Page 1 LDWS - Straight Lane • LDWS - Video • Park Assist - Straight Lane • VBOX File Processor - Park Assist • TSR - Traffic Sign Recognition Testing (Multi Static Point) • ADAS CAN Input Configurations • ADAS CAN outputs •...
Page 2: Hardware Configuration
The Target VBOX (tracked vehicle) will also log the normal GPS data to a .vbo file, so that the files from each VBOX can be compared in the VBOX Tools Graph screen or VBOX Test Suite Chart screen. This is useful to see the relative positions.
Page 3 Subject Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 4 Target Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 5 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to '100 Hz', then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 6 6. Select 'DGPS' and set the DGPS mode to 'MB Rover', return to the 'VBOX' setup menu. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the 'VBOX' setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/ 8.
Page 7 9. Select 'TARGET VEHICLE 1' and return to the 'ADAS' setup menu. Target Vehicle 2 1. Connect VBOX Manager to the VBOX in Target Vehicle 2. 2. Repeat steps 2 – 8 in section ‘Target Vehicle 1' above. 3. Select 'TARGET VEHICLE 2' and return to the 'ADAS' setup menu.
Page 8 As the Subject Vehicle effectively becomes the Base Station it will not physically go into an RTK lock, therefore the 'DIFF' LED of the Subject VBOX will NOT illuminate. The 'DIFF' LED of the Target VBOX’s should gain RTK FIXED status indicated by the 'DIFF' LED illuminating green.
Page 9 For Multiple-Target mode, you must use radio modems programmed with different configuration scripts. It is not possible to use the normal ADAS link radios. The Radios at each TARGET VBOX need to be set to CLIENT mode and paired to the singular ADAS radio at the subject vehicle.
Page 10 In this menu, it is possible to define contact points for either the ‘Subject Vehicle’ or ‘Target Vehicle’. You can manually configure up to 2 contact points by entering a numerical offset, or you can set up to 24 contact points by using a GPS antenna. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 11 Manually Entering Contact Points https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 12 Selecting a different number will move that tick to that number. Select 'BACK' once completed. Select 'POINT 1' to specify first contact point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 13 If the user selected 2 contact points in NO. OF POINTS, POINT 2 will be displayed on the menu. Select ‘POINT 2' and repeat the above process. Repeat this process to define the other vehicle. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 14 Setting Up To 24 Contact Points Media, iframe, embed and object tags are not supported inside of a PDF. First, connect a ground plane antenna to the VBOX. Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Select 'SET POINTS'.
Page 15 RTK solution and select 'SET POINT'. If successful, VBOX Manager will display 'POINT 1 SAVED'. If there is no RTK fix, the point will not be saved and VBOX Manager will display 'POINT 1 NOT SET, NOT RTK FIXED'.
Page 16 After the required contact points have been surveyed, it is possible to save these points to the compact flash card by selecting 'SAVE'. This allows the user to either overwrite a previously saved file, or create a new save file using the '{CREATE NEW}' option. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 17 Selecting the '{CREATE NEW}' option will display an alpha numeric scroll wheel where the user can enter the desired file name. Once entered, VBOX Manager will display the ‘SAVE SUCCESSFUL' message. Loading Vehicle Points Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Then select 'LOAD'.
Page 18 This will bring up a list of all previously saved files, which the user can select to load. If successful, VBOX Manager will display 'LOAD SUCCESSFUL'. Smoothing If the box is set into twin antenna mode, the smoothing menu will not be present as the calculations will run off of the True heading provided by the twin antenna lock.
Page 19 With 100 Hz logging and a smoothing distance of 1 m at 72 km/h, the heading is calculated over the previous 5 samples, whilst at 15 km/h the heading would be calculated over the previous 26 samples. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 20 Above: Shows the improvement on vehicle heading from using smoothing distance Setting A Smoothing Distance 1. Using VBOX Manager, go to the 'ADAS' menu and go to the 'MULTI. TARGET' menu and select 'SUBJECT VEHICLE'. 2. Select ‘SMOOTHING' from the 'SUBJECT VEHICLE' menu.
Page 21: Speed Threshold
1. To set the speed threshold repeat steps 1 and 2 above, then select 'SPD THRESHOLD' and enter the speed threshold option for the Subject Vehicle. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 22: Hardware Configuration
High accuracy of the vehicle separation calculations is made possible by the use of a Static Base Station. The Target VBOX (tracked vehicle) will also log the normal GPS data to a .vbo file, so that the files from each VBOX can be compared in the VBOX Tools Graph screen or VBOX Test Suite Chart screen.
