
- Position, Latitude in minutes * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
- Position, Longitude in minutes * 100,000 (11882246 = 1 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
- Velocity, 0.01 knots per bit.
- Heading, 0.01° per bit.
- Altitude above mean sea level based on the WGS 84 model of the earth, 0.01 m per bit, signed.
- Vertical Velocity, 0.01 m/s per bit, signed.
- Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3, Bit 3 = Logging Status.
- Status is an 8 bit unsigned char. Bit 0 is always set, Bit 2=brake test started, Bit 3 = Brake trigger active, Bit 4 = DGPS active, Bit 5 = Dual Lock.
- Distance, 0.000078125 meters per bit, unsigned. Corrected to trigger point..
- Longitudinal Acceleration, 0.01 g per bit, signed.
- Lateral Acceleration, 0.01 g per bit, signed.
- Distance traveled since VBOX reset, 0.000078125 meters per bit, unsigned.
- Time from last brake trigger event. 0.01 seconds per bit.
- Velocity at brake trigger point 0.01 knots per bit.
- Velocity Quality, 0.01 km/h per bit.
- True Heading of vehicle, 16 bit signed integer, 0.01° per bit.
- Slip Angle, 16 bit signed integer 0.01° per bit.
- Pitch Angle, 16 bit signed integer 0.01° per bit.
- Lateral Velocity, 16 bit signed integer 0.01 knots per bit.
- Yaw Rate, 16 bit signed integer 0.01°/s per bit.
- Roll Angle, 16 bit signed integer 0.01° per bit.
- Longitudinal Velocity, 16 bit signed integer 0.01 knots per bit.
- Position, Latitude 48bit signed integer, Latitude * 10,000,000 (minutes). North being positive.
- Position Quality, 8 bit unsigned integer.
- Solution Type, 8 bit unsigned integer, 0 = None, 1 = GNSS only, 2 = GNSS DGPS, 3 = RTK Float, 4 = RTK Fixed, 5 = Fixed position, 6 = IMU Coast.
- Position, Longitude 48 bit signed integer, Longitude *10,000,000 (minutes). East being positive.
- Velocity, 16 bit signed integer 0.01 kts per bit (not delayed when ADAS enabled).
- Slip Angle Front Left, 16 bit signed integer 0.01° per bit.
- Slip Angle Front Right, 16 bit signed integer 0.01° per bit.
- Slip Angle Rear Left, 16 bit signed integer 0.01° per bit.
- Slip Angle Rear Right, 16 bit signed integer 0.01° per bit.
- Slip Angle C of G, 16 bit signed integer 0.01° per bit.
- Robot Navigation Satellites.
- Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds) (not delayed when ADAS enabled).
- Robot heading, 16 bit unsigned integer 0.01° per bit (not delayed when ADAS enabled).
- Trigger event UTC time - milliseconds since midnight UTC (part 1 of 2 part message).
- Trigger event UTC time - nanoseconds since midnight UTC (part 2 of 2 part message).
- Heading derived from the Kalman Filter.
- Roll Angle derived from Kalman Filter.
- Pitch Angle derived from Kalman Filter.
- Kalman filter status, 12 bit unsigned integer. See VBOX 3i Kalman Filter Status for details.
- Dual antenna mode on or off, 1 for on, 0 for off (used by ABD robot systems).
- Motion pack type number, outputted as 6 (used by ABD robot systems).
- VBOX FW version, 32 bit unsigned.
*can be split into Major (8 bit), Minor (8 bit) and build number (16 bit). - X position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the X direction is East. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
- Y position in metres from the origin, the origin and direction can be set when in Vehico Robot Mode, other wise the origin is the first valid sample and the Y direction is North. 32 bit float (not delayed when ADAS is enabled, used by Vehico robot systems).
- Robot heading translated to Vehico Coordinate frame (not delayed when ADAS is enabled, used by Vehico robot systems).
- Speed, 0.01 knots per bit (not delayed when ADAS is enabled, used by Vehico robot systems).
