1can Ars308 Technical Docu 2012-05-31

Standardized ARS Interface
Continental Engineering Services GmbH

Technical Documentation
ARS 308-2
V1.13

May 31, 2012 page 1
This document is related to

ARS308 software v2
Table of Contents
1. Introduction ................................................................................................................. 4
2. Operating Conditions.................................................................................................. 4
3. Safety Information ....................................................................................................... 4
4. Interface ....................................................................................................................... 4
5. Description .................................................................................................................. 5
6. Sensor Configuration.................................................................................................. 7
7. State Output ............................................................................................................... 10
8. Input Signals .............................................................................................................. 13
8.1. Speed Information ................................................................................................ 13
8.2. Yaw Rate Information ........................................................................................... 14
9. Data Output ................................................................................................................ 15
9.1. Target List ............................................................................................................. 15
9.2. Object List ............................................................................................................. 19
10.
Collision Detection ................................................................................................ 27
10.1.
Warning Configuration Input .............................................................................. 27
10.2.
Region configuration Input................................................................................. 28
10.3.
State Output ...................................................................................................... 29
10.4.
Warning Output ................................................................................................. 32

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ARS308 software v2
History
Version
V1.4
V1.5
V1.6
Date
31 Jul 2009
31 Jul 2009
31 Jul 2009
V1.7
V1.8
V1.9
V1.10
V1.11
31 Jul 2009
31 Jul 2009
8 Dec 2010
13 Dec 2010
06 Sep 2011
08 Sep 2011
27 Sep 2011
04 Oct 2011
11 Nov 2011
30 May 2012
V1.12
V1.23
Chapter Change description

9
Added data output description
9
Minor changes
Regenerated Table Of Contents
Renamed CAN1 to CAN2 in order to match
message names
Renamed CAN0 to CAN1
Updated messages 0x200 and 0x201
descriptions
Minor changes
9.1
Added values for angle status
Update for single CAN hardware
Version update
6
radar_elevation signal description
7
SensTempErr signal description
9.1
0x600 and 0x701 signal descriptions
9.2
0x60A, 0x60B and 0x700 signal descriptions
all
Layout
5, 6, 7,
Messages for collision detection and multiple
10
sensor IDs
Signal description for multiple sensor IDs
Collision detection signal decription

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ARS308 software v2
1.
Introduction
The ARS 300 is a Radar Sensor System developed by Continental for the Automotive
Industry to realize advanced driver assistance functions. The usual interface of this system
is mainly based on deceleration requests to the vehicle network.
The software of the sensor was adapted to use it also for general purposes. With the
simple software interface it is possible to connect the sensor to a CAN network and to
provide radar based environmental information to one or several evaluation units. The
sensor can also be configured via CAN.
2.
Operating Conditions
Please refer to ARS 300-Technical Description.
3.
Safety Information
Please refer to ARS 300-Technical Description.
4.
Interface
The ARS 300 sensor has one CAN interface (called CAN1). The communication network
is a CAN bus as specified in ISO 11898-2 with a transmission rate of 500 KBits/s. The
messages on the CAN-Bus are defined by corresponding DBC files.
As an example, a possible CAN bus network is shown in Figure 1. Since no termination
resistors are included in the radar sensor ARS 300, two 120 Ohm terminal resistors have
to be connected to the network (separately or integrated in the CAN interface of the
corresponding unit). The CAN1 connection of the ARS 300 is used for configuration,
sensor state output, data input and data output.
Figure 1: CAN network

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5.
Description
The ARS sensor uses radar radiation to analyze its surroundings. The reflected signals are
processed and after multiple steps they are available in form of targets and objects. One
target consists of multiple reflections which have a similar position and movement and
therefore can be combined. The information about a target like size, relative velocity and
position is then transmitted on CAN1. The position is calculated in an angular coordinate
system, i.e. distance and angle relative to the sensor. The targets are newly evaluated
every cycle. In contrast to this, objects have a history and consist of tracked targets. The
position of the object is calculated relative to an assumed vehicle course. The course is
determined by using the speed and yaw rate information. If information is missing, it will be
set to default values: yaw rate = 0 deg/s, speed = 0 m/s and standstill.
The elevation of the radar radiation can be changed in a certain range via configuration of
the radar sensor. The angles used for the position of targets and for the elevation of the
radar beam are shown in Figure 2.
Elevation (-)
Azimuth Angle (-)
Elevation (+)
Forwards (+)
Azimuth Angle (+)
Figure 2: Sign Conventions - Targets Azimuth Angle and Beam elevation angle

