package apollo.drivers

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: DelphiESR

optional int32 command_ctr = 1
Report Message [] [0|0]
optional int32 command_code = 2
[] [0|0]
optional int32 cc_word_2 = 3
[] [0|0]
optional int32 cc_word_1 = 4
[] [0|0]
optional int32 cc_byte_2 = 5
[] [0|0]
optional int32 cc_byte_1 = 6
[] [0|0]

Used in: DelphiESR

optional int32 data_7 = 1
Report Message [] [0|0]
optional int32 data_6 = 2
[] [0|0]
optional int32 data_5 = 3
[] [0|0]
optional int32 data_4 = 4
[] [0|0]
optional int32 data_3 = 5
[] [0|0]
optional int32 rtn_cmd_counter = 6
[] [0|0]
optional int32 command_return_code = 7
[] [0|0]
optional int32 pid = 8
[] [0|0]

Used in: Mobileye

optional int32 lane_conf_left = 1
optional bool ldw_availability_left = 2
optional int32 lane_type_left = 3
optional double distance_to_lane_l = 4
optional int32 lane_conf_right = 5
optional bool ldw_availability_right = 6
optional int32 lane_type_right = 7
optional double distance_to_lane_r = 8

Used in: ContiRadar

optional int32 near = 1
optional int32 far = 2
optional int32 meas_counter = 3
optional int32 interface_version = 4

optional common.Header header = 1
optional string frame_id = 2
optional string format = 3
Specifies the format of the data Acceptable values: jpeg, png
optional bytes data = 4
Compressed image buffer
optional double measurement_time = 5
optional uint32 frame_type = 6
optional uint32 width = 7
optional uint32 height = 8

optional common.Header header = 1
repeated ContiRadarObs contiobs = 2
conti radar obstacle array
optional RadarState_201 radar_state = 3
optional ClusterListStatus_600 cluster_list_status = 4
optional ObjectListStatus_60A object_list_status = 5

Used in: ContiRadar

optional common.Header header = 1
optional bool clusterortrack = 2
0 = track, 1 = cluster
optional int32 obstacle_id = 3
obstacle Id
optional double longitude_dist = 4
longitude distance to the radar; (+) = forward; unit = m
optional double lateral_dist = 5
lateral distance to the radar; (+) = left; unit = m
optional double longitude_vel = 6
longitude velocity to the radar; (+) = forward; unit = m/s
optional double lateral_vel = 7
lateral velocity to the radar; (+) = left; unit = m/s
optional double rcs = 8
obstacle Radar Cross-Section; unit = dBsm
optional int32 dynprop = 9
0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
optional double longitude_dist_rms = 10
longitude distance standard deviation to the radar; (+) = forward; unit = m
optional double lateral_dist_rms = 11
lateral distance standard deviation to the radar; (+) = left; unit = m
optional double longitude_vel_rms = 12
longitude velocity standard deviation to the radar; (+) = forward; unit = m/s
optional double lateral_vel_rms = 13
lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double probexist = 14
obstacle probability of existence
optional int32 meas_state = 15
The following is only valid for the track object message 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
optional double longitude_accel = 16
longitude acceleration to the radar; (+) = forward; unit = m/s2
optional double lateral_accel = 17
lateral acceleration to the radar; (+) = left; unit = m/s2
optional double oritation_angle = 18
orientation angle to the radar; (+) = counterclockwise; unit = degree
optional double longitude_accel_rms = 19
longitude acceleration standard deviation to the radar; (+) = forward; unit = m/s2
optional double lateral_accel_rms = 20
lateral acceleration standard deviation to the radar; (+) = left; unit = m/s2
optional double oritation_angle_rms = 21
orientation angle standard deviation to the radar; (+) = counterclockwise; unit = degree
optional double length = 22
obstacle length; unit = m
optional double width = 23
obstacle width; unit = m
optional int32 obstacle_class = 24
0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown

optional common.Header header = 1
optional Esr_status9_5e8 esr_status9_5e8 = 2
report message
optional Esr_status6_5e5 esr_status6_5e5 = 3
report message
optional Esr_status5_5e4 esr_status5_5e4 = 4
report message
optional Esr_status3_4e2 esr_status3_4e2 = 5
report message
optional Esr_status4_4e3 esr_status4_4e3 = 6
report message
repeated Esr_trackmotionpower_540 esr_trackmotionpower_540 = 7
report message
optional Acm_inst_req_7e0 acm_inst_req_7e0 = 8
report message
repeated Esr_track01_500 esr_track01_500 = 9
report message
optional Esr_valid1_5d0 esr_valid1_5d0 = 10
report message
optional Esr_valid2_5d1 esr_valid2_5d1 = 11
report message
optional Acm_inst_resp_7e4 acm_inst_resp_7e4 = 12
report message
optional Vehicle2_4f1 vehicle2_4f1 = 13
report message
optional Vehicle1_4f0 vehicle1_4f0 = 14
report message
optional Esr_sim1_5c0 esr_sim1_5c0 = 15
report message
optional Esr_status1_4e0 esr_status1_4e0 = 16
report message
optional Esr_status2_4e1 esr_status2_4e1 = 17
report message
optional Esr_status8_5e7 esr_status8_5e7 = 18
report message
optional Esr_status7_5e6 esr_status7_5e6 = 19
report message
optional Vehicle3_5f2 vehicle3_5f2 = 20
report message
optional Vehicle4_5f3 vehicle4_5f3 = 21
report message
optional Vehicle5_5f4 vehicle5_5f4 = 22
report message
optional Vehicle6_5f5 vehicle6_5f5 = 23
report message

Used in: Mobileye

optional double lane_curvature = 1
optional double lane_heading = 2
optional bool ca_construction_area = 3
optional bool right_ldw_availability = 4
optional bool left_ldw_availability = 5
optional bool reserved_1 = 6
optional double yaw_angle = 7
optional double pitch_angle = 8

Used in: Mobileye

optional int32 num_obstacles = 1
optional int32 timestamp = 2
optional int32 application_version = 3
optional int32 active_version_number_section = 4
optional bool left_close_rang_cut_in = 5
optional bool right_close_rang_cut_in = 6
optional int32 go = 7
optional int32 protocol_version = 8
optional bool close_car = 9
optional int32 failsafe = 10
optional int32 reserved_10 = 11

Used in: Mobileye

optional int32 obstacle_id = 1
optional double obstacle_pos_x = 2
optional int32 reseved_2 = 3
optional double obstacle_pos_y = 4
optional int32 blinker_info = 5
optional int32 cut_in_and_out = 6
optional double obstacle_rel_vel_x = 7
optional int32 obstacle_type = 8
optional bool reserved_3 = 9
optional int32 obstacle_status = 10
optional bool obstacle_brake_lights = 11
optional int32 reserved_4 = 12
optional int32 obstacle_valid = 13

Used in: Mobileye

optional double obstacle_length = 1
optional double obstacle_width = 2
optional int32 obstacle_age = 3
optional int32 obstacle_lane = 4
optional bool cipv_flag = 5
optional bool reserved_5 = 6
optional double radar_pos_x = 7
optional double radar_vel_x = 8
optional int32 radar_match_confidence = 9
optional bool reserved_6 = 10
optional int32 matched_radar_id = 11
optional bool reserved_7 = 12

Used in: Mobileye

optional double obstacle_angle_rate = 1
optional double obstacle_scale_change = 2
optional double object_accel_x = 3
optional int32 reserved_8 = 4
optional bool obstacle_replaced = 5
optional int32 reserved_9 = 6
optional double obstacle_angle = 7

Used in: DelphiESR

optional Esr_sim1_5c0.Can_rx_sim_track_idType can_rx_sim_track_id = 1
[] [0|0]
optional Esr_sim1_5c0.Can_rx_sim_statusType can_rx_sim_status = 2
[] [0|0]
optional double can_rx_sim_range_rate = 3
[m/s] [-32|31.75]
optional double can_rx_sim_range_accel = 4
[m/s/s] [-32|31.75]
optional int32 can_rx_sim_range = 5
[m] [0|0]
optional double can_rx_sim_lat_rate = 6
[m/s] [-32|31.75]
optional double can_rx_sim_lat_pos = 7
[m] [-32|31.75]
optional Esr_sim1_5c0.Can_rx_sim_functionType can_rx_sim_function = 8
[] [0|0]
optional double can_rx_sim_angle = 9
[deg] [-64|63.5]

