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CAN Output in 3-Target Mode

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Target 1

If in 3-target mode and set to Target 1, the ADAS part of the CAN output should change to the following:

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) Range_tg1 (m)  
0x30B (2) LngRsv_tg1 (m) (3) LatRsv_tg1 (m)
0x30C (4) LngRef_tg1 (m) (5) LatRef_tg1 (m)
0x30D (6) Angle_tg1 ( °) (7) Status_tg1 (8) LkTime_tg1
0x30E (9) LnRtg1_tg1 (m) (10) LaRtg1_tg1 (m)
0x30F (11) LaneR_tg1 (m) (12)
Status_sv		 (13)
Status_tg2		 (14)
Status_tg3		  
0x310 (15) Spd_sv (km/h)  
  1. Vehicle Separation (m), 32 bit IEEE Float.
  2. Longitudinal Range; wrt subject heading (m), 32 bit IEEE Float.
  3. Lateral Range; wrt subject heading (m), 32 bit IEEE Float.
  4. Longitudinal Range; wrt reference line heading (m), 32 bit IEEE Float.
  5. Lateral Range; wrt reference line heading (m), 32 bit IEEE Float.
  6. Angle (°); 32 bit IEEE Float.
  7. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal Range; Longitudinal distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  10. Lateral Range; Lateral distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  11. Lane Range; Lateral distance between the vehicle antenna and the reference lane measured at right angles to the lane. (m), 32 bit IEEE Float.
  12. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 2 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 3 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h), 32 bit IEEE Float.

 

Target 2

If in 3-target mode and set to Target 2, the ADAS part of the CAN output should change to the following:

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) Range_tg2 (m)  
0x30B (2) LngRsv_tg2 (m) (3) LatRsv_tg2 (m)
0x30C (4) LngRef_tg2 (m) (5) LatRef_tg2 (m)
0x30D (6) Angle_tg2 (°) (7) Status_tg2 (8) LkTime_tg2
0x30E (9) LnRtg1_tg2 (m)  (10) LaRtg1_tg2 (m)
0x30F (11) LaneR_tg2 (m) (12)
Status_sv		 (13)
Status_tg1		 (14)
Status_tg3		  
0x310 (15) Spd_sv (km/h)  
  1. Vehicle Separation (m), 32 bit IEEE Float.
  2. Longitudinal Range; wrt subject heading (m), 32 bit IEEE Float.
  3. Lateral Range; wrt subject heading (m), 32 bit IEEE Float.
  4. Longitudinal Range; wrt reference line heading (m), 32 bit IEEE Float.
  5. Lateral Range; wrt reference line heading (m), 32 bit IEEE Float.
  6. Angle (°); 32 bit IEEE Float.
  7. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal Range; Longitudinal distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  10. Lateral Range; Lateral distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  11. Lane Range; Lateral distance between the vehicle antenna and the reference lane measured at right angles to the lane. (m), 32 bit IEEE Float.
  12. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 1 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 2 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h), 32 bit IEEE Float.

 

Target 3

If in 3-target mode and set to Target 3, the ADAS part of the CAN output should change to the following:

Format Motorola
ID** Data Bytes
1 2 3 4 5 6 7 8
0x30A (1) Range_tg3 (m)  
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		  
0x310 (15) Spd_sv (km/h) (16) TTC1_tg3 (s)
  1. Vehicle Separation (m), 32 bit IEEE Float.
  2. Longitudinal Range; wrt subject heading (m), 32 bit IEEE Float.
  3. Lateral Range; wrt subject heading (m), 32 bit IEEE Float.
  4. Longitudinal Range; wrt reference line heading (m), 32 bit IEEE Float.
  5. Lateral Range; wrt reference line heading (m), 32 bit IEEE Float.
  6. Angle (°); 32 bit IEEE Float.
  7. Target RTK status 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  8. Link Time 24 bit unsigned integer, count of 10 ms counts since midnight.
  9. Longitudinal Range; Longitudinal distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  10. Lateral Range; Lateral distance between the Subject and Target Vehicles measured at right angles to the Target Vehicle heading (m), 32 bit IEEE Float.
  11. Lane Range; Lateral distance between the vehicle antenna and the reference lane measured at right angles to the lane. (m), 32 bit IEEE Float.
  12. Subject Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  13. Target 1 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  14. Target 2 Status, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
  15. Subject Vehicle Speed (km/h), 32 bit IEEE Float.

Time To Line cross, wrt to vehicle most front point, (seconds), 32 bit IEEE

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