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CAN
Frame
Format
Message
ID1
Message Name
Content
Section
CAN 2.0A (11 Bit)
0x200 RadarConfiguration
Sensor configuration
CAN 2.0A (11 Bit)
0x201 RadarState
State output
CAN 2.0A (11 Bit)
0x300 SpeedInformation
Vehicle speed
8.1
CAN 2.0A (11 Bit)
0x301 YawRateInformation
Vehicle yaw rate
8.2
CAN 2.0A (11 Bit)
0x600 CAN1_Target_Status
Target status
9.1
CAN 2.0A (11 Bit)
0x60A CAN1_Obj_Status
Object status
9.2
CAN 2.0A (11 Bit)
0x60B CAN1_Obj_1
Object information 1
9.2
CAN 2.0A (11 Bit)
0x60C CAN1_Obj_2
Object information 2
9.2
CAN 2.0A (11 Bit)
0x700 CAN1_VersionID
Object List Interface

Version
9.2
CAN 2.0A (11 Bit)
0x701 CAN1_Target_1
Target information 1
9.1
CAN 2.0A (11 Bit)
0x702 CAN1_Target_2
Target information 2
9.1
CAN 2.0A (11 Bit)
0x400 CollDetWarnConfig
Collision detection
warning configuration
10.1
CAN 2.0A (11 Bit)
0x401 CollDetRegionConfig
Collision detection
region configuration
10.2
CAN 2.0A (11 Bit)
0x408 CollDetState
Collision detection
warning state
10.3
CAN 2.0A (11 Bit)
0x409 CollDetWarn
Collision detection
region warning
10.4
Table 1: Sensor CAN messages (dependent on the sensor variant not all messages are available)
This is the base message ID for sensor ID 0. For other sensor IDs this is:
(base message ID | (0x10 * sensor ID))
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6.
Sensor Configuration
The ARS 300 sensor can be configured via message 0x200 on CAN1 (cf. Figure 3 and
Table 2). This message should only be transmitted to the ARS 300 when a parameter
change is desired. It is not necessary to transmit this message cyclically.
It should also be noted that in order to guarantee that a parameter change is accepted, the
signal NVMreadStatus in message 0x201 (RadarState) must have a value of successful
as defined in the DBC file.
The following parameters can be changed
1. Radar range length Maximum distance at which objects will be detected !
a. Radar range length: = 50 m ->
Near Range = 25 m, Far Range = 50 m
b. Radar range length: = 60 m ->
c. Radar range length: = 70 m ->
d. Radar range length: = 80 m ->
e. Radar range length: = 90 m ->
f. Radar range length: = 100 m ->
g. Radar range length: = 100 m -> 200 m ->
Near Range = 50 m constant ! Far Range = 100 m -> 200 m
2. Elevation of the sensors plate The elevation angle of the radar beam. Please
note that Elevation angle of 0 deg corresponds to the sensor plate inclined towards
the sky and 32 deg inclined towards the road.
3. Power reduction mode
a. True The ARS300 will shift to low power output mode at standstill.
b. False The ARS300 will not shift to low output mode.
4. The type of the output list
a. SendObjects The object list will be transmitted on CAN1
b. SendTargets The target list will be transmitted on CAN1
5. Unique Sensor ID For each sensor on the same CAN bus an ID between 0 and 7
can be selected. The sensor then sends and receives its messages accordingly:
(base message ID | (0x10 * sensor ID)). When the sensor ID is invalid only the
RadarState message is transmitted.

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These parameters can be changed individually or in combinations. For each of the above
parameters, the message contains a validity bit. If the validity bit is set to Valid/True, the
corresponding parameter will be updated in the ARS, otherwise it is ignored. If a
parameter is updated, it will also be stored in non-volatile memory so that it is
automatically set at startup on any subsequent power up.
Figure 3: Radar Configuration message structure (0x200) (Bytes 5-7 and Bits in White are unused)
Signal
Start
Len
Byte
Order
Value
Type
Res
radar_range_lengthV
Motorola
Unsigned
radar_range_length
15
Motorola
Unsigned
1m
radar_output_typeV
Motorola
Unsigned
radar_output_type
26
Motorola
Unsigned
radar_enablePowerReductionV
Motorola
Unsigned

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Value Range
0 -> Invalid
0x0
1 -> Valid
0x1
50 m, 51 m, 52 m
....... 200 m
0 x 32 ( = 50)
0 x C8 (= 200)
0 -> Invalid
1 -> Valid
0 -> (0 x 0)
inapplicable
1 -> (0 x 1)
SendObjects
2 -> (0 x 2)
SendTargets
3 -> (0 x 3)
inapplicable
0 -> Invalid
1 -> Valid