Page 23 Subject Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 24 Target Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 25 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to '100 Hz', then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 26 For further info on RTK modes see Configuration. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the VBOX setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/ 8.
Page 27 9. Select 'TARGET VEHICLE 1' and return to the 'ADAS' setup menu. Target Vehicle 2 1. Connect VBOX Manager to the VBOX in Target Vehicle 2. 2. Repeat steps 2 – 8 in section 'Target Vehicle 1' above. 3. Select 'TARGET VEHICLE 2' and return to the 'ADAS' setup menu.
Page 28 For Multiple-Target mode, you must use radio modems programmed with different configuration scripts. It is not possible to use the normal ADAS link radios. The Radios at each TARGET VBOX need to be set to CLIENT mode and paired to the singular ADAS radio at the subject vehicle.
Page 29 Base Station installation and setup. DGPS Modes VBOX 3i and Base Station supports the use of three different RTK DGPS modes; each mode will provide 2 cm accurate solution. Racelogic recommends the use of CMR or RTCMv3 as these modes have less radio bandwidth requirement, which should lead to more reliable RTK lock.
Page 30 • The Rx LEDs on the Subject and Target Vehicles telemetry units should be flashing at 1 Hz. 2. Confirm that both VBOX units are now in RTK 'Fixed' DGPS status, indicated by the following: A VBOX Tools live window set to Solution Type shows 'RTK FIXED'.
Page 31 In this menu, it is possible to define contact points for either the ‘Subject Vehicle’ or ‘Target Vehicle’. You can manually configure up to 2 contact points by entering a numerical offset, or you can set up to 24 contact points by using a GPS antenna. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 32 Manually Entering Contact Points https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 33 Selecting a different number will move that tick to that number. Select 'BACK' once completed. Select 'POINT 1' to specify first contact point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 34 If the user selected 2 contact points in NO. OF POINTS, POINT 2 will be displayed on the menu. Select ‘POINT 2' and repeat the above process. Repeat this process to define the other vehicle. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 35 Setting Up To 24 Contact Points Media, iframe, embed and object tags are not supported inside of a PDF. First, connect a ground plane antenna to the VBOX. Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Select 'SET POINTS'.
Page 36 If there is no RTK fix, the point will not be saved and VBOX Manager will display 'POINT 1 NOT SET, NOT RTK FIXED'. To set the next point, move the antenna to another desired point of contact and repeat the process. Repeat this process until all the desired points are set, or a limit of 24 is reached.
Page 37 This allows the user to either overwrite a previously saved file, or create a new save file using the '{CREATE NEW}' option. Selecting the '{CREATE NEW}' option will display an alpha numeric scroll wheel where the user can enter the desired file name. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 38 Once entered, VBOX Manager will display the ‘SAVE SUCCESSFUL' message. Loading Vehicle Points Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Then select 'LOAD'. This will bring up a list of all previously saved files, which the user can select to load.
Page 39 If successful, VBOX Manager will display 'LOAD SUCCESSFUL'. Setting a reference line A reference line is used to provide a very stable heading reference for the calculation of a noise free Lateral Difference Channel (LatDif-tg1) - see parameter definitions for more detail.
Page 40 To overcome this heading can be smoothed with a dynamic smoothing routine. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 41 With 100 Hz logging and a smoothing distance of 1 m at 72 km/h, the heading is calculated over the previous 5 samples, whilst at 15 km/h the heading would be calculated over the previous 26 samples. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 42 Above: Shows the improvement on vehicle heading from using smoothing distance Setting A Smoothing Distance 1. Using VBOX Manager, go to the 'ADAS' menu and go to the 'MULTI. TARGET' menu and select 'SUBJECT VEHICLE'. 2. Select 'SMOOTHING' from the 'SUBJECT VEHICLE' menu.
Page 43: Speed Threshold
1. To set the speed threshold repeat steps 1 and 2 above, then select 'SPD THRESHOLD' and enter the speed threshold option for the Subject Vehicle. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 44: Hardware Configuration
Station radio range. The Target VBOX (tracked vehicle) will also log the normal GPS data to a .vbo file, so that the files from each VBOX can be compared in the VBOX Tools Graph screen or VBOX Test Suite Chart screen. This is useful to see the relative positions.
Page 45 Subject Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 46 Target Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 47 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to '100 Hz', then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 48 7. Select 'DGPS RS232 Rate' and ensure that '115200' is selected, return to the 'VBOX' setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/ 8.
