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Standardized ARS Interface
Continental Engineering Services GmbH
October 14, 2016 page 1
This document is related to
ARS 404/408 software v1.0
Continental Engineering Services GmbH
Entry Premium
Standardized ARS Interface
Technical Documentation
ARS 404-21 (Entry)
ARS 408-21 (Premium)
V1.0
October 14, 2016
Standardized ARS Interface
Continental Engineering Services GmbH
October 14, 2016 page 2
This document is related to
ARS 404/408 software v1.0
Table of Contents
1. Introduction ................................................................................................................. 7
2. Operating Conditions .................................................................................................. 7
3. Safety Information ....................................................................................................... 7
4. Interface ....................................................................................................................... 8
5. Description .................................................................................................................. 9
6. Configuration Messages ........................................................................................... 10
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. State Output ............................................................................................................... 20
7.1. Radar state (0x201) .............................................................................................. 20
7.2. Cluster and Object filter configuration state header (0x203) ................................. 23
7.3. Cluster and Object filter configuration state (0x204) ............................................. 23
7.4. Collision detection state (0x408) ........................................................................... 27
7.5. Collision detection region state (0x402) ................................................................ 28
7.6. Control message for relay (0x8) ............................................................................ 29
7.7. Software versions (0x700) .................................................................................... 31
8. Motion Input Signals ................................................................................................. 32
8.1. SpeedInformation (0x300) .................................................................................... 32
8.2. Yaw rate Information (0x301) ............................................................................... 33
9. Cluster List ................................................................................................................ 34
9.1. Cluster list status (0x600) ..................................................................................... 35
9.2. Cluster general information (0x701) ...................................................................... 35
9.3. Cluster quality information (0x702) ....................................................................... 37
10. Object List .............................................................................................................. 41
10.1. Object list status (0x60A) ................................................................................... 42
10.2. Object general information (0x60B) ................................................................... 43
10.3. Object quality information (0x60C) .................................................................... 44
10.4. Object extended information (0x60D) ................................................................ 47
10.5. Object collision detection warning (0x60E) ........................................................ 48
Standardized ARS Interface
Continental Engineering Services GmbH
October 14, 2016 page 3
This document is related to
ARS 404/408 software v1.0
History
Version
Date
Chapter
Change description
V1.0
14.10.2016
First released version
Standardized ARS Interface
Continental Engineering Services GmbH
October 14, 2016 page 4
This document is related to
ARS 404/408 software v1.0
Table of Figures
Figure 1: ARS408 coordinate system for clusters and objects. ............................................ 9
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 8: CollDetRegionCfg - message layout (0x401). ..................................................... 18
Figure 9: Overview of state messages that are sent cyclically by the radar. ...................... 20
Figure 10: RadarState - message layout (0x201). ............................................................. 21
Figure 11: FilterState_Header - message layout (0x203). ................................................. 23
Figure 12: FilterState_Cfg - message layout for FilterState_Index=0x1 (0x204) with 12 bit
length for minimum and maximum value. .......................................................................... 25
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 23: Cluster_0_Status - message layout (0x600). .................................................... 35
Figure 24: Cluster_1_General - message layout (0x701). ................................................. 36
Figure 25: Cluster_2_Quality - message layout (0x702). ................................................... 37
Figure 26: Overview of object list messages that are sent cyclically by the radar. ............. 41
Figure 27: Object_0_Status - message layout (0x60A). .................................................... 42
Figure 28: Object_1_General - message layout (0x60B). .................................................. 43
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
Standardized ARS Interface
Continental Engineering Services GmbH
October 14, 2016 page 5
This document is related to
ARS 404/408 software v1.0
Table of Tables
Table 1: Sensor CAN messages (exemplary for sensor ID 0). ............................................ 8
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 11: RadarState - message content (0x201). ............................................................ 21
Table 12: RadarState - signal description (0x201). ............................................................ 22
Table 13: FilterState_Header - message content (0x203). ................................................ 23
Table 14: FilterState_Header - signal description (0x203). ................................................ 23
Table 15: Possible filter criteria selectable with FilterState_Index. The columns C and O
specify if this filter can be applied to clusters or objects, respectively. ............................... 24
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 26: SpeedInformation - message content (0x300). .................................................. 32
Table 27: SpeedInformation – signal description (0x300). ................................................. 32
Table 28: YawRateInformation - message content (0x301). .............................................. 33
Table 29: YawRateInformation – signal description (0x301). ............................................. 33
Table 30: Cluster_0_Status - message content (0x600). ................................................... 35
Table 31: Cluster_0_Status – signal description (0x600). .................................................. 35
Table 32: Cluster_1_General - message content (0x701). ................................................ 36
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