ARS308 software v2

radar_elevationV
Motorola
radar_enablePowerReduction
24
Motorola
radar_elevation
23
Motorola
radar_sensor_idV
Motorola
radar_sensor_id
32
Motorola
0 -> Invalid
1 -> Valid
0 -> False
Unsigned
1
1 -> True
00, 0.250, 0.500
0.25
320
Unsigned
deg (Sky -> Road)
0 -> False
Unsigned
1
1 -> True
07
Unsigned
1
Unsigned
Table 2: Radar Configuration - message description (0x200)
Start
Len
Byte
Order
Value
Type
Res
radar_range_lengthV
Motorola
Unsigned
radar_range_length
15
Motorola
Unsigned
1m
radar_output_typeV
Motorola
Unsigned
radar_output_type
26
Motorola
Unsigned
radar_enablePowerReductionV
Motorola
Unsigned
radar_elevationV
Motorola
radar_enablePowerReduction
24
Motorola
radar_elevation
23
Motorola
radar_sensor_idV
Motorola
radar_sensor_id
32
Motorola
Signal
Default Factory
Settings
0 -> Invalid
200 m
0 -> Invalid
2 -> Send
Targets
0 -> Invalid
Unsigned
0 -> Invalid
Unsigned
0 -> False
tpcl.: 160 (+- 10)
0 x 40 ( = 16)
0.25 possible > 160
Unsigned
deg after calibration
possible < 160
after calibration
0 -> False
Unsigned
1
0
Unsigned
1
Table 3: Radar Configuration message - Default factory settings (0x200)

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ARS308 software v2
7.
State Output
Message 0x201 contains signals which report the state of the sensor.
After configuring a parameter, (except for the object/target selection) by sending message
0x200 to the ARS300, the corresponding signal in message 0x201 can be checked in
order to verify that the configuration change was accepted. The following list shows the
correspondence between the configuration parameters and the signals in message 0x201
which can be used to verify that the configuration change has been accepted.
1. Radar range length -> currRangeLengthCal
2. Elevation of the sensors plate -> currElevationCal
3. Power reduction mode -> RadarPowerReduction
4. Sensor ID -> SensorID
Figure 4 shows the layout of the 0x201 message, while Table 4 shows the details of each
signal.
Figure 4: Radar State message Structure (0x201) (Bits in White are unused)

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Signal
NVMwriteStatus
NVMreadStatus
Start Len
20
19
Byte
Order
Value
Type
Res
Motorola
Unsigned
Motorola
Unsigned
1m
Value Range
0 -> failed
1 -> successful
0 -> pending
1 -> successful
2 -> failed
3 -> irrelevant/unused
currRangeLengthCal
39
Motorola
Unsigned
currElevationCal
31
Motorola
Unsigned
RadarPowerReduction
Motorola
Unsigned
CurrentRadarPower
Motorola
Unsigned
SupVolt_L
Motorola
Unsigned
RxInvalid
17
Motorola
Unsigned
SensDef
Motorola
Unsigned
SensTempErr
Motorola
Unsigned
SensorID
Motorola
Unsigned
# swMajorVersion
47
Motorola
Unsigned
0 -> 255
# swMinorVersion
55
Motorola
Unsigned
0 -> 255
# swBuildVersion
63
Motorola
Unsigned
0 -> 255
0.25
deg
50m, 51m, 52m 199m, 200m

00, 0.250, 0.500 . 31.750, 320
0 -> disabled
1 -> enabled
0 -> radarLowPower
1 -> radarHighPower
0 -> False
1 -> True
0 -> noneMissing
1 -> speedMissing
2 -> yawRateMissing
3 -> speedAndYawRate
Missing
0 -> False
1 -> True
0 -> False
1 -> True
07
0xF -> invalid
Table 4: Radar State message description (0x201)
# Valid only for the Companys internal use