Used in: Esr_sim1_5c0

CAN_RX_SIM_FUNCTION_ACC = 0
CAN_RX_SIM_FUNCTION_RI = 1
CAN_RX_SIM_FUNCTION_FCW_MOVE = 2
CAN_RX_SIM_FUNCTION_FCW_STAT = 3
CAN_RX_SIM_FUNCTION_CMBB_MOVE = 4
CAN_RX_SIM_FUNCTION_CMBB_STAT = 5
CAN_RX_SIM_FUNCTION_ALL_MOVING_ACC_FCW_CMBB = 6
CAN_RX_SIM_FUNCTION_ALL_STAT_RI_FCW_CMBB = 7

Used in: Esr_sim1_5c0

CAN_RX_SIM_STATUS_INVALID = 0
CAN_RX_SIM_STATUS_NEW = 1
CAN_RX_SIM_STATUS_UPDATED = 2
CAN_RX_SIM_STATUS_COASTED = 3

Report Message

Used in: Esr_sim1_5c0

CAN_RX_SIM_TRACK_ID_NO_TARGET = 0
CAN_RX_SIM_TRACK_ID_TARGET_1 = 1
CAN_RX_SIM_TRACK_ID_TARGET_2 = 2

Used in: DelphiESR

optional double can_tx_dsp_timestamp = 1
Report Message [ms] [0|254]
optional bool can_tx_comm_error = 2
[] [0|0]
optional double can_tx_yaw_rate_calc = 3
[deg/s] [-128|127.9375]
optional double can_tx_vehicle_speed_calc = 4
[m/s] [0|127.9375]
optional int32 can_tx_scan_index = 5
[] [0|65535]
optional int32 can_tx_rolling_count_1 = 6
[] [0|0]
optional int32 can_tx_radius_curvature_calc = 7
[m] [-8192|8191]

Used in: DelphiESR

optional double can_tx_yaw_rate_bias = 1
[] [-16|15.875]
optional double can_tx_veh_spd_comp_factor = 2
[] [0.9375|1.060546875]
optional int32 can_tx_sw_version_dsp = 3
[] [0|0]
optional int32 can_tx_temperature = 4
[degC] [-128|127]
optional Esr_status2_4e1.Can_tx_raw_data_modeType can_tx_raw_data_mode = 5
[] [0|0]
optional Esr_status2_4e1.Can_tx_range_perf_errorType can_tx_range_perf_error = 6
[] [0|0]
optional Esr_status2_4e1.Can_tx_overheat_errorType can_tx_overheat_error = 7
[] [0|0]
optional int32 can_tx_maximum_tracks_ack = 8
[] [1|64]
optional Esr_status2_4e1.Can_tx_internal_errorType can_tx_internal_error = 9
[] [0|0]
optional Esr_status2_4e1.Can_tx_grouping_modeType can_tx_grouping_mode = 10
[] [0|0]
optional Esr_status2_4e1.Can_tx_xcvr_operationalType can_tx_xcvr_operational = 11
[] [0|0]
optional int32 can_tx_steering_angle_ack = 12
[deg] [0|2047]
optional int32 can_tx_rolling_count_2 = 13
[] [0|0]

Used in: Esr_status2_4e1

CAN_TX_GROUPING_MODE_NO_GROUPING = 0
CAN_TX_GROUPING_MODE_GROUP_MOVING_ONLY = 1
CAN_TX_GROUPING_MODE_GROUP_STATIONARY_ONLY = 2
CAN_TX_GROUPING_MODE_GROUP_MOVING_STATIONARY = 3

Used in: Esr_status2_4e1

CAN_TX_INTERNAL_ERROR_NOT_FAILED = 0
CAN_TX_INTERNAL_ERROR_FAILED = 1

Used in: Esr_status2_4e1

CAN_TX_OVERHEAT_ERROR_NOT_OVERTEMP = 0
CAN_TX_OVERHEAT_ERROR_OVERTEMP = 1

Used in: Esr_status2_4e1

CAN_TX_RANGE_PERF_ERROR_NOT_BLOCKED = 0
CAN_TX_RANGE_PERF_ERROR_BLOCKED = 1

Report Message

Used in: Esr_status2_4e1

CAN_TX_RAW_DATA_MODE_FILTERED = 0
CAN_TX_RAW_DATA_MODE_RAW = 1

Used in: Esr_status2_4e1

CAN_TX_XCVR_OPERATIONAL_OFF = 0
CAN_TX_XCVR_OPERATIONAL_ON = 1

Used in: DelphiESR

optional int32 can_tx_sw_version_pld = 1
Report Message [] [0|0]
optional int32 can_tx_sw_version_host = 2
[] [0|0]
optional int32 can_tx_hw_version = 3
[] [0|0]
optional int32 can_tx_interface_version = 4
[] [0|0]
optional int32 can_tx_serial_num = 5
[] [0|0]

Used in: DelphiESR

optional Esr_status4_4e3.Can_tx_truck_target_detType can_tx_truck_target_det = 1
[] [0|0]
optional Esr_status4_4e3.Can_tx_lr_only_grating_lobe_detType can_tx_lr_only_grating_lobe_det = 2
[] [0|0]
optional Esr_status4_4e3.Can_tx_sidelobe_blockageType can_tx_sidelobe_blockage = 3
[] [0|0]
optional Esr_status4_4e3.Can_tx_partial_blockageType can_tx_partial_blockage = 4
[] [0|0]
optional int32 can_tx_path_id_acc_stat = 5
[] [0|0]
optional Esr_status4_4e3.Can_tx_mr_lr_modeType can_tx_mr_lr_mode = 6
[] [0|3]
optional double can_tx_auto_align_angle = 7
[] [-8|7.9375]
optional int32 can_tx_rolling_count_3 = 8
[] [0|0]
optional int32 can_tx_path_id_fcw_stat = 9
[] [0|0]
optional int32 can_tx_path_id_fcw_move = 10
[] [0|0]
optional int32 can_tx_path_id_cmbb_stat = 11
[] [0|0]
optional int32 can_tx_path_id_cmbb_move = 12
[] [0|0]
optional int32 can_tx_path_id_acc = 13
[] [0|0]

Used in: Esr_status4_4e3

CAN_TX_LR_ONLY_GRATING_LOBE_DET_NOT_DETECTED = 0
CAN_TX_LR_ONLY_GRATING_LOBE_DET_DETECTED = 1

Used in: Esr_status4_4e3

CAN_TX_MR_LR_MODE_RESERVED = 0
CAN_TX_MR_LR_MODE_OUTPUT_ONLY_MEDIUM_RANGE_TRACKS = 1
CAN_TX_MR_LR_MODE_OUTPUT_ONLY_LONG_RANGE_TRACKS = 2
CAN_TX_MR_LR_MODE_OUTPUT_ALL_MEDIUM_RANGE_AND_LONG = 3

Used in: Esr_status4_4e3

CAN_TX_PARTIAL_BLOCKAGE_NOT_BLOCKED = 0
CAN_TX_PARTIAL_BLOCKAGE_BLOCKED = 1

Used in: Esr_status4_4e3

CAN_TX_SIDELOBE_BLOCKAGE_OFF = 0
CAN_TX_SIDELOBE_BLOCKAGE_ON = 1

Report Message

Used in: Esr_status4_4e3

CAN_TX_TRUCK_TARGET_DET_NOT_DETECTED = 0
CAN_TX_TRUCK_TARGET_DET_DETECTED = 1

Used in: DelphiESR

optional int32 can_tx_supply_10v_a2d = 1
Report Message [] [0|0]
optional int32 can_tx_temp2_a2d = 2
[] [0|0]
optional int32 can_tx_temp1_a2d = 3
[] [0|0]
optional int32 can_tx_swbatt_a2d = 4
[] [0|0]
optional int32 can_tx_supply_5vdx_a2d = 5
[] [0|0]
optional int32 can_tx_supply_5va_a2d = 6
[] [0|0]
optional int32 can_tx_supply_3p3v_a2d = 7
[] [0|0]
optional int32 can_tx_ignp_a2d = 8
[] [0|0]