- Position quality, 8 bit (used by Vehico robot systems).
- Solution type, 8 bit (used by Vehico robot systems).
- GPS Day High, unsigned char, most significant byte day number since 6th Jan 1980.
- GPS Day Low, unsigned char, least significant byte day number since 6th Jan 1980.
- Differential Age - unsigned char, (s) differential age (0xFF = invalid).
- Serial Number - 20 bit, VBOX serial number.
- VBOX Type - VB3i = 1, VB3iS = 2, VB3iS2 = 3.
1 Target Vehicle
Vehicle Separation - Target CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target VBOX VCI output CAN port when 1 Target vehicle separation mode is used. The IDs of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg1 | (2) RelSpd tg1 (km/h) | ||||||||||||||
| 0x30B | (3) LngRsv tg1 | (4) LatRsv tg1 | ||||||||||||||
| 0x30C | (5) LngSsv tg1 (km/h) | (6) LatSsv tg1 (km/h) | ||||||||||||||
| 0x30D | (7) Angle tg1 (°) | (8) Status tg1 | (9) LkTime tg1 | |||||||||||||
| 0x30E | (10) LngRtg tg1 (m) | (11) LatRtg tg1 (m) | ||||||||||||||
| 0x30F | (12) T2Csv tg1 | (13) Status sv | Unused | (14) Yawdif tg1 | ||||||||||||
| 0x310 | (15) Spd tg1 (km/h) | (16) T2C2sv tg1 | ||||||||||||||
| 0x311 | (17) LatRref tg1 (m) | (18) Accel tg1 (g) | ||||||||||||||
| 0x312 | (19) SepTim tg1 | (20) T2Ctg tg1 | ||||||||||||||
| 0x315 | (21) Latdif tg1 | (22) Lngdiff tg1 | ||||||||||||||
| 0x316 | (23) YawRat tg1 (°/s) | (24) PntSv tg1 | (25) PntTg1 sv | Unused | ||||||||||||
| 0x325 | (26) LngRref tg1 (m) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Vehicle Separation (m), 32 bit IEEE Float.
- Relative Speed (km/h), 32 bit IEEE Float.
- Longitudinal Range; wrt subject heading (meters), 32 bit IEEE Float.
- Lateral Range; wrt subject heading (meters), 32 bit IEEE Float.
- Longitudinal Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Lateral Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Separation Angle (°), 32 bit IEEE Float.
- Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
- Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
- Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
- Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- YAW diff, difference between subject and target 1 vehicle headings, 16 bit signed integer *100.
- Target Vehicle Speed (km/h), 32 bit IEEE Float.
- Time to Collision 2; (seconds), 32 bit IEEE Float.
- Lateral Diff (m), 32 bit IEEE Float.
- Target vehicle Acceleration (g), 32 bit IEEE Float.
- Separation Time (seconds), 32 bit IEEE Float.
- Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
- Latdif_tg1 difference in minutes between Subject Latitude and Target 1 Latitude, 32 bit IEEE Float.
- Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float.
- YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32 bit IEEE Float.
- Current subject vehicle contact point to target vehicle 1 – 8 bit unsigned integer.
- Current target vehicle 1 contact point – 8 bit unsigned integer.
- Longitudinal Diff (m), 32 bit IEEE Float.