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The following is a detailed description of each of the signals in message 0x201:
1. NVMwriteStatus - Shows the state of storing a configuration parameter to nonvolatile memory. It can be equal to the following values
a. failed a problem occurred during the last attempt to write a parameter.
b. successful the last configuration parameter received was successfully
written to non-volatile memory
2. NVMreadStatus - Shows the state of reading the configuration parameters from
non-volatile memory at startup. It can be equal to the following values
a. pending configuration not read yet.
b. successful the configuration parameters were successfully read from nonvolatile memory
c. failed the configuration parameters were not read from non-volatile
memory
3. currRangeLengthCal The current value of the Radar range length configuration
parameter
4. currElevationCal The current value of the elevation angle of the reflector plate.
5. RadarPowerReduction - The current value of the Power reduction mode
configuration parameter
6. CurrentRadarPower The actual current radar power level (radarLowPower or
radarHighPower)
7. SupVolt_L True if the supply voltage of the ARS300 is too low.
8. RxInvalid Shows the state of the speed and yaw rate CAN input signals. Can be
one of the following states:
a. noneMissing Both the speed and yaw rate are being received.
b. speedMissing Only the yaw rate is being received
c. yawRateMissing Only the speed is being received
d. speedAndYawRateMissing Both the speed and yaw rate are not being
received.
9. SensDef Sensor defective if 1
10. SensTempErr 1 indicates that the Sensor is switched off because the operating
temperature is too high.
11. SensorID Invalid sensor ID if 0xF otherwise 0 - 7
12. #swMajorVersion Major version of the radar firmware
13. #swMinorVersion Minor version of the radar firmware
14. #swBuildVersion Build version of the radar firmware

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ARS308 software v2
8.
Input Signals
Input messages 0x300 and 0x301 are accepted by the ARS300. The radar sensor will still
function without these two messages. After a 500msec timeout, the sensor will default to
the following states:
1. Speed -> 0 m/s and standstill
2. Yaw rate -> 0 deg/s
Each message has independent timeout monitoring. The timeout state is reflected in signal
RxInvalid in message 0x201.
The input signals are used to evaluate a vehicle course with is used to determine the
movement of detected objects and their position relative to the vehicle course.
8.1.
Speed Information
Figure 5: Speed Information message structure (0x300) (Bytes 3-7 and Bits in White are unused)
Signal
Start Len
radarDeviceSpeed
radarDeviceSpeedDirection
13
17
Byte
Order
Value
Type
Motorola
Unsigned
Motorola
Res
Value Range
0.02m/s 0 m/s -> 163.8 m/s
Unsigned
0 -> Standstill
1-> Forward
2 -> Reverse
3 -> irrelevant / unused
Table 5: Speed Information message description (0x300)
1. Radar Device Speed - Shows the absolute magnitude of speed in the direction the Radar is
moved while looking into positive straight ahead direction (see Figure 2)
a. Input unit: m/s

b. Range: 0 m/s 163.8 m/s = 0 kph 589.68 kph

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ARS308 software v2
2. Radar Device Speed Direction - Indicates the direction of the Radar while looking into
positive straight ahead direction (see Figure 2)
a. Standstill no movement in any direction

b. Forward Radar is moved into positive straight ahead direction
c. Reverse Radar is moved against positive forward direction = backwards
d. No use no matter if high or low
8.2.
Yaw Rate Information
Figure 6: Yaw Rate Information message structure (0x301) (Bytes 2-7 are unused)
Signal
Start
radarDeviceYaw
Rate
Len
Byte
Order
Value
Type
Res
0.01 deg/s
16
Motorola
unsigned
(-) to Right
Offset
Value Range
-327.68
-327.68 deg/s ..
deg/s
+327.66 deg/s
(+) to Left
Table 6: Yaw Rate Information message description (0x301)
1. Radar Device Yaw Rate Rate of change of angular velocity

a. Input unit: deg/s
b. Range: - 327.66 deg/s to +327.68 deg/s

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ARS308 software v2
9.
Data Output
The data about detected targets or objects are transmitted on CAN1. Targets are newly
determined by the processing of the detected radar reflections every cycle. However, the
objects are evaluated form by tracking the targets, so they inhibit a history about multiple
cycles.
9.1.
Target List
The target list output consists of three messages: CAN1_Target_Status (0x600),

CAN1_Target_1 (0x701) and CAN1_Target_2 (0x702). For each cycle the status message
and 96 message pairs (CAN1_Target_1, CAN1_Target_2) for identified targets are sent.
The first 32 targets are from near range, the following 64 targets are from far range.
Figure 7: CAN1_Target_Status message structure (0x600) (Bytes 3-7 are unused)
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
NoOfTargetsNear
Motorola
unsigned
NoOfTargetsFar
Motorola
unsigned
# TCIV
16
Motorola
unsigned
0.1
Value
Range
0 -> 255
tpcl.: 1->32
0 -> 255
tpcl.: 1->64
0 -> 25.5
Table 7 CAN1_Target_Status message description (0x600)