Used in: DelphiESR

optional int32 can_tx_sw_version_dsp_3rd_byte = 1
[] [0|0]
optional Esr_status6_5e5.Can_tx_vertical_align_updatedType can_tx_vertical_align_updated = 2
[] [0|0]
optional double can_tx_vertical_misalignment = 3
[] [-6|6]
optional int32 can_tx_serv_align_updates_done = 4
[] [0|255]
optional Esr_status6_5e5.Can_tx_found_targetType can_tx_found_target = 5
[] [0|0]
optional double can_tx_factory_misalignment = 6
[deg] [-5|5]
optional Esr_status6_5e5.Can_tx_factory_align_status_2Type can_tx_factory_align_status_2 = 7
[] [0|5]
optional Esr_status6_5e5.Can_tx_factory_align_status_1Type can_tx_factory_align_status_1 = 8
[] [0|5]
optional Esr_status6_5e5.Can_tx_recommend_unconvergeType can_tx_recommend_unconverge = 9
[] [0|0]
optional int32 can_tx_wave_diff_a2d = 10
[] [0|0]
optional Esr_status6_5e5.Can_tx_system_power_modeType can_tx_system_power_mode = 11
[] [0|0]
optional int32 can_tx_supply_n5v_a2d = 12
[] [0|0]
optional int32 can_tx_supply_1p8v_a2d = 13
[] [0|0]

Used in: Esr_status6_5e5

CAN_TX_FACTORY_ALIGN_STATUS_1_OFF = 0
CAN_TX_FACTORY_ALIGN_STATUS_1_BUSY = 1
CAN_TX_FACTORY_ALIGN_STATUS_1_SUCCESS = 2
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_NO_TARGET = 3
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_DEV_TOO_LARGE = 4
CAN_TX_FACTORY_ALIGN_STATUS_1_FAIL_VAR_TOO_LARGE = 5

Used in: Esr_status6_5e5

CAN_TX_FACTORY_ALIGN_STATUS_2_OFF = 0
CAN_TX_FACTORY_ALIGN_STATUS_2_BUSY = 1
CAN_TX_FACTORY_ALIGN_STATUS_2_SUCCESS = 2
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_NO_TARGET = 3
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_DEV_TOO_LARGE = 4
CAN_TX_FACTORY_ALIGN_STATUS_2_FAIL_VAR_TOO_LARGE = 5

Used in: Esr_status6_5e5

CAN_TX_FOUND_TARGET_NOT_FOUND = 0
CAN_TX_FOUND_TARGET_FOUND = 1

Used in: Esr_status6_5e5

CAN_TX_RECOMMEND_UNCONVERGE_NOT_RECOMMEND = 0
CAN_TX_RECOMMEND_UNCONVERGE_RECOMMEND = 1

Used in: Esr_status6_5e5

CAN_TX_SYSTEM_POWER_MODE_DSP_INIT = 0
CAN_TX_SYSTEM_POWER_MODE_RADIATE_OFF = 1
CAN_TX_SYSTEM_POWER_MODE_RADIATE_ON = 2
CAN_TX_SYSTEM_POWER_MODE_DSP_SHUTDOWN = 3
CAN_TX_SYSTEM_POWER_MODE_DSP_OFF = 4
CAN_TX_SYSTEM_POWER_MODE_HOST_SHUTDOWN = 5
CAN_TX_SYSTEM_POWER_MODE_TEST = 6
CAN_TX_SYSTEM_POWER_MODE_7INVALID = 7

Report Message

Used in: Esr_status6_5e5

CAN_TX_VERTICAL_ALIGN_UPDATED_NOT_UPDATED = 0
CAN_TX_VERTICAL_ALIGN_UPDATED_UPDATED = 1

Used in: DelphiESR

optional int32 can_tx_active_fault_7 = 1
Report Message [] [0|0]
optional int32 can_tx_active_fault_6 = 2
[] [0|0]
optional int32 can_tx_active_fault_5 = 3
[] [0|0]
optional int32 can_tx_active_fault_4 = 4
[] [0|0]
optional int32 can_tx_active_fault_3 = 5
[] [0|0]
optional int32 can_tx_active_fault_2 = 6
[] [0|0]
optional int32 can_tx_active_fault_0 = 7
[] [0|0]
optional int32 can_tx_active_fault_1 = 8
[] [0|0]

Used in: DelphiESR

optional int32 can_tx_history_fault_7 = 1
Report Message [] [0|0]
optional int32 can_tx_history_fault_6 = 2
[] [0|0]
optional int32 can_tx_history_fault_5 = 3
[] [0|0]
optional int32 can_tx_history_fault_4 = 4
[] [0|0]
optional int32 can_tx_history_fault_3 = 5
[] [0|0]
optional int32 can_tx_history_fault_2 = 6
[] [0|0]
optional int32 can_tx_history_fault_1 = 7
[] [0|0]
optional int32 can_tx_history_fault_0 = 8
[] [0|0]

Used in: DelphiESR

optional int32 can_tx_path_id_acc_3 = 1
Report Message [] [0|64]
optional int32 can_tx_path_id_acc_2 = 2
[] [0|64]
optional double can_tx_filtered_xohp_acc_cipv = 3
[m] [-8|7.96875]
optional int32 can_tx_water_spray_target_id = 4
[] [0|64]
optional int32 can_tx_serial_num_3rd_byte = 5
[] [0|0]
optional double can_tx_sideslip_angle = 6
[deg] [-64|63.875]
optional int32 can_tx_avg_pwr_cwblkg = 7
[] [0|0]

Used in: DelphiESR

optional Esr_track01_500.Can_tx_track_grouping_changedType can_tx_track_grouping_changed = 1
[] [0|0]
optional Esr_track01_500.Can_tx_track_oncomingType can_tx_track_oncoming = 2
[] [0|0]
optional double can_tx_track_lat_rate = 3
[] [-8|7.75]
optional Esr_track01_500.Can_tx_track_bridge_objectType can_tx_track_bridge_object = 4
[] [0|0]
optional double can_tx_track_width = 5
[m] [0|7.5]
optional Esr_track01_500.Can_tx_track_statusType can_tx_track_status = 6
[] [0|7]
optional bool can_tx_track_rolling_count = 7
[] [0|1]
optional double can_tx_track_range_rate = 8
[m/s] [-81.92|81.91]
optional double can_tx_track_range_accel = 9
[m/s/s] [-25.6|25.55]
optional double can_tx_track_range = 10
[m] [0|204.7]
optional Esr_track01_500.Can_tx_track_med_range_modeType can_tx_track_med_range_mode = 11
[] [0|3]
optional double can_tx_track_angle = 12
[deg] [-51.2|51.1]

Used in: Esr_track01_500

CAN_TX_TRACK_BRIDGE_OBJECT_NOT_BRIDGE = 0
CAN_TX_TRACK_BRIDGE_OBJECT_BRIDGE = 1

Report Message

Used in: Esr_track01_500

CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGUNCHANGED = 0
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGCHANGED = 1

Used in: Esr_track01_500

CAN_TX_TRACK_MED_RANGE_MODE_NO_MR_LR_UPDATE = 0
CAN_TX_TRACK_MED_RANGE_MODE_MR_UPDATE_ONLY = 1
CAN_TX_TRACK_MED_RANGE_MODE_LR_UPDATE_ONLY = 2
CAN_TX_TRACK_MED_RANGE_MODE_BOTH_MR_LR_UPDATE = 3

Used in: Esr_track01_500

CAN_TX_TRACK_ONCOMING_NOTONCOMING = 0
CAN_TX_TRACK_ONCOMING_ONCOMING = 1

Used in: Esr_track01_500

CAN_TX_TRACK_STATUS_NO_TARGET = 0
CAN_TX_TRACK_STATUS_NEW_TARGET = 1
CAN_TX_TRACK_STATUS_NEW_UPDATED_TARGET = 2
CAN_TX_TRACK_STATUS_UPDATED_TARGET = 3
CAN_TX_TRACK_STATUS_COASTED_TARGET = 4
CAN_TX_TRACK_STATUS_MERGED_TARGET = 5
CAN_TX_TRACK_STATUS_INVALID_COASTED_TARGET = 6
CAN_TX_TRACK_STATUS_NEW_COASTED_TARGET = 7

Used in: DelphiESR

optional bool can_tx_track_rolling_count_2 = 1
Report Message [] [0|1]
optional int32 can_tx_track_can_id_group = 2
repeated Esr_trackmotionpower_540.Motionpower can_tx_track_motion_power = 3