2 Target Vehicles
Vehicle Separation - Target 1 CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Subject VBOX VCI output CAN port when 2 Target vehicle separation mode is used. The ID’s of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg1 | (2) RelSpd tg1 (km/h) | ||||||||||||||
| 0x30B | (3) LngRsv tg1 | (4) LatRsv tg1 | ||||||||||||||
| 0x30C | (5) LngSsv tg1 (km/h) | (6) LatSsv tg1 (km/h) | ||||||||||||||
| 0x30D | (7) Angle tg1 (°) | (8) Status tg1 | (9) LkTime tg1 | |||||||||||||
| 0x30E | (10) LngRtg tg1 (m) | (11) LatRtg tg1 (m) | ||||||||||||||
| 0x30F | (12) T2Csv tg1 | (13) Status sv | Unused | (14) Yawdif tg1 | ||||||||||||
| 0x310 | (15) Spd tg1 (km/h) | (16) T2C2sv tg1 | ||||||||||||||
| 0x311 | (17) LatRref tg1 (m) | (18) Accel tg1 (g) | ||||||||||||||
| 0x312 | (19) SepTim tg1 | (20) T2Ctg tg1 | ||||||||||||||
| 0x315 | (21) Latdif tg1 | (22) Lngdiff tg1 | ||||||||||||||
| 0x316 | (23) YawRat tg1 (°/s) | (24) PntSv tg1 | (25) PntTg1 sv | Unused | ||||||||||||
| 0x325 | (26) LngRref tg1 (m) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Vehicle Separation (m), 32 bit IEEE Float.
- Relative Speed (km/h), 32 bit IEEE Float.
- Longitudinal Range; wrt subject heading (m), 32 bit IEEE Float.
- Lateral Range; wrt subject heading (m), 32 bit IEEE Float.
- Longitudinal Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Lateral Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Separation Angle (°), 32 bit IEEE Float.
- Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
- Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
- Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
- Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
- Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- YAW diff, difference between subject and target1 vehicle headings, 16 bit signed integer *100.
- Target Vehicle Speed (km/h), 32 bit IEEE Float.
- Time to Collision 2; (seconds), 32 bit IEEE Float.
- Lateral Diff (m), 32 bit IEEE Float.
- Target vehicle Acceleration (g), 32 bit IEEE Float.
- Separation Time (seconds), 32 bit IEEE Float.
- Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
- Latdif_tg1 difference in minutes between Subject Latitude and Target 1Latitude, 32 bit IEEE Float.
- Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float.
- YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32bBit IEEE Float.
- Current subject vehicle contact point to target vehicle 1 – 8 bit unsigned integer.
- Current target vehicle 1 contact point – 8 bit unsigned integer.
- Longitudinal Diff (m), 32 bit IEEE Float.
Vehicle Separation - Target 2 CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when you are using 2 Target vehicle separation mode. The IDs of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x317 | (1) Range tg2 | (2) RelSpd tg2 (km/h) | ||||||||||||||
| 0x318 | (3) LngRsv tg2 | (4) LatRsv tg2 | ||||||||||||||
| 0x319 | (5) LngSsv tg2 (km/h) | (6) LatSsv tg2 (km/h) | ||||||||||||||
| 0x31A | (7) Angle tg2 (°) | (8) Status tg2 | (9) LkTime tg2 | |||||||||||||
| 0x31B | (10) LngRtg tg2 (m) | (11) LatRtg tg2 (m) | ||||||||||||||
| 0x31C | (12) T2Csv tg2 | (13) Status sv | Unused | (14) Yawdif tg2 | ||||||||||||
| 0x31D | (15) Spd tg2 (km/h) | (16) T2C2sv tg2 | ||||||||||||||
| 0x31E | (17) LatRref tg2 (m) | (18) Accel tg2 (g) | ||||||||||||||
| 0x31F | (19) SepTim tg2 | (20) T2Ctg tg2 | ||||||||||||||
| 0x320 | (21) Latdif tg2 | (22) Lngdiff tg2 | ||||||||||||||
| 0x321 | (23) YawRat tg2 (°/s) | (24) PntSv tg2 | (25) PntTg2 sv | Unused | ||||||||||||
| 0x326 | (26) LngRref tg2 (m) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Vehicle Separation (m), 32 bit IEEE Float.
- Relative Speed (km/h), 32 bit IEEE Float.
- Longitudinal Range; wrt subject heading (meters), 32 bit IEEE Float.
- Lateral Range; wrt subject heading (meters), 32 bit IEEE Float.
- Longitudinal Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Lateral Speed; wrt subject heading (km/h), 32 bit IEEE Float.
- Separation Angle (°), 32 bit IEEE Float.
- Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
- Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
- Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
- Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- YAW diff, difference between subject and target 1 vehicle headings, 16 bit signed integer *100.
- Target Vehicle Speed (km/h), 32 bit IEEE Float.
- Time to Collision 2; (seconds), 32 bit IEEE Float.
- Lateral Diff (m), 32 bit IEEE Float.
- Target vehicle Acceleration (g), 32 bit IEEE Float.
- Separation Time (seconds), 32 bit IEEE Float.
- Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
- Latdif_tg1 difference in minutes between Subject Latitude and Target 1 Latitude, 32 bit IEEE Float.
- Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float.
- YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32 bit IEEE Float.
- Current subject vehicle contact point to target vehicle 1 – 8 bit unsigned integer.
- Current target vehicle 1 contact point – 8 bit unsigned integer.
- Longitudinal Diff (m), 32 bit IEEE Float.
3 Target Vehicles
Vehicle Separation - Subject CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The IDs of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg1 (m) | (2) LaneR tg1 (m) | ||||||||||||||
| 0x30B | (3) LngRsv tg1 (m) | (4) LatRsv tg1 (m) | ||||||||||||||
| 0x30C | (5) LngRef tg1 (m) | (6) LatRef tg1 (m) | ||||||||||||||
| 0x30D | (7) Angle tg1 ( °) | (8) Status tg1 | (9) LkTime tg1 | |||||||||||||
| 0x30E | (10) LnRtg1 tg1 (m) | (11) LaRtg1 tg1 (m) | ||||||||||||||
| 0x30F | (12) LaneR sv (m) | (13) Status sv | Unused | |||||||||||||
| 0x310 | (14) Range tg2 (m) | (15) LaneR tg2 (m) | ||||||||||||||
| 0x311 | (16) LngRsv tg2 (m) | (17) LatRsv tg2 (m) | ||||||||||||||
| 0x312 | (18) LngRef tg2 (m) | (19) LatRef tg2 (m) | ||||||||||||||
| 0x315 | (20) Range tg3 (m) | (21) LaneR tg3 (m) | ||||||||||||||
| 0x316 | (22) LngRsv tg3 (m) | (23) LatRsv tg3 (m) | ||||||||||||||
| 0x317 | (24) LngRef tg3 (m) | (25) LatRef tg3 (m) | ||||||||||||||
| 0x318 | (26) Angle tg3 ( °) | (27) Status tg3 | (28) LkTime tg3 | |||||||||||||
| 0x319 | (29) LnRtg1 tg3 (m) | (30) LaRtg1 tg3 (m) | ||||||||||||||
| 0x327 | (31) Angle tg2 ( °) | (32) Status tg2 | 33) LkTime tg2 | |||||||||||||
| 0x328 | (34) LnRtg1 tg2 (m) | (35) LaRtg1 tg2 (m) | ||||||||||||||
| 0x31A | (36) Spd tg1 (km/h) | (37) Spd tg2 (km/h) | ||||||||||||||
| 0x31B | (38) Spd tg3 (km/h) | (39) TTC1 tg3 (s) | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Subject Vehicle separation to Target 1 Vehicle (m), 32 bit IEEE Float.
- Lateral distance between the Target 1 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Target 1 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 1 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 1 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Subject Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Subject Vehicle separation to Target 2 Vehicle (m); 32 bit IEEE Float.
- Lateral distance between the Target 2 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Subject Vehicle separation to Target 3 Vehicle (m); 32 bit IEEE Float.
- Lateral distance between the Target 3 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Target 3 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 3 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Target 2 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 2 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 2 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Target 1 Vehicle Speed (km/h); 32 bit IEEE Float.
- Target 2 Vehicle Speed (km/h); 32 bit IEEE Float.
- Target 3 Vehicle Speed (km/h); 32 bit IEEE Float.
- Time for the front most contact point of Target 3 Vehicle to cross the reference line (seconds), 32 bit IEEE Float.