1. NoOfTargetsNear Number of detected targets in the near range
2. NoOfTargetsFar Number of detected targets in the far range
3. #TCIV Target list Can Interface Version

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ARS308 software v2
Figure 8: CAN1_Target_1 message structure (0x701) (Byte 7 and the Bit in White are unused)
Start
Len
Byte
Order
Value
Type
Res
Offset
NoOfTarget_1
Motorola
Unsigned
Tar_Dist_rms
Motorola
Unsigned
0.1 m
-10 m
Tar_Ang_rms
17
Motorola
Unsigned
0.1 deg
00
Tar_Vrel_rms
24
Motorola
Unsigned
0.03 m/s
-5 m/s
Tar_Vrel
44
12
Motorola
Unsigned
0.03 m/s
-25 m/s
Tar_Dist
48
11
Motorola
Unsigned
0.1 m
0m
Signal
Value
Range
0 -> 255
tpcl.: 1 -> 96
-10 m ->
+15.5 m
00 -> 12.70
- 5 m/s ->
+ 10.33 m/s
-25 m/s ->
+ 97.85 m/s
0 m ->
204.7 m
Table 8: CAN1_Target_1 message description (0x701)

1. NoOfTarget_1 Target number
2. Tar_Dist_rms Target range standard deviation
3. Tar_Ang_rms Target angle standard deviation
4. Tar_Vrel_rms Target relative velocity standard deviation
5. Tar_Vrel Target relative velocity
6. Tar_Dist Target range
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ARS308 software v2
Figure 9: CAN1_Target_2 message structure (0x702) (Bits in White are unused)
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
Value
Range
NoOfTarget_2
Motorola
Unsigned
0 -> 255
tpcl.: 1 -> 96
Tar_PdH0
Motorola
Unsigned
1%
0%
0 % ->127 %
Tar_Length
16
Motorola
Unsigned
0.1 m
0m
0 m ->51.1 m
Tar_Width
32
Motorola
Unsigned
0.1 m
0m
0 m ->51.1 m
Tar_Ang_stat
44
Motorola
Unsigned
0 -> 3
Tar_Type
46
Motorola
Unsigned
0 -> 3
Tar_Ang
50
10
Motorola
Unsigned
0.1 deg
-300
Tar_RCSValue
56
10
Motorola
Unsigned
0.1 dBm
-300 -> 72.30

- 50 dBm2 ->
-50dBm + 52.3 dBm2
Table 9: CAN1_Target_2 message description (0x702)

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ARS308 software v2

1. NoOfTarget_2 Target number (same as NoOfTarget_1 in 0x701)
2. Tar_PdH0 Target false alarm probability
3. Tar_Length Target length
4. Tar_Width Target width
5. Tar_Ang_stat Target angle status
0 -> Expanded target
1 -> Point target
2 -> Digital
3 -> invalid
6. Tar_Type Target type
0 -> No target
1 -> Oncoming
2 -> Stationary
3 -> Invalid data
7. Tar_Ang Target angle

8. Tar_RCSValue Radar cross section

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ARS308 software v2

9.2.
Object List
The object list output consists of four messages: CAN1_VersionID (0x700),

CAN1_Obj_Status (0x60A), CAN1_Obj_1 (0x60B) and CAN1_Obj_2 (0x60C). For each
cycle the status message and 40 message pairs (CAN1_Obj_1, CAN1_Obj_2) for
identified objects are sent.
Figure 10: CAN1_Obj_Status message structure (0x60A) (Byte 7 is not used)

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ARS308 software v2
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
NoOfObjects
Motorola
Unsigned
MeasCounter
16
16
Motorola
Unsigned
Recount starts
after 65535
24
Motorola
Unsigned
0->1
25
Motorola
Unsigned
0->1
26
Motorola
Unsigned
0->1
27
Motorola
Unsigned
0->1
28
Motorola
Unsigned
0->1
29
Motorola
Unsigned
0->1
() Sensor
RxInvalid
30
Motorola
Unsigned
0->1
() Reserved
31
Motorola
Unsigned
0->1
32
Motorola
Unsigned
0 -> 16
36
Motorola
Unsigned
0->3
() NumOfLanes
Left
38
Motorola
Unsigned
0->3
() LatDistTo
Border Left
40
Motorola
Unsigned
0.1 m
0m
0 m ->25.4 m
() LatDistTo
Border Right
48
Motorola
Unsigned
0.1 m
0m
0 m ->25.4 m
()SensorOutput
Reduced
() Sensor
External
Disturbed
() Sensor
SwitchedOff
() Sensor
Misaligned
() Sensor
Defective
()SensorSupply
VoltageLow
InterfaceVersion
Number
() NumOfLanes
Right
Value
Range
0 -> 255
tpcl.: 1 -> 40
0 -> 65535
Table 10: CAN1_Obj_Status message description (0x60A)
() Signal is exclusive ONLY for the automotive applications and NOT for
industrial functions.