Used in: Esr_trackmotionpower_540

optional bool can_tx_track_moving = 1
optional bool can_tx_track_moving_fast = 2
optional bool can_tx_track_moving_slow = 3
optional int32 can_tx_track_power = 4

Used in: DelphiESR

optional int32 can_tx_valid_lr_sn = 1
Report Message [] [0|0]
optional double can_tx_valid_lr_range_rate = 2
[m/s] [-128|127]
optional double can_tx_valid_lr_range = 3
[m] [0|200]
optional int32 can_tx_valid_lr_power = 4
[dB] [-10|40]
optional double can_tx_valid_lr_angle = 5
[deg] [-64|63.9375]

Used in: DelphiESR

optional int32 can_tx_valid_mr_sn = 1
Report Message [] [0|0]
optional double can_tx_valid_mr_range_rate = 2
[m/s] [-128|127]
optional double can_tx_valid_mr_range = 3
[m] [0|200]
optional int32 can_tx_valid_mr_power = 4
[dB] [-10|40]
optional double can_tx_valid_mr_angle = 5
[deg] [-64|63.9375]

optional common.Header header = 1
optional string frame_id = 2
optional double measurement_time = 3
optional uint32 height = 4
image height, that is, number of rows
optional uint32 width = 5
image width, that is, number of columns
optional string encoding = 6
optional uint32 step = 7
Full row length in bytes
optional bytes data = 8
actual matrix data, size is (step * rows)

Used in: SmartereyeLanemark

optional LdwRoadway roadway = 1
optional LdwSoftStatus softstatus = 2
optional LdwSteerStatus steerstatus = 3
optional LdwLensInfo lens = 4

Used in: LdwRoadway

optional int32 width = 1
optional int32 quality = 2
optional LdwLaneStyle style = 3
optional LdwLaneBoundary left_boundary = 4
optional LdwLaneBoundary right_boundary = 5

Used in: LdwLane

optional int32 degree = 1
optional double c0_position = 2
optional double c1_heading_angle = 3
optional double c2_curvature = 4
optional double c3_curvature_derivative = 5

Used in: LdwLane

LDW_LANE_STYLE_NONE_LANE = 0
LDW_LANE_STYLE_PREDICT_LANE = 1
LDW_LANE_STYLE_BROKEN_LANE = 2
LDW_LANE_STYLE_SOLID_LANE = 3
LDW_LANE_STYLE_DOUBLE_BROKEN_LANE = 4
LDW_LANE_STYLE_DOUBLE_SOLID_LANE = 5
LDW_LANE_STYLE_TRIPLE_LANE = 6

Used in: LdwDataPacks

optional float x_image_focal = 1
optional float y_image_focal = 2
optional float xratio_focal_pixel = 3
optional float yratio_focal_pixel = 4
optional float mountingheight = 5
optional float mcosrx = 6
optional float msinrx = 7
optional float mcosry = 8
optional float msinry = 9

Used in: LdwDataPacks

optional int32 width_0 = 1
optional int32 width_1 = 2
optional int32 width_2 = 3
optional bool is_tracking = 4
optional LdwLane left_lane = 5
optional LdwLane right_lane = 6
optional LdwLane adj_left_lane = 7
optional LdwLane adj_right_lane = 8

Used in: LdwDataPacks

LDW_SOFT_DETECTION = 0
LDW_SOFT_SELF_LEARNING = 1
LDW_SOFT_MANUAL_LEARNING_MODE0 = 2
LDW_SOFT_MANUAL_LEARNING_MODE1 = 3

Used in: LdwDataPacks

LDW_NORMAL_STEER = 0
LDW_STEER_ON_LEFT__LANE = 1
LDW_STEER_ON_RIGHT_LANE = 2
LDW_STEER_WARNING_LEFT_ = 3
LDW_STEER_WARNING_RIGHT = 4

LDW_VERSION_C1 = 0
LDW_VERSION_C2 = 1
LDW_VERSION_FOUR_LANE_C2 = 2

LDW_WARNING_LOW = 0
LDW_WARNING_NORMAL = 1
LDW_WARNING_HIGHT = 2

Used in: Mobileye

optional int32 lane_type = 1
optional int32 quality = 2
optional int32 model_degree = 3
optional double position = 4
optional double curvature = 5
optional double curvature_derivative = 6
optional double width_left_marking = 7

Used in: Mobileye

optional double heading_angle = 1
optional double view_range = 2
optional bool view_range_availability = 3

Used in: Mobileye

optional int32 lane_type = 1
optional int32 quality = 2
optional int32 model_degree = 3
optional double position = 4
optional double curvature = 5
optional double curvature_derivative = 6
optional double width_right_marking = 7

Used in: Mobileye

optional double heading_angle = 1
optional double view_range = 2
optional bool view_range_availability = 3

optional common.Header header = 1
optional Aftermarket_669 aftermarket_669 = 2
optional Details_737 details_737 = 3
optional Details_738 details_738 = 4
repeated Details_739 details_739 = 5
repeated Details_73a details_73a = 6
repeated Details_73b details_73b = 7
optional Lka_766 lka_766 = 8
optional Lka_767 lka_767 = 9
optional Lka_768 lka_768 = 10
optional Lka_769 lka_769 = 11
optional Reference_76a reference_76a = 12
optional Num_76b num_76b = 13
repeated Next_76c next_76c = 14
repeated Next_76d next_76d = 15

Used in: NanoRadar

optional uint32 region_id = 1
x axis ^ | longitude_dist P2(Long2,Lat2) | ---------------------------------- | | | | | | | | | ---------------------------------- | P1(Long1,Lat1) | | lateral_dist ---------------------> y axis ooooooooooooo //radar front surface max:50m x 50m
optional uint32 region_max_output_number = 2
optional double point1_longitude = 3
optional double point1_lateral = 4
optional double point2_longitude = 5
optional double point2_lateral = 6
optional bool coordinates_valid = 7
optional bool activation_valid = 8

Used in: NanoRadar

optional int32 nof_objects = 1
optional int32 meas_counter = 2
optional int32 interface_version = 3

optional common.Header header = 1
repeated NanoRadarObs contiobs = 2
conti radar obstacle array
optional NanoRadarState_201 radar_state = 3
optional NanoCollisionDetectionRegionState_402 radar_region_state = 4
optional NanoObjectListStatus_60A object_list_status = 6
optional NanoSoftwareVersion_700 software_version = 7

Used in: NanoRadar

optional common.Header header = 1
optional bool clusterortrack = 2
0 = track, 1 = cluster
optional int32 obstacle_id = 3
obstacle Id
optional double longitude_dist = 4
longitude distance to the radar; (+) = target far away the radar unit = m
optional double lateral_dist = 5
lateral distance to the radar; (+) = right; unit = m
optional double longitude_vel = 6
longitude velocity to the radar; (+) = forward; unit = m/s
optional double lateral_vel = 7
lateral velocity to the radar; (+) = right; unit = m/s
optional double rcs = 8
obstacle Radar Cross-Section; unit = dBsm
optional int32 dynprop = 9
0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
optional double longitude_dist_rms = 10
longitude distance standard deviation to the radar; (+) = forward; unit = m
optional double lateral_dist_rms = 11
lateral distance standard deviation to the radar; (+) = left; unit = m
optional double longitude_vel_rms = 12
longitude velocity standard deviation to the radar; (+) = forward; unit = m/s
optional double lateral_vel_rms = 13
lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double probexist = 14
obstacle probability of existence
optional int32 meas_state = 15
The following is only valid for the track object message 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
optional double longitude_accel = 16
longitude acceleration to the radar; (+) = forward; unit = m/s2
optional double lateral_accel = 17
lateral acceleration to the radar; (+) = left; unit = m/s2
optional double oritation_angle = 18
orientation angle to the radar; (+) = counterclockwise; unit = degree
optional double longitude_accel_rms = 19
longitude acceleration standard deviation to the radar; (+) = forward; unit = m/s2
optional double lateral_accel_rms = 20
lateral acceleration standard deviation to the radar; (+) = left; unit = m/s2
optional double oritation_angle_rms = 21
orientation angle standard deviation to the radar; (+) = counterclockwise; unit = degree
optional double length = 22
obstacle length; unit = m
optional double width = 23
obstacle width; unit = m
optional int32 obstacle_class = 24
0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown
optional double obstacle_range = 25
Object Range
optional double obstacle_vel = 26
Object Velocity
optional double obstacle_angle = 27
Object Angle