Vehicle Separation - Target 1 CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target 1 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg1 | Unused | ||||||||||||||
| 0x30B | (2) LngRsv tg1 | (3) LatRsv tg1 | ||||||||||||||
| 0x30C | (4) LngRref tg1 (m) | (5) LatRref tg1 (m) | ||||||||||||||
| 0x30D | (6) Angle tg1 ( °) | (7) Status tg1 | (8) LkTime tg1 | |||||||||||||
| 0x30E | (9) LngRtg tg1 (m) | (10) LatRtg tg1 (m) | ||||||||||||||
| 0x30F | (11) LaneR tg1 (m) | (12) Status sv | (13) Status tg2 | (14) Status tg3 | Unused | |||||||||||
| 0x310 | (15) Spd sv (km/h) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Subject Vehicle separation to Target 1 Vehicle (m), 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Target 1 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 1 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 1 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 1 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Target 1 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 2 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Subject Vehicle Speed (km/h); 32 bit IEEE Float.
Vehicle Separation - Target 2 CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The ID’s of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg2 | Unused | ||||||||||||||
| 0x30B | (2) LngRsv tg2 | (3) LatRsv tg2 | ||||||||||||||
| 0x30C | (4) LngRef tg2 (m) | (5) LatRef tg2 (m) | ||||||||||||||
| 0x30D | (6) Angle tg2 ( °) | (7) Status tg2 | (8) LkTime tg2 | |||||||||||||
| 0x30E | (9) LnRtg tg2 (m) | (10) LaRtg tg2 (m) | ||||||||||||||
| 0x30F | (11) LaneR_tg2 (m) | (12) Status sv | (13) Status tg1 | (14) Status tg3 | Unused | |||||||||||
| 0x310 | (15) Spd sv (km/h) | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Subject Vehicle separation to Target 2 Vehicle (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Target 2 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 2 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 2 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 2 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Target 2 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 1 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 3 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Subject Vehicle Speed (km/h); 32 bit IEEE Float.
Vehicle Separation - Target 3 CAN Data
Below is the tabular list of additional ADAS CAN messages that are present at the Target 2 VBOX VCI output CAN port when 3 Target Vehicle vehicle separation mode is used. The IDs of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg3 (m) | Unused | ||||||||||||||
| 0x30B | (2) LngRsv tg3 (m) | (3) LatRsv tg3 (m) | ||||||||||||||
| 0x30C | (4) LngRef tg3 (m) | (5) LatRef tg3 (m) | ||||||||||||||
| 0x30D | (6) Angle tg3 ( °) | (7) Status tg3 | (8) LkTime tg3 | |||||||||||||
| 0x30E | (9) LnRtg1 tg3 (m) | (10) LaRtg1 tg3 (m) | ||||||||||||||
| 0x30F | (11) LaneR_tg3 (m) | (12) Status sv | (13) Status tg1 | (14) Status tg2 | Unused | |||||||||||
| 0x310 | (15) Spd sv (km/h) | (16) TTC1 tg3 (s) | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Subject Vehicle separation to Target 3 Vehicle (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Subject Vehicle heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Subject Vehicle heading (m); 32 bit IEEE Float.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured in the direction of the Reference Line heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle, measured at right angles to the Reference Line heading (m); 32 bit IEEE Float.
- Target 3 Vehicle Angle with respect to the heading of the Subject Vehicle (°); 32 bit IEEE Float.
- Target 3 Vehicle RTK status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 3 Vehicle Link Time; 24 bit unsigned integer, count of 10 ms counts since midnight.
- Longitudinal distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Subject Vehicle and Target 3 Vehicle measured at right angles to the Target Vehicle 1 heading (m); 32 bit IEEE Float.
- Lateral distance between the Target 3 Vehicle antenna and the reference line measured at right angles to the reference line (m); 32 bit IEEE Float.
- Subject Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 1 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Target 2 Vehicle RTK Status; 8 bit unsigned integer, 0=No solution,1=Stand alone, 2=Code differential, 3=RTK Float, 4=RTK Fixed.
- Subject Vehicle Speed (km/h); 32 bit IEEE Float.