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ARS308 software v2
The following is a detailed description of each of the signals in message 0x60A:

1. NoOfObjects Number of Objects
2. MeasCounter Counts the number of measurements made
3. () SensorOutputReduced Value 1 indicates output of sensor is reduced
4. () SensorExternalDisturbed - Value 1 indicates Sensor has external
disturbance
5. () SensorSwitchedOff - Value 1 indicates Sensor is switched off due to High
Temperature
6. () Sensor Misaligned - Value 1 indicates Sensor is misaligned
7. () SensorDefective - Value 1 indicates Sensor is defective
8. () SensorSupplyVoltageLow - Value 1 indicates Low Voltage
9. () SensorRxInvalid Value 1 indicates data received is invalid
10. InterfaceVersionNumber Unique number that identifies the version of the
CAN interface
11. () Reserved this bit is reserved for automotive applications
12. () NumOfLanesRight Position of Object expressed as Number of adjacent
lanes to the Right
13. () NumOfLanesLeft Position of Object expressed as Number of adjacent
lanes to the Left

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ARS308 software v2
Figure 11: CAN1_Obj_1 message structure (0x60B)
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
Value Range
Obj_RolCount
Motorola
Unsigned
Obj_ID
Motorola
Unsigned
Obj_LongDispl
21
11
Motorola
Unsigned
0.1 m
0m
Obj_VrelLong
25
12
Motorola
Unsigned
0.0625
m/s
-128 m/s
0 m -> 204 m
- 128 m/s ->
+ 127.9375 m/s
Obj_AccelLong
32
Motorola
Unsigned
0.0625
m/s
-16 m/s
-16 m/s ->

+ 15,9375 m/s
Obj_ProbOfExist
48
Motorola
Unsigned
Obj_DynProp
51
Motorola
Unsigned
0 -> 7
0 -> 7
(only 0->4 used)
Obj_LatDispl
54
10
Motorola
Unsigned
0.1 m
-52 m
-51.9 m -> 52 m
Obj_Length
56
Motorola
Unsigned
0 -> 7
Obj_Width
59
Motorola
Unsigned
0 -> 7
Obj_MeasStat
62
Motorola
Unsigned
0 -> 3
0 -> 3
0 -> 63
tpcl.: 1 -> 40
Table 11: CAN1_Obj_1 message description (0x60B)

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ARS308 software v2
The following is a detailed description of each of the signals in message 0x60B:

1. Obj_RolCount Rolling counter
2. Obj_ID Object ID
3. Obj_LongDispl Longitudinal displacement
4. Obj_VrelLong Relative longitudinal speed
5. Obj_AccelLong Relative longitudinal acceleration
6. Obj_ProbOfExist Probability of existence calculated for an Object
0: invalid
1: < 25 %
2: < 50 %
3: < 75 %
4: < 90 %
5: < 99 %
6: < 99.9 %
7: < 99.99%
7. Obj_DynProp Dynamic property:
0: unclassified
1: standing
2: stopped (has never been moving before)
3: moving
4: oncoming
8. Obj_LatDispl Lateral displacement

9. Obj_Length Object length
0: unknown
1: < 0.5 m
2: < 2 m
3: < 4 m
4: < 6 m
5: < 10 m
6: < 20 m
7: exceeds

May 31, 2012 page 23

ARS308 software v2
10. Obj_Width Object width
0: unknown
1: < 0.5 m (pedestrian)
2: < 1 m (bike)
3: < 2 m (car)
4: < 3 m (truck)
5: < 4 m
6: < 6 m
7: exceeds
11. Obj_MeasStat Object measurement status
0: no object
1: new object
2: object not measured
3: object measured