Used in: NanoRadar

optional uint32 max_distance = 1
optional uint32 radar_power = 2
optional NanoRadarState_201.OutputType output_type = 3
optional NanoRadarState_201.RcsThreshold rcs_threshold = 4
optional bool send_quality = 5
optional bool send_ext_info = 6

Used in: NanoRadarState_201

OUTPUT_TYPE_NONE = 0
OUTPUT_TYPE_OBJECTS = 1
OUTPUT_TYPE_CLUSTERS = 2
OUTPUT_TYPE_ERROR = 3

Used in: NanoRadarState_201

RCS_THRESHOLD_STANDARD = 0
RCS_THRESHOLD_HIGH_SENSITIVITY = 1
RCS_THRESHOLD_ERROR = 2

Used in: NanoRadar

optional uint32 soft_major_release = 1
optional uint32 soft_minor_release = 2
optional uint32 soft_patch_level = 3

Used in: Mobileye

optional int32 lane_type = 1
optional int32 quality = 2
optional int32 model_degree = 3
optional double position = 4
optional double curvature = 5
optional double curvature_derivative = 6
optional double lane_mark_width = 7

Used in: Mobileye

optional double heading_angle = 1
optional double view_range = 2
optional bool view_range_availability = 3

Used in: Mobileye

optional int32 num_of_next_lane_mark_reported = 1

Used in: ContiRadar

optional int32 nof_objects = 1
optional int32 meas_counter = 2
optional int32 interface_version = 3

optional common.Header header = 1
optional string frame_id = 2
optional bool is_dense = 3
repeated OculiiPointXYZIV point = 4
optional double measurement_time = 5
optional int32 width = 6
optional int32 height = 7
optional int64 packet_id = 8
optional float ego_speed = 9
optional float ego_angle = 10
optional int32 detection_size = 11
optional int32 track_size = 12
repeated OculiiRawPointcloud raw_pointclouds = 13
repeated OculiiTrackTarget tracks = 14

Used in: OculiiPointCloud

optional float x = 1
optional float y = 2
optional float z = 3
optional float intensity = 4
optional float velocity = 5

Used in: OculiiPointCloud

optional float range = 1
optional float doppler = 2
optional float azimuth = 3
optional float elevation = 4
optional float power = 5

Used in: OculiiPointCloud

optional int64 id = 1
optional float x_pos = 2
optional float y_pos = 3
optional float z_pos = 4
optional float x_dot = 5
optional float y_dot = 6
optional float z_dot = 7
optional int32 confidence = 8
optional OculiiTrackTarget.ObstacleClass track_class = 9

Used in: OculiiTrackTarget

UNKNOWN = 0
PEDESTRIAN = 1
BICYCLE = 2
VEHICLE = 3
TRUCK = 4
BACKGROUND = 5

Used in: SmartereyeObstacles

optional float currentspeed = 1
(m/second) current frame self vehicle speed
optional float framerate = 2
(fps) frames per second
optional uint32 trackid = 3
current obstacle corresponding tracking id in obstacle tracking buffer
optional uint32 trackframenum = 4
the track frame numbers of the obstacle, increments in 1 each frame until to the max record number, the actual number is (trackFrameNum + 1)
optional uint32 statelabel = 5
classify obstacle for front collision, FC, 0: invalid or continuous obstacle, 1: nearest obstacle in warning area, 2: obstacle in waning area, 3: obstacle out of warning area
optional uint32 classlabel = 6
the obstacle class label: 0-invalid; 1-warning obstacle; 2-obstacles to be warned; 3-non warning obstacle; 4-left continuous obstacle; 5-right continuous obstacle; 6-estimated vanish obstacle; 7-valid obstacle original, the obstacle class label: 0-invalid; 1-car; 2-person; 3-continuous obstacle; 4-valid; 5-other
optional uint32 continuouslabel = 7
the continuous obstacle class label: 0-invalid; 1-left continuous obstacle; 2-right continuous obstacle
optional uint32 fuzzyestimationvalid = 8
(0/1) 0: current fuzzy estimation is invalid; 1: current fuzzy estimation is valid
optional OutputObstacle.RecognitionType obstacletype = 9
the obstacle Type: INVALID=0,VEHICLE, PEDESTRIAN, ...
optional float avgdisp = 10
(pixel) the average disparity of an obstacle with adding infDisp: avgDisp = BF_VALUE/avgDitance+infDis
optional float avgdistancez = 11
(m) the average Z distance of single obstacle rectangle
optional float neardistancez = 12
(m) the minimum Z distance of continuous obstacle
optional float fardistancez = 13
(m) the longest Z distance of continuous ob
optional float real3dleftx = 14
(-+m) the left X for real 3D coordinate of the obstacle(the origin X is the center of car, right is positive)
optional float real3drightx = 15
(-+m) the right X for real 3D coordinate of the obstacle(the origin X is the center of car, right is positive)
optional float real3dcenterx = 16
(-+m) the center X for real 3D coordinate of the obstacle(the origin X is the center of car, right is positive)
optional float real3dupy = 17
(-+m) the up Y for real 3D coordinate of the obstacle(the origin Y is the camera position, down is positive)
optional float real3dlowy = 18
(-+m) the Low y for real 3D coordinate of the obstacle(the origin Y is the camera position, down is positive)
optional uint32 firstpointx = 19
(pixel) the X-axis of first point of rectangle, the first point :(x, y), left top point of single obstacle/near bottom point of continuous obstacle, full size pixel coordinate
optional uint32 firstpointy = 20
(pixel) the Y-axis of first point of rectangle, the first point :(x, y), left top point of single obstacle/near bottom point of continuous obstacle, full size pixel coordinate
optional uint32 secondpointx = 21
(pixel) the X-axis of second point of rectangle, the second point:(x+width, y), right top point of single obstacle/near top point of continuous obstacle, full size pixel coordinate
optional uint32 secondpointy = 22
(pixel) the Y-axis of second point of rectangle, the second point:(x+width, y), right top point of single obstacle/near top point of continuous obstacle, full size pixel coordinate
optional uint32 thirdpointx = 23
(pixel) the X-axis of third point of rectangle, the third point :(x+width, y+height), right bottom point of single obstacle/far top point of continuous obstacle, full size pixel coordinate
optional uint32 thirdpointy = 24
(pixel) the Y-axis of third point of rectangle, the third point :(x+width, y+height), right bottom point of single obstacle/far top point of continuous obstacle, full size pixel coordinate
optional uint32 fourthpointx = 25
(pixel) the X-axis of fourth point of rectangle, the fourth point:(x,y+height), left bottom point of single obstacle/far bottom point of continuous obstacle, full size pixel coordinate
optional uint32 fourthpointy = 26
(pixel) the Y-axis of fourth point of rectangle, the fourth point:(x,y+height), left bottom point of single obstacle/far bottom point of continuous obstacle, full size pixel coordinate
optional float fuzzyrelativedistancez = 27
(m) estimated relative distance in Z direction
optional float fuzzyrelativespeedz = 28
(m/second) estimated speed in Z direction of current obstacle
optional float fuzzycollisiontimez = 29
(second) estimated collision time in Z direction
optional uint32 fuzzycollisionx = 30
(0/1) estimated whether there is collision in X direction
optional float fuzzy3dwidth = 31
(m) estimated real 3D width of current obstacle
optional float fuzzy3dcenterx = 32
(-+m) estimated real 3D position of obstacle center in X direction (the origin X is the center of car, right is positive)
optional float fuzzy3dleftx = 33
(-+m) estimated real 3D position of obstacle left in X direction (the origin X is the center of car, right is positive)
optional float fuzzy3drightx = 34
(-+m) estimated real 3D position of obstacle right in X direction (the origin X is the center of car, right is positive)
optional float fuzzy3dheight = 35
(m) estimated real 3D height of current obstacle
optional float fuzzy3dupy = 36
(-+m) estimated real 3D position of obstacle up in Y direction (the origin Y is the camera position, down is positive)
optional float fuzzy3dlowy = 37
(-+m) estimated real 3D position of obstacle low in Y direction (the origin Y is the camera position, down is positive)
optional float fuzzyrelativespeedcenterx = 38
(m/second) estimated center speed in X direction of current
optional float fuzzyrelativespeedleftx = 39
obstacle
(m/second) estimated left speed in X direction of current obstacle
optional float fuzzyrelativespeedrightx = 40
(m/second) estimated right speed in X direction of current obstacle

Used in: OutputObstacle

INVALID = 0
VEHICLE = 1
PEDESTRIAN = 2
CHILD = 3
BICYCLE = 4
MOTO = 5
TRUCK = 6
BUS = 7
OTHERS = 8
ESTIMATED = 9
CONTINUOUS = 10

Encoding of pixels -- channel meaning, ordering, size

RGB8 = 1001
RGBA8 = 1002
RGB16 = 1003
RGBA16 = 1004
BGR8 = 1005
BGRA8 = 1006
BGR16 = 1007
BGRA16 = 1008
MONO8 = 1009
MONO16 = 1010
TYPE_8UC1 = 2001
OpenCV CvMat types
TYPE_8UC2 = 2002
TYPE_8UC3 = 2003
TYPE_8UC4 = 2004
TYPE_8SC1 = 2005
TYPE_8SC2 = 2006
TYPE_8SC3 = 2007
TYPE_8SC4 = 2008
TYPE_16UC1 = 2009
TYPE_16UC2 = 2010
TYPE_16UC3 = 2011
TYPE_16UC4 = 2012
TYPE_16SC1 = 2013
TYPE_16SC2 = 2014
TYPE_16SC3 = 2015
TYPE_16SC4 = 2016
TYPE_32SC1 = 2017
TYPE_32SC2 = 2018
TYPE_32SC3 = 2019
TYPE_32SC4 = 2020
TYPE_32FC1 = 2021
TYPE_32FC2 = 2022
TYPE_32FC3 = 2023
TYPE_32FC4 = 2024
TYPE_64FC1 = 2025
TYPE_64FC2 = 2026
TYPE_64FC3 = 2027
TYPE_64FC4 = 2028
BAYER_RGGB8 = 3001
Bayer encodings
BAYER_BGGR8 = 3002
BAYER_GBRG8 = 3003
BAYER_GRBG8 = 3004
BAYER_RGGB16 = 3005
BAYER_BGGR16 = 3006
BAYER_GBRG16 = 3007
BAYER_GRBG16 = 3008
YUV422 = 4001
Miscellaneous This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY with an 8-bit depth

optional common.Header header = 1
optional string frame_id = 2
optional bool is_dense = 3
repeated PointXYZIT point = 4
optional double measurement_time = 5
optional uint32 width = 6
optional uint32 height = 7

Used in: PointCloud

optional float x = 1
optional float y = 2
optional float z = 3
optional uint32 intensity = 4
optional uint64 timestamp = 5

Used in: RacobitRadar

optional int32 near = 1
optional int32 far = 2
optional int32 meas_counter = 3
optional int32 interface_version = 4

Used in: RacobitRadar

optional int32 nof_objects = 1
optional int32 meas_counter = 2
optional int32 interface_version = 3

optional common.Header header = 1
repeated RacobitRadarObs contiobs = 2
conti radar obstacle array
optional RacobitRadarState_201 radar_state = 3
optional RacobitClusterListStatus_600 cluster_list_status = 4
optional RacobitObjectListStatus_60A object_list_status = 5

Used in: RacobitRadar

optional common.Header header = 1
optional bool clusterortrack = 2
0 = track, 1 = cluster
optional int32 obstacle_id = 3
obstacle Id
optional double longitude_dist = 4
longitude distance to the radar; (+) = forward; unit = m
optional double lateral_dist = 5
lateral distance to the radar; (+) = left; unit = m
optional double longitude_vel = 6
longitude velocity to the radar; (+) = farword; unit = m/s
optional double lateral_vel = 7
lateral velocity to the radar; (+) = left; unit = m/s
optional double rcs = 8
obstacle Radar Cross-Section; unit = dBsm
optional int32 dynprop = 9
0 = moving, 1 = stationary, 2 = oncoming, 3 = stationary candidate 4 = unknown, 5 = crossing stationary, 6 = crossing moving, 7 = stopped
optional double longitude_dist_rms = 10
longitude distance standard deviation to the radar; (+) = forward; unit = m
optional double lateral_dist_rms = 11
lateral distance standard deviationto the radar; (+) = left; unit = m
optional double longitude_vel_rms = 12
longitude velocity standard deviation to the radar; (+) = farword; unit = m/s
optional double lateral_vel_rms = 13
lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional double probexist = 14
obstacle probability of existence
optional int32 meas_state = 15
The following is only valid for the track object message 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
optional double longitude_accel = 16
longitude acceleration to the radar; (+) = farword; unit = m/s2
optional double lateral_accel = 17
lateral acceleration to the radar; (+) = left; unit = m/s2
optional double oritation_angle = 18
oritation angle to the radar; (+) = conterclockwise; unit = degree
optional double longitude_accel_rms = 19
longitude acceleration standard deviation to the radar; (+) = farword; unit = m/s2
optional double lateral_accel_rms = 20
lateral acceleration standard deviation to the radar; (+) = left; unit = m/s2
optional double oritation_angle_rms = 21
oritation angle standard deviation to the radar; (+) = conterclockwise; unit = degree
optional double length = 22
obstacle length; unit = m
optional double width = 23
obstacle width; unit = m
optional int32 obstacle_class = 24
0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6: wide; 7: unknown

Used in: RacobitRadar

optional uint32 max_distance = 1
optional uint32 radar_power = 2
optional RacobitRadarState_201.OutputType output_type = 3
optional RacobitRadarState_201.RcsThreshold rcs_threshold = 4
optional bool send_quality = 5
optional bool send_ext_info = 6

Used in: RacobitRadarState_201

OUTPUT_TYPE_NONE = 0
OUTPUT_TYPE_OBJECTS = 1
OUTPUT_TYPE_CLUSTERS = 2
OUTPUT_TYPE_ERROR = 3

Used in: RacobitRadarState_201

RCS_THRESHOLD_STANDARD = 0
RCS_THRESHOLD_HIGH_SENSITIVITY = 1
RCS_THRESHOLD_ERROR = 2

Used in: RadarObstacles

optional int32 id = 1
obstacle ID.
optional common.Point2D relative_position = 2
obstacle position in the sl coordinate system.
optional common.Point2D relative_velocity = 3
obstacle relative velocity.
optional double rcs = 4
radar signal intensity.
optional RadarObstacle.MovingStatus moving_status = 5
whether this obstacle is able to move.
optional double width = 6
optional double length = 7
optional double height = 8
optional double theta = 9
optional common.Point2D absolute_position = 10
obstacle position in map coordinate system
optional common.Point2D absolute_velocity = 11
obstacle position in map coordinate system
optional int32 count = 12
optional int32 moving_frames_count = 13
optional RadarObstacle.Status status = 14

Used in: RadarObstacle

STATIONARY = 0
NEARING = 1
AWAYING = 2
NONE = 3

Used in: RadarObstacle

NO_TARGET = 0
NEW_TARGET = 1
NEW_UPDATED_TARGET = 2
UPDATED_TARGET = 3
COASTED_TARGET = 4
MERGED_TARGET = 5
INVALID_COASTED_TARGET = 6
NEW_COASTED_TARGET = 7

map<int32, RadarObstacle> radar_obstacle = 1
An array of obstacles
optional common.Header header = 2
Header
optional common.ErrorCode error_code = 3

optional common.Header header = 1
optional string frame_id = 2
optional bool is_dense = 3
repeated RadarPointXYZVR point = 4
optional double measurement_time = 5
optional uint32 width = 6
optional uint32 height = 7

Used in: RadarPointCloud

optional float x = 1
optional float y = 2
optional float z = 3
optional float velocity = 4
optional float rcs = 5

Used in: ContiRadar

optional uint32 max_distance = 1
optional uint32 radar_power = 2
optional RadarState_201.OutputType output_type = 3
optional RadarState_201.RcsThreshold rcs_threshold = 4
optional bool send_quality = 5
optional bool send_ext_info = 6