- Time for the front most contact point of Target 3 Vehicle to cross the reference line (seconds), 32 bit IEEE Float.
Static Point
This article describes which CAN messages are transmitted from the VB3i when testing to a static target point within a AEB or FCW test.
Vehicle Separation - Target 1 CAN Data
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range tg1 | (2) RelSpd tg1 km/h | ||||||||||||||
| 0x30B | (3) LngRsv tg1 | (4) LatRsv tg1 | ||||||||||||||
| 0x30C | (5) LngSsv tg1 km/h | (6) LatSsv tg1 km/h | ||||||||||||||
| 0x30D | (7) Angle tg1 ( °) | (8) Status tg1 | (9) LkTime tg1 | |||||||||||||
| 0x30E | (10) LatRtg tg1 | (11) LngRtg tg1 (m) | ||||||||||||||
| 0x30F | (12) T2Csv tg1 | (13) Status sv | Unused | (14) Yawdif tg1 | ||||||||||||
| 0x310 | (15) Spd tg1 ms | (16) T2C2sv tg1 | ||||||||||||||
| 0x311 | (17) LatRref tg1 | (18) Accel tg1 | ||||||||||||||
| 0x312 | (19) SepTim tg1 | (20) T2Ctg tg1 | ||||||||||||||
| 0x315 | (21) Latdif tg1 | (22) Lngdiff tg1 | ||||||||||||||
| 0x316 | (23) YaeRat tg1 | (24) PntSv tg1 | (25) PntTg1 sv | Unused | ||||||||||||
| 0x325 | (26) LngRref tg1 | Unused | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Vehicle Separation (m), 32 bit IEEE Float.
- Relative Speed (km/h), 32 bit IEEE Float.
- Longitudinal Range; wrt subject heading (meters), 32 bit IEEE Float.
- Lateral Range; wrt subject heading (meters), 32 bit IEEE Float.
- Longitudinal Speed; wrt subject heading (meters), 32 bit IEEE Float.
- Lateral Speed; wrt subject heading (meters), 32 bit IEEE Float.
- Separation Angle (°), 32 bit IEEE Float.
- Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
- Lateral Range; wrt Target heading (m), 32 bit IEEE Float.
- Longitudinal Range; wrt Target heading (m), 32 bit IEEE Float.
- Time to collision; wrt subject heading (seconds), 32 bit IEEE Float.
- Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- YAW diff, difference between subject and target1 vehicle headings, 16 bit signed integer *100.
- Target Vehicle Speed (km/h), 32 bit IEEE Float.
- Time to Collision 2; (seconds), 32 bit IEEE Float.
- Lateral Diff (m), 32 bit IEEE Float.
- Target vehicle Acceleration (g), 32 bit IEEE Float.
- Separation Time (seconds), 32 bit IEEE Float.
- Time to Collision Target; wrt target heading (seconds), 32 bit IEEE Float.
- Latdif_tg1 difference in minutes between Subject Latitude and Target 1Latitude, 32 bit IEEE Float.
- Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float.
- YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32bBit IEEE Float.
- Current subject vehicle contact point to target vehicle 1 – 8 bit unsigned integer.
- Current target vehicle 1 contact point – 8 bit unsigned integer.
- Longitudinal Diff (m), 32 bit IEEE Float.
Multiple Static Points
This article describes which CAN messages are transmitted from the VB3i when testing with multiple static points within a Traffic Sign Recognition test.
The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to Multiple Static Points mode. The ID’s of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) ID1 | (2) Range1 (m) | (3) Lat_Range1 (m) | (4) Lng_Range1 (m) | ||||||||||||
| 0x30B | (5) TTC1 (sec) | (6) Angle1 ( °) | Unused | Unused | ||||||||||||
| 0x30C | (7) ID2 | (8) Range2 (m) | (9) Lat_Range2 (m) | (10) Lng_Range2 (m) | ||||||||||||
| 0x30D | (11) TTC2 (sec) | (12) Angle2 ( °) | Unused | Unused | ||||||||||||
| 0x30E | (13) ID3 | (14) Range3 (m) | (15) Lat_Range3 (m) | (16) Lng_Range3 (m) | ||||||||||||
| 0x30F | (17) TTC3 (sec) | (18) Angle3 ( °) | Unused | Unused | ||||||||||||
| 0x310 | (19) ID4 | (20) Range4 (m) | (21) Lat_Range4 (m) | (22) Lng_Range4 (m) | ||||||||||||
| 0x311 | (23) TTC4 (sec) | (24) Angle4 ( °) | Unused | Unused | ||||||||||||
| 0x312 | (25) ID5 | (26) Range5 (m) | (27) Lat_Range5 (m) | (27) Lat_Range5 (m) | ||||||||||||
| 0x315 | (29) TTC5 (sec) | (30) Angle5 ( °) | Unused | Unused | ||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Point ID of the feature, 16 bit unsigned integer.
- Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
- Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
- Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
- Point ID of the feature, 16 bit unsigned integer.
- Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
- Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
- Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
- Point ID of the feature, 16 bit unsigned integer.
- Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Lateral Distance to feature from the origin of the field of vision (meters), 16 bit signed integer.
- Longitudinal Distance to feature from the origin of the field of vision (meters), 16 bit unsigned integer.
- Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
- Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
- Point ID of the feature, 16 bit unsigned integer.
- Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
- Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
- Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
- Point ID of the feature, 16 bit unsigned integer.
- Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Lateral Distance to feature from the origin of the field of vision (m), 16 bit signed integer.
- Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer.
- Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer.
- Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer.
Lane Departure Warning
This article describes which CAN messages are transmitted from the VB3i when testing to a static target point within a Lane Departure Warning (LDWS) test.
The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to Lane Departure mode. The ID’s of the CAN messages can be configured through VBOX Setup software if required.
Click here to download ADAS DBC files.
Data format: Motorola
ADAS Channel definitions are available here.
Available CAN output frames
| ID* | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0x30A | (1) Range FL (m) | (2) Range FR (m) | ||||||||||||||
| 0x30B | (3) LatSpd FL (km/h) | (4) Status | ||||||||||||||
| 0x30C | (5) TTC FL | (6) LatSpd FR (km/h) | ||||||||||||||
| 0x30D | (7) TTC FR | (8) Angle ( °) | ||||||||||||||
| 0x30E | (9) Range RL (m) | (10) Range RR (m) | ||||||||||||||
| 0x30F | (11) LatSpd RL (km/h) | (12) LatSpd RR (km/h) | ||||||||||||||
| 0x310 | (13) TTC RL | (14) TTC RR | ||||||||||||||
*Default Identifiers. The identifier values can be changed using the configuration software.
- Lateral Distance to Line from vehicle front left point (m), 32 bit IEEE Float.
- Lateral Distance to Line from vehicle front right point (m), 32 bit IEEE Float.
- Lateral speed toward line wrt to vehicle front left point (km/h), 32 bit IEEE Float.
- Status, 32 Bit IEEE Float, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
- Time To Line cross, wrt to vehicle front left point, (seconds), 32 bit IEEE Float.
- Lateral speed toward line wrt to vehicle front right point (km/h), 32 bit IEEE Float.
- Time To Line cross, wrt to vehicle front right point, (seconds), 32 bit IEEE Float.
- Angle (°), 32 bit IEEE Float.
- Lateral Distance to Line from vehicle rear left point (m), 32 bit IEEE Float.
- Lateral Distance to Line from vehicle rear right point (m), 32 bit IEEE Float.
- Lateral speed toward line wrt to vehicle rear left point (km/h), 32 bit IEEE Float.
- Lateral speed toward line wrt to vehicle rear right point (km/h), 32 bit IEEE Float.
- Time To Line cross, wrt to vehicle rear left point, (seconds), 32 bit IEEE Float.
- Time To Line cross, wrt to vehicle rear right point, (seconds), 32 bit IEEE Float.