May 31, 2012 page 24

ARS308 software v2
Figure 12: CAN1_Obj_2 message structure (0x60C) (Bytes 3-7 and the Bit in White are unused)
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
Value
Range
Obj_RCSValue
Motorola
Unsigned
0.5 dBm
-64
dBm
Obj_LatSpeed
Motorola
Unsigned
0.25 m/s
-32 m/s
- 64 dBm ->
+ 63.5 dBm
- 32 m/s ->
+ 31.75 m/s
Obj_Obstacle
Probability
16
Motorola
Unsigned
1%
0%
0 % ->100 %
Table 12: CAN1_Obj_2 message description (0x60C)
The following is a detailed description of each of the signals in message 0x60C:

1. Obj_RCSValue Radar cross section (RCS) is the measure of the reflective
strength of a target or in other words it is the measure of power scattered in a
given spatial direction when a target is illuminated by an incident wave.
2. Obj_LatSpeed Object lateral velocity
negative value: object moves left to right
positive value: object moves right to left
3. Obj_ObstacleProbability Probability that the Object is an Obstacle

May 31, 2012 page 25

ARS308 software v2
Figure 13: CAN1_VersionID message structure (0x700) (Bytes 3-7 are unused)
Signal
Start
Len
Byte
Order
Value
Type
Res
Offset
Value
Range
#MajorRelease
Number
Motorola
Unsigned
0 -> 256
#MinorRelease
Number
Motorola
Unsigned
0 -> 256
#PatchLevel
16
Motorola
Unsigned
0 -> 256
Table 13: CAN1_VersionID message description (0x700)

Each of the following three numbers is Binary Coded Numbers of the MCU
1. #MajorReleaseNumber Major release number
2. #MinorReleaseNumber Minor release number
3. #PatchLevel Patch level

May 31, 2012 page 26

ARS308 software v2
10.
Collision Detection
For some sensor variants a collision detection functionality is available. The CAN
additional messages are described in the following sections.
10.1. Warning Configuration Input
This message is used for configuration of the collision detection warning function.
Figure 14: CollDetWarnConfig message structure (0x400) (Byte 3-7 are not used)
Signal
Start
Len Byte
Order
Value
Type
Res
Offset
Value
Range
0 -> Idle
WarningReset
CollisionDetectionActivation 1
Motorola
Motorola
Unsigned
Unsigned
1 -> Reset
warning
0 ->
deactivated
1 -> activated
0 -> Idle
ObjWidthSetFlag
Motorola
Unsigned
1 -> Change
object width
0 -> Idle
ObjDetectionTimeSetFlag

May 31, 2012 page 27
Motorola
Unsigned
1 -> Change
time

ARS308 software v2

CfgObjMinWidth
Motorola
Unsigned
0.1
0 -> 25.5 m
CfgObjMinDetectionTime
16
Motorola
Unsigned
0.1
0 -> 25.5 s
Table 14: CollDetWarnConfig message description (0x400)

1. WarningReset Reset currently active warnings
2. CollisionDetectionActivation De-/activate collision detection function
3. ObjWidthSetFlag Allow change of object width parameter
4. ObjDetectionTimeSetFlag Allow change of time parameter
5. CfgObjMinWidth Minimum width of detected objects to trigger warning
6. CfgObjMinDetectionTime Minimum time an object needs to be detected
before a warning is triggered
10.2. Region configuration Input
This message is used to configure the regions which are monitored.
Figure 15: CollDetRegionConfig message structure (0x401)

May 31, 2012 page 28

ARS308 software v2

Signal
Start
Len Byte
Order
Value
Type
Res
Offset
Value
Range
0 -> Idle
ClearRegions
RegionActivation
Motorola
Motorola
Unsigned
Unsigned
1 -> Clear all

regions
0 ->
deactived
1 -> activated
0 -> Idle
CoordinatesSetFlag
Motorola
Unsigned
CfgRegionID
Motorola
Unsigned
0 7 ->
Region ID
CfgRegionPoint1X
30
10
Motorola
Unsigned
0.2
0 200 m
CfgRegionPoint1Y
32
Motorola
Unsigned
0.1
-50 m
- 50 50 m
CfgRegionPoint2X
54
10
Motorola
Unsigned
0.2
0 200 m
CfgRegionPoint2Y
56
Motorola
Unsigned
0.1
-50 m
- 50 50 m
1 -> Change
coordinates
Table 15: CollDetRegionConfig message description (0x401)

1. ClearRegions Clear all region settinsg
2. RegionActivation De-/activate current region
3. CoordinatesSetFlag Allow change of current regions coordinates
4. CfgRegionID ID of current region to configure
5. CfgRegionPoint1X 1st X coordinate of region
6. CfgRegionPoint1Y 1st Y coordinate of region
7. CfgRegionPoint2X 2nd X coordinate of region
8. CfgRegionPoint2Y 2nd Y coordinate of region
10.3. State Output
This message shows the state of the collision detection function. The warning parameters
as well as the region configuration are shown multiplexed by the signal StateMsgType.

May 31, 2012 page 29

ARS308 software v2
Figure 16: CollDetState message structure (0x408) (StateMsgType == Warn info)
Figure 17: CollDetState message structure (0x408) (StateMsgType == Region info)

May 31, 2012 page 30

ARS308 software v2
Signal
Start
Len Byte
Order
Value
Type
Res
Offset
Value
Range
StateMsgCounter
Unsigned
0 15
Motorola
0 -> Warn
info
StateMsgType
Motorola
Unsigned
ObjMinWidth (Warn info)
Motorola
Unsigned
0.1
0 25.5 m
ObjMinDetectionTime
(Warn info)
16
Motorola
Unsigned
0.1
0 25.5 s
RegionIDState (Region info)
Motorola
Unsigned
07
NumberOfRegions (Region
info)
12
Motorola
Unsigned
07
RegionPoint1X (Region info) 30
10
Motorola
Unsigned
0.1
0 200 m
RegionPoint1Y (Region info) 32
Motorola
Unsigned
0.1
-50 m
- 50 50 m
RegionPoint2X (Region info) 54
10
Motorola
Unsigned
0.2
0 200 m
RegionPoint2Y (Region info) 56
Motorola
Unsigned
0.1
-50 m
- 50 50 m
1 -> Region
info
Table 16: CollDetState message description (0x408)

1. StateMsgCounter Message cycle counter
2. StateMsgType Multiplexor for message type
3. ObjMinWidth Value of configured minimum object width
4. ObjMinDetectionTime Value of configured minimum object detection time
5. RegionIDState Region ID
6. NumberOfRegions Number of regions
7. RegionPoint1X 1st X coordinate of region
8. RegionPoint1Y 1st Y coordinate of region
9. RegionPoint2X 2nd X coordinate of region
10. RegionPoint2Y 2nd Y coordinate of region

May 31, 2012 page 31

ARS308 software v2

10.4. Warning Output
This message shows warning information. A message is transmitted for each region and
object which triggers a warning.
Figure 18: CollDetWarn message structure (0x409)
Signal
Start
Len Byte
Order
WarnMsgCounter
RegionID
Value
Type
Res
Offset Value Range
Motorola Unsigned
0 31
Motorola Unsigned
07
0 -> No warning
WarningLevel
Motorola Unsigned
1 -> Object
warning
2 -> Reserved
3 -> Warning
deactivated
ObjectID
10
Motorola Unsigned
0 63
ObjLatPos
30
10
Motorola Unsigned
0.1
-52 m
-51.9 52 m
ObjLongSpd
34
12
Motorola Unsigned
0.0625
-128
m/s
-127.9375
128 m/s

May 31, 2012 page 32

ARS308 software v2
ObjLatSpd
42
Motorola Unsigned
0.25
-32
m/s
-32 31.75 m/s
ObjWidth
56
Motorola Unsigned
0.1
0 12.7 m
ObjLongPos
63
11
Motorola Unsigned
0.1
0 204 m
Table 17: CollDetWarn message description (0x409)

1. WarnMsgCounter Message cycle counter
2. RegionID Region ID for current warning
3. WarningLevel Warning level
4. ObjectID Object ID for current warning
5. ObjLatPos Lateral position of object
6. ObjLongSpd Longitudinal speed of object
7. ObjLatSpd Lateral speed of object
8. ObjWidth Object width
9. ObjLongPos Longitudinal position of object

May 31, 2012 page 33

ARS308 software v2

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Standardized ARS Interface

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Standardized ARS Interface

Collision Detection ................................................................................................ 27

Warning Configuration Input .............................................................................. 27

Region configuration Input................................................................................. 28

State Output ...................................................................................................... 29

Warning Output ................................................................................................. 32

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Chapter Change description

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Please refer to ARS 300-Technical Description.

Please refer to ARS 300-Technical Description.

Figure 1: CAN network

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Azimuth Angle (-)

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CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

Vehicle yaw rate

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

Object List Interface

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

CAN 2.0A (11 Bit)

This document is related to

Standardized ARS Interface

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Standardized ARS Interface

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Standardized ARS Interface

Table 2: Radar Configuration - message description (0x200)

Table 3: Radar Configuration message - Default factory settings (0x200)

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Standardized ARS Interface

50m, 51m, 52m 199m, 200m

0xF -> invalid