Used in: RadarState_201

OUTPUT_TYPE_NONE = 0
OUTPUT_TYPE_OBJECTS = 1
OUTPUT_TYPE_CLUSTERS = 2
OUTPUT_TYPE_ERROR = 3

Used in: RadarState_201

RCS_THRESHOLD_STANDARD = 0
RCS_THRESHOLD_HIGH_SENSITIVITY = 1
RCS_THRESHOLD_ERROR = 2

Used in: Mobileye

optional double ref_point_1_position = 1
optional double ref_point_1_distance = 2
optional bool ref_point_1_validity = 3
optional double ref_point_2_position = 4
optional double ref_point_2_distance = 5
optional bool ref_point_2_validity = 6

optional LdwDataPacks lane_road_data = 4

optional common.Header header = 1
optional int32 num_obstacles = 2
output obstacles num on one frame
map<uint32, OutputObstacle> output_obstacles = 3
An array of obstacles

x axis ^ | * | * * | * \ * | * / \ * range(i) * / \ | / \ | / \ | / y axis \ | / <--------------- ooooooooooooo //ultrasonic radar front surface In every working cycle, each radar of the ultrasonic system return a range to form a range array, 'ranges'.

optional common.Header header = 1
repeated float ranges = 2

Used in: DelphiESR

optional Vehicle1_4f0.Can_rx_steering_angle_validityType can_rx_steering_angle_validity = 1
[] [0|0]
optional int32 can_rx_steering_angle_rate = 2
[deg/s] [0|2047]
optional Vehicle1_4f0.Can_rx_steering_angle_signType can_rx_steering_angle_sign = 3
[] [0|0]
optional Vehicle1_4f0.Can_rx_steering_angle_rate_signType can_rx_steering_angle_rate_sign = 4
[] [0|0]
optional int32 can_rx_steering_angle = 5
[deg] [0|2047]
optional int32 can_rx_radius_curvature = 6
[m] [-8192|8191]
optional Vehicle1_4f0.Can_rx_yaw_rate_validityType can_rx_yaw_rate_validity = 7
[] [0|0]
optional double can_rx_yaw_rate = 8
[deg/s] [-128|127.9375]
optional Vehicle1_4f0.Can_rx_vehicle_speed_directionType can_rx_vehicle_speed_direction = 9
[] [0|0]
optional double can_rx_vehicle_speed = 10
[m/s] [0|127.9375]

Used in: Vehicle1_4f0

CAN_RX_STEERING_ANGLE_RATE_SIGN_COUNTERCLOCKWISE = 0
CAN_RX_STEERING_ANGLE_RATE_SIGN_CLOCKWISE = 1

Used in: Vehicle1_4f0

CAN_RX_STEERING_ANGLE_SIGN_COUNTERCLOCKWISE = 0
CAN_RX_STEERING_ANGLE_SIGN_CLOCKWISE = 1

Report Message

Used in: Vehicle1_4f0

CAN_RX_STEERING_ANGLE_VALIDITY_INVALID = 0
CAN_RX_STEERING_ANGLE_VALIDITY_VALID = 1

Used in: Vehicle1_4f0

CAN_RX_VEHICLE_SPEED_DIRECTION_FORWARD = 0
CAN_RX_VEHICLE_SPEED_DIRECTION_REVERSE = 1

Used in: Vehicle1_4f0

CAN_RX_YAW_RATE_VALIDITY_INVALID = 0
CAN_RX_YAW_RATE_VALIDITY_VALID = 1

Used in: DelphiESR

optional double can_rx_volvo_short_track_roc = 1
[m] [-4000|3500]
optional Vehicle2_4f1.Can_rx_mr_only_transmitType can_rx_mr_only_transmit = 2
[] [0|0]
optional Vehicle2_4f1.Can_rx_lr_only_transmitType can_rx_lr_only_transmit = 3
[] [0|0]
optional int32 can_rx_high_yaw_angle = 4
[deg] [-32|31]
optional Vehicle2_4f1.Can_rx_clear_faultsType can_rx_clear_faults = 5
[] [0|0]
optional Vehicle2_4f1.Can_rx_use_angle_misalignmentType can_rx_use_angle_misalignment = 6
[] [0|0]
optional Vehicle2_4f1.Can_rx_turn_signal_statusType can_rx_turn_signal_status = 7
[] [0|0]
optional Vehicle2_4f1.Can_rx_blockage_disableType can_rx_blockage_disable = 8
[] [0|0]
optional Vehicle2_4f1.Can_rx_vehicle_speed_validityType can_rx_vehicle_speed_validity = 9
[] [0|0]
optional Vehicle2_4f1.Can_rx_mmr_upside_downType can_rx_mmr_upside_down = 10
[] [0|1]
optional Vehicle2_4f1.Can_rx_wiper_statusType can_rx_wiper_status = 11
[] [0|0]
optional Vehicle2_4f1.Can_rx_raw_data_enableType can_rx_raw_data_enable = 12
[] [0|0]
optional Vehicle2_4f1.Can_rx_radar_cmd_radiateType can_rx_radar_cmd_radiate = 13
[] [0|0]
optional Vehicle2_4f1.Can_rx_grouping_modeType can_rx_grouping_mode = 14
[] [0|3]
optional int32 can_rx_maximum_tracks = 15
[] [1|64]
optional double can_rx_lateral_mounting_offset = 16
(+) = to the right from driver's perspective [m] [-2|1.984375]
optional double can_rx_angle_misalignment = 17
(+) = clockwise [deg] [-8|7.9375]
optional int32 can_rx_scan_index_ack = 18
[] [0|65535]

Used in: Vehicle2_4f1

CAN_RX_BLOCKAGE_DISABLE_ENABLED = 0
CAN_RX_BLOCKAGE_DISABLE_DISABLED = 1

Used in: Vehicle2_4f1

CAN_RX_CLEAR_FAULTS_OFF = 0
CAN_RX_CLEAR_FAULTS_ON = 1

Used in: Vehicle2_4f1

CAN_RX_GROUPING_MODE_NO_GROUPING = 0
CAN_RX_GROUPING_MODE_GROUP_MOVING_ONLY = 1
CAN_RX_GROUPING_MODE_GROUP_STATIONARY_ONLY = 2
CAN_RX_GROUPING_MODE_GROUP_MOVING_STATIONARY = 3

Used in: Vehicle2_4f1

CAN_RX_LR_ONLY_TRANSMIT_OFF = 0
CAN_RX_LR_ONLY_TRANSMIT_ON = 1

Used in: Vehicle2_4f1

CAN_RX_MMR_UPSIDE_DOWN_RIGHT_SIDE_UP = 0
CAN_RX_MMR_UPSIDE_DOWN_UPSIDE_DOWN = 1

Report Message

Used in: Vehicle2_4f1

CAN_RX_MR_ONLY_TRANSMIT_OFF = 0
CAN_RX_MR_ONLY_TRANSMIT_ON = 1

Used in: Vehicle2_4f1

CAN_RX_RADAR_CMD_RADIATE_OFF = 0
CAN_RX_RADAR_CMD_RADIATE_ON = 1

Used in: Vehicle2_4f1

CAN_RX_RAW_DATA_ENABLE_FILTERED = 0
CAN_RX_RAW_DATA_ENABLE_RAW = 1

Used in: Vehicle2_4f1

CAN_RX_TURN_SIGNAL_STATUS_OFF = 0
CAN_RX_TURN_SIGNAL_STATUS_LEFT = 1
CAN_RX_TURN_SIGNAL_STATUS_RIGHT = 2
CAN_RX_TURN_SIGNAL_STATUS_INVALID_3 = 3

Used in: Vehicle2_4f1

CAN_RX_USE_ANGLE_MISALIGNMENT_OFF = 0
CAN_RX_USE_ANGLE_MISALIGNMENT_ON = 1

Used in: Vehicle2_4f1

CAN_RX_VEHICLE_SPEED_VALIDITY_INVALID = 0
CAN_RX_VEHICLE_SPEED_VALIDITY_VALID = 1

Used in: Vehicle2_4f1

CAN_RX_WIPER_STATUS_OFF = 0
CAN_RX_WIPER_STATUS_ON = 1

Used in: DelphiESR

optional int32 can_rx_serv_align_updates_need = 1
[] [0|0]
optional Vehicle3_5f2.Can_rx_serv_align_typeType can_rx_serv_align_type = 2
[] [0|0]
optional Vehicle3_5f2.Can_rx_serv_align_enableType can_rx_serv_align_enable = 3
[] [0|0]
optional double can_rx_aalign_avg_ctr_total = 4
[] [250|2000]
optional Vehicle3_5f2.Can_rx_auto_align_convergedType can_rx_auto_align_converged = 5
[] [0|0]
optional Vehicle3_5f2.Can_rx_auto_align_disableType can_rx_auto_align_disable = 6
[] [0|0]
optional double can_rx_angle_mounting_offset = 7
(+) = clockwise [deg] [-8|7.9375]
optional Vehicle3_5f2.Can_rx_wheel_slipType can_rx_wheel_slip = 8
[] [0|0]
optional int32 can_rx_radar_height = 9
[cm] [0|125]
optional int32 can_rx_radar_fov_mr = 10
[deg] [0|120]
optional int32 can_rx_radar_fov_lr = 11
[deg] [0|30]
optional Vehicle3_5f2.Can_rx_long_accel_validityType can_rx_long_accel_validity = 12
[] [0|0]
optional double can_rx_long_accel = 13
[m/s/s] [-8|7.96875]
optional Vehicle3_5f2.Can_rx_lat_accel_validityType can_rx_lat_accel_validity = 14
[] [0|0]
optional double can_rx_lat_accel = 15
[] [-8|7.96875]

Used in: Vehicle3_5f2

CAN_RX_AUTO_ALIGN_CONVERGED_NOT_CONVERGED = 0
CAN_RX_AUTO_ALIGN_CONVERGED_CONVERGED = 1

Used in: Vehicle3_5f2

CAN_RX_AUTO_ALIGN_DISABLE_ENABLED = 0
CAN_RX_AUTO_ALIGN_DISABLE_DISABLED = 1

Used in: Vehicle3_5f2

CAN_RX_LAT_ACCEL_VALIDITY_INVALID = 0
CAN_RX_LAT_ACCEL_VALIDITY_VALID = 1

Used in: Vehicle3_5f2

CAN_RX_LONG_ACCEL_VALIDITY_INVALID = 0
CAN_RX_LONG_ACCEL_VALIDITY_VALID = 1

Used in: Vehicle3_5f2

CAN_RX_SERV_ALIGN_ENABLE_DISABLED = 0
CAN_RX_SERV_ALIGN_ENABLE_ENABLED = 1

Report Message

Used in: Vehicle3_5f2

CAN_RX_SERV_ALIGN_TYPE_AUTO_OR_DEALER = 0
CAN_RX_SERV_ALIGN_TYPE_VOLVO_SHORT_TRACK = 1

Used in: Vehicle3_5f2

CAN_RX_WHEEL_SLIP_NO_CONTROL = 0
CAN_RX_WHEEL_SLIP_BRAKE_SLIP_CONTROL = 1
CAN_RX_WHEEL_SLIP_TRACTION_SLIP_CONTROL = 2
CAN_RX_WHEEL_SLIP_INVALID_3 = 3

Used in: DelphiESR

optional double can_rx_fac_tgt_range_r2m = 1
[m] [2|10]
optional double can_rx_fac_tgt_range_m2t = 2
[m] [1|10]
optional double can_rx_fac_tgt_range_1 = 3
[m] [2|10]
optional int32 can_rx_fac_tgt_mtg_space_ver = 4
[cm] [-100|100]
optional int32 can_rx_fac_tgt_mtg_space_hor = 5
[cm] [-100|100]
optional int32 can_rx_fac_tgt_mtg_offset = 6
[cm] [-100|100]
optional int32 can_rx_fac_align_samp_req = 7
[] [0|100]
optional int32 can_rx_fac_align_max_nt = 8
[] [0|100]
optional Vehicle4_5f3.Can_rx_fac_align_cmd_2Type can_rx_fac_align_cmd_2 = 9
[] [0|0]
optional Vehicle4_5f3.Can_rx_fac_align_cmd_1Type can_rx_fac_align_cmd_1 = 10
[] [0|0]

Used in: Vehicle4_5f3

CAN_RX_FAC_ALIGN_CMD_1_OFF = 0
CAN_RX_FAC_ALIGN_CMD_1_ON = 1

Report Message

Used in: Vehicle4_5f3

CAN_RX_FAC_ALIGN_CMD_2_OFF = 0
CAN_RX_FAC_ALIGN_CMD_2_ON = 1

Used in: DelphiESR

optional Vehicle5_5f4.Can_rx_yaw_rate_bias_shiftType can_rx_yaw_rate_bias_shift = 1
[] [0|0]
optional double can_rx_steering_gear_ratio = 2
[] [0|31.875]
optional double can_rx_wheelbase = 3
[cm] [200|710]
optional double can_rx_distance_rear_axle = 4
[cm] [200|710]
optional double can_rx_cw_blockage_threshold = 5
[] [0|1.9921875]
optional double can_rx_funnel_offset_right = 6
[m] [-2|10]
optional double can_rx_funnel_offset_left = 7
[m] [-2|10]
optional double can_rx_beamwidth_vert = 8
[deg] [0|6]
optional int32 can_rx_oversteer_understeer = 9
[%] [-128|127]

Report Message

Used in: Vehicle5_5f4

CAN_RX_YAW_RATE_BIAS_SHIFT_NO_DETECT = 0
CAN_RX_YAW_RATE_BIAS_SHIFT_DETECT = 1

Used in: DelphiESR

optional double can_rx_inner_funnel_offset_right = 1
Report Message [m] [-2|10]
optional double can_rx_inner_funnel_offset_left = 2
[m] [-2|10]
optional int32 can_volvo_fa_range_max_short = 3
[m] [0|255]
optional double can_volvo_fa_min_vspeed_short = 4
[m/s] [0|20]
optional double can_volvo_fa_aalign_estimate = 5
[deg] [0|10]

package apollo.drivers

message Acm_inst_req_7e0

optional int32 command_ctr = 1

optional int32 command_code = 2

optional int32 cc_word_2 = 3

optional int32 cc_word_1 = 4

optional int32 cc_byte_2 = 5

optional int32 cc_byte_1 = 6

message Acm_inst_resp_7e4

optional int32 data_7 = 1

optional int32 data_6 = 2

optional int32 data_5 = 3

optional int32 data_4 = 4

optional int32 data_3 = 5

optional int32 rtn_cmd_counter = 6

optional int32 command_return_code = 7

optional int32 pid = 8

message Aftermarket_669

optional int32 lane_conf_left = 1

optional bool ldw_availability_left = 2

optional int32 lane_type_left = 3

optional double distance_to_lane_l = 4

optional int32 lane_conf_right = 5

optional bool ldw_availability_right = 6

optional int32 lane_type_right = 7

optional double distance_to_lane_r = 8

message ClusterListStatus_600

optional int32 near = 1

optional int32 far = 2

optional int32 meas_counter = 3

optional int32 interface_version = 4

message CompressedImage

optional common.Header header = 1

optional string frame_id = 2

optional string format = 3

optional bytes data = 4

optional double measurement_time = 5

optional uint32 frame_type = 6

optional uint32 width = 7

optional uint32 height = 8

message ContiRadar

optional common.Header header = 1

repeated ContiRadarObs contiobs = 2

optional RadarState_201 radar_state = 3

optional ClusterListStatus_600 cluster_list_status = 4

optional ObjectListStatus_60A object_list_status = 5

message ContiRadarObs

optional common.Header header = 1

optional bool clusterortrack = 2

optional int32 obstacle_id = 3

optional double longitude_dist = 4

optional double lateral_dist = 5

optional double longitude_vel = 6

optional double lateral_vel = 7

optional double rcs = 8

optional int32 dynprop = 9

optional double longitude_dist_rms = 10

optional double lateral_dist_rms = 11

optional double longitude_vel_rms = 12

optional double lateral_vel_rms = 13

optional double probexist = 14

optional int32 meas_state = 15

optional double longitude_accel = 16

optional double lateral_accel = 17

optional double oritation_angle = 18

optional double longitude_accel_rms = 19

optional double lateral_accel_rms = 20

optional double oritation_angle_rms = 21

optional double length = 22

optional double width = 23

optional int32 obstacle_class = 24

message DelphiESR

optional common.Header header = 1

optional Esr_status9_5e8 esr_status9_5e8 = 2

optional Esr_status6_5e5 esr_status6_5e5 = 3

optional Esr_status5_5e4 esr_status5_5e4 = 4

optional Esr_status3_4e2 esr_status3_4e2 = 5

optional Esr_status4_4e3 esr_status4_4e3 = 6

repeated Esr_trackmotionpower_540 esr_trackmotionpower_540 = 7

optional Acm_inst_req_7e0 acm_inst_req_7e0 = 8