Created by [ Rowan Dempster], last modified by [ Frank Yan] on Apr 24, 2020
The radar packet structure is outlined in the ARS430_Ethernet_Interface spreadsheet. This is available on the AutoDrive site after completing the onboarding NDAs. Anything requiring more explanation on this page can be found by looking in the AutoDrive site.
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[NOTE:] This information is still being explored, so feel free to make amendments and corrections.
The main types of packets we deal with are Rx and Tx packets. Rx are packets the radar receives, so ones we send it for configurations. Tx packets are packets the radar transmits to us. The Tx packets will contain the necessary object data. The Tx packets can be either SensorStatus or Radar Detection packets. The radar packet is defined as such:
Radar Packet
Header header
uint8 EventID
uint32 TimeStamp
uint32 MeasurementCounter
float32 Vambig
float32 CenterFrequency
RadarDetection[] Detections
The Radar Detection packets can come from either the near or far scans. The distinction is indicated by the serviceID and event ID parameters. The near scans provide a wider FOV and shorter range (+- 75 deg, up to ~70m), whereas far scans provide smaller FOV but larger range (+- 9 deg, up to ~250m). The radar will do both scans, package all the detections into groups of 30 packets, and fire them off to us. All radar detection packets have a serviceID of 220, with eventIDs ranging from 1 to 5 based on if it's using the near or far scans. The detection packet is composed of:
Radar Detection
float32 posX
float32 posY
float32 posZ
float32 VrelRad
float32 AzAng0
float32 AzAng1
float32 ElAng
float32 RCS0
float32 RCS1
float32 RangeVar
float32 VrelRadVar
float32 AzAngVar0
float32 AzAngVar1
float32 ElAngVar
float32 SNR
float32 Range
float32 Prob0
float32 Prob1
uint8 Pdh0
The SensorStatus packets have a ServiceID of 200, and an eventID of 0. These contain diagnostic information about the state of the radar such as temperature, voltage, and displays any alarms we should take note of. It is not of any use to perception, so we do not publish it. We just use it in our driver to check for alarms.
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Document generated by Confluence on Nov 28, 2021 22:40