ARS408_Technical_Documentation_V1_0

6.1. Radar configuration (0x200) ................................................................................. 10

6.2. Cluster and Object filter configuration (0x202) ...................................................... 13

6.3. Collision detection configuration (0x400) .............................................................. 17

6.4. Collision detection region configuration (0x401) ................................................... 18

7.7. Software versions (0x700) .................................................................................... 31

8.1. SpeedInformation (0x300) .................................................................................... 32

8.2. Yaw rate Information (0x301) ............................................................................... 33

9.1. Cluster list status (0x600) ..................................................................................... 35

9.2. Cluster general information (0x701) ...................................................................... 35

9.3. Cluster quality information (0x702) ....................................................................... 37

10.1. Object list status (0x60A) ................................................................................... 42

Figure 2: RadarCfg– message layout (0x200). .................................................................. 10

Figure 3: FilterCfg - message layout for FilterCfg_Index=0x1 (0x202) with 12 bit length for

minimum and maximum value. .......................................................................................... 14

Figure 4: FilterCfg - message layout for FilterCfg_Index=0xA (0x202) with 13 bit length for

minimum and maximum value. .......................................................................................... 15

Figure 6: CollDetCfg - message layout (0x400). ................................................................ 17

Figure 7: Coordinates for defining a collision detection region. .......................................... 18

Figure 13: FilterState_Cfg - message layout for FilterState_Index=0xA (0x204) with 13 bit

length for minimum and maximum value. .......................................................................... 25

Figure 15: CollDetState - message layout (0x408). ........................................................... 27

Figure 16: CollDetRegionState - message layout (0x402). ................................................ 28

Figure 17 CAN-Bus I/O Module: 4 digital outputs (Article Code DV-CANFRAS4-01) ........ 30

Figure 18: CollDetRelayCtrl - message layout (0x8). ......................................................... 30

Figure 19: VersionID - message layout (0x700). ................................................................ 31

Figure 20: SpeedInformation - message layout (0x300). ................................................... 32

Figure 21: YawRateInformation - message layout (0x301). ............................................... 33

Figure 22: Overview of cluster list messages that are sent cyclically by the radar. ............ 34

Figure 29: Object_2_Quality - message layout (0x60C). ................................................... 44

Figure 30: Object_3_Extended - message layout (0x60D). ............................................... 47

Figure 31: Object_4_Warning - message layout (0x60E). ................................................. 48

Table 2: RadarCfg– message content (0x200). ................................................................. 11

Table 3: RadarCfg – signal description (0x200). ................................................................ 12

Table 4: Possible filter criteria selectable with FilterCfg_Index. The columns C and O

specify if this filter can be applied to clusters or objects, respectively. ............................... 13

Table 5: FilterCfg - message content (0x202). ................................................................... 15

Table 6: FilterCfg - signal description (0x202). .................................................................. 16

Table 7: CollDetCfg - message content (0x400). ............................................................... 17

Table 8: CollDetCfg - signal description (0x400). ............................................................... 17

Table 9: CollDetRegionCfg - message content (0x401). .................................................... 19

Table 10: CollDetRegionCfg - signal description (0x401). ................................................. 19

Table 16: FilterState_Cfg - message content (0x204). ...................................................... 25

Table 17: FilterState_Cfg - signal description (0x204). ...................................................... 27

Table 18: CollDetState - message content (0x408). .......................................................... 27

Table 19: CollDetState - signal description (0x408). .......................................................... 28

Table 20: CollDetRegionState - message content (0x402). ............................................... 28

Table 21: CollDetRegionState - signal description (0x402). ............................................... 29

Table 22: CollDetRelayCtrl - message content (0x8). ....................................................... 30

Table 23: CollDetRelayCtrl - signal description (0x8). ...................................................... 31

Table 24: VersionID - message content (0x700). ............................................................... 31

Table 25: VersionID – signal description (0x700). ............................................................. 31

Table 32: Cluster_1_General - message content (0x701). ................................................ 36