Page 49 2. Repeat steps 2 – 5 in section ‘Target Vehicle' above. 3. Select 'DGPS' and set the DGPS mode to 'MB Base', return to the 'VBOX' setup menu. 4. Select 'DGPS RS232 RATE' and ensure that '115200' is selected, return to the 'VBOX' setup menu.
Page 50 • Mounted vertically to ensure maximum transmission power in the horizontal plane • Mounted at least 50 cm away from other Radio antennas When the 2.4 GHz modems are connected correctly the 'SER' light on the SUBJECT VBOX will illuminate, indicating the reception of a serial data stream.
Page 51 In this menu, it is possible to define contact points for either the ‘Subject Vehicle’ or ‘Target Vehicle’. You can manually configure up to 2 contact points by entering a numerical offset, or you can set up to 24 contact points by using a GPS antenna. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 52 Manually Entering Contact Points https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 53 Selecting a different number will move that tick to that number. Select 'BACK' once completed. Select 'POINT 1' to specify first contact point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 54 If the user selected 2 contact points in NO. OF POINTS, POINT 2 will be displayed on the menu. Select ‘POINT 2' and repeat the above process. Repeat this process to define the other vehicle. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 55 Setting Up To 24 Contact Points Media, iframe, embed and object tags are not supported inside of a PDF. First, connect a ground plane antenna to the VBOX. Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Select 'SET POINTS'.
Page 56 If there is no RTK fix, the point will not be saved and VBOX Manager will display 'POINT 1 NOT SET, NOT RTK FIXED'. To set the next point, move the antenna to another desired point of contact and repeat the process. Repeat this process until all the desired points are set, or a limit of 24 is reached.
Page 57 This allows the user to either overwrite a previously saved file, or create a new save file using the '{CREATE NEW}' option. Selecting the '{CREATE NEW}' option will display an alpha numeric scroll wheel where the user can enter the desired file name. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 58 Once entered, VBOX Manager will display the ‘SAVE SUCCESSFUL' message. Loading Vehicle Points Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Then select 'LOAD'. This will bring up a list of all previously saved files, which the user can select to load.
Page 59 If successful, VBOX Manager will display 'LOAD SUCCESSFUL'. Smoothing If the box is set into twin antenna mode, the smoothing menu will not be present as the calculations will run off of the True heading provided by the twin antenna lock.
Page 60 With 100 Hz logging and a smoothing distance of 1 m at 72 km/h, the heading is calculated over the previous 5 samples, whilst at 15 km/h the heading would be calculated over the previous 26 samples. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 61 Above: Shows the improvement on vehicle heading from using smoothing distance Setting A Smoothing Distance 1. Using VBOX Manager, go to the 'ADAS' menu and go to the 'SINGLE TARGET' menu and select 'SUBJECT VEHICLE'. 2. Select 'SMOOTHING' from the 'SUBJECT VEHICLE' menu.
Page 62: Speed Threshold
1. To set the speed threshold repeat steps 1 and 2 above, then select 'SPD THRESHOLD' and enter the speed threshold option for the Subject Vehicle. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 63 This is NOT possible in ‘Multi Target’ mode. The channels calculated in the Target Vehicle are the same as the channels calculated by the VBOX in the Subject Vehicle. They are not new channels calculated in opposite respect; Target to Subject.
Page 64 ADAS radios will now be flashing. Pre-Test Configuration The Duplex Radio link allows any configurations that are set in the Subject VBOX to be instantly communicated to the Target VBOX, so that both boxes produce the same values for all Veh Sep parameters.
Page 65 ‘SYNC TARGET’ When in Duplex mode (Single target only), the target VBOX has to understand which contact points have been set in the subject vehicle. To do this, the user must have a valid radio link between the two VBOXs and then select the ‘SYNC TARGET' option under the ‘SUBJECT VEHICLE' menu.
Page 66 High accuracy of the vehicle separation calculations is made possible by the use of a Static Base Station. The Target VBOX (tracked vehicle) will also log the normal GPS data to a .vbo file, so that the files from each VBOX can be compared in the VBOX Tools Graph screen or VBOX Test Suite Chart screen.
Page 67 Subject Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 68 Target Vehicle https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 69 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to '100 Hz', then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 70 For further info on RTK modes see Configuration. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the VBOX setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/ 8.
Page 71 9. Select 'TARGET VEHICLE 1' and return to the 'ADAS' setup menu. Subject Vehicle 1. Connect VBOX Manager to the VBOX in the Subject Vehicle. 2. Repeat steps 2 – 8 in section ‘Target Vehicle' above. 3. Select 'SINGLE TARGET' mode and select 'SUBJECT VEHICLE', return to the 'ADAS' setup menu.
Page 72 When the 2.4 GHz modems are connected correctly the 'SER' light on the Subject VBOX will illuminate, indicating the reception of a serial data stream. Pre-Test Configuration Setting The Contact Points After selecting the Subject Vehicle in either the multi or single target modes, the user can set the contact points by entering the ‘CONTACT POINTS' Menu.
Page 73 In this menu, it is possible to define contact points for either the ‘Subject Vehicle’ or ‘Target Vehicle’. You can manually configure up to 2 contact points by entering a numerical offset, or you can set up to 24 contact points by using a GPS antenna. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 74 Manually Entering Contact Points https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 75 Selecting a different number will move that tick to that number. Select 'BACK' once completed. Select 'POINT 1' to specify first contact point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 76 If the user selected 2 contact points in NO. OF POINTS, POINT 2 will be displayed on the menu. Select ‘POINT 2' and repeat the above process. Repeat this process to define the other vehicle. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 77 Setting Up To 24 Contact Points Media, iframe, embed and object tags are not supported inside of a PDF. First, connect a ground plane antenna to the VBOX. Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Select 'SET POINTS'.
Page 78 If there is no RTK fix, the point will not be saved and VBOX Manager will display 'POINT 1 NOT SET, NOT RTK FIXED'. To set the next point, move the antenna to another desired point of contact and repeat the process. Repeat this process until all the desired points are set, or a limit of 24 is reached.
Page 79 This allows the user to either overwrite a previously saved file, or create a new save file using the '{CREATE NEW}' option. Selecting the '{CREATE NEW}' option will display an alpha numeric scroll wheel where the user can enter the desired file name. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 80 Once entered, VBOX Manager will display the ‘SAVE SUCCESSFUL' message. Loading Vehicle Points Select either 'SUBJECT VEHICLE' or 'TARGET VEHICLE' in the contact points menu. Then select 'LOAD'. This will bring up a list of all previously saved files, which the user can select to load.
Page 81 If successful, VBOX Manager will display 'LOAD SUCCESSFUL'. Setting a reference line A reference line is used to provide a very stable heading reference for the calculation of a noise free Lateral Difference Channel (LatDif-tg1) - see parameter definitions for more detail.
Page 82 To overcome this heading can be smoothed with a dynamic smoothing routine. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 83 With 100 Hz logging and a smoothing distance of 1 m at 72 km/h, the heading is calculated over the previous 5 samples, whilst at 15 km/h the heading would be calculated over the previous 26 samples. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 84 Above: Shows the improvement on vehicle heading from using smoothing distance Setting A Smoothing Distance 1. Using VBOX Manager, go to the 'ADAS' menu and go to the 'SINGLE TARGET' menu and select 'SUBJECT VEHICLE'. 2. Select 'SMOOTHING' from the 'SUBJECT VEHICLE' menu.
Page 85: Speed Threshold
1. To set the speed threshold repeat steps 1 and 2 above, then select 'SPD THRESHOLD' and enter the speed threshold option for the Subject Vehicle. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 86 This is NOT possible in ‘Multi Target’ mode. The channels calculated in the Target Vehicle are the same as the channels calculated by the VBOX in the Subject Vehicle. They are not new channels calculated in opposite respect; Target to Subject.
Page 87 ‘SYNC TARGET’ When in Duplex mode (Single target only), the target VBOX has to understand which contact points have been set in the subject vehicle. To do this, the user must have a valid radio link between the two VBOXs and then select the ‘SYNC TARGET' option under the ‘SUBJECT VEHICLE' menu.
Page 88 The logging of data at the Target vehicle will stop and start in synch with the VBOX Manager control. Note: If you stop the logging with the ‘LOG’ button on the Target VBOX then you will overwrite this auto-logging control https://racelogic.support/...
Page 89 This facility can be used when a dummy pedestrian or static vehicle is the test target. This also requires the use of a static Racelogic Base Station to ensure position accuracies of up to 2 cm. Hardware Configuration The following diagram shows the hardware configuration required for Static Point testing.
Page 90 Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 91 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to '100 Hz', then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 92 For further info on RTK modes see Configuration. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the VBOX setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/ 8.
Page 93: Base Station
Base Station A static Base Station must be used for the VBOX to gain the RTK 2 cm positional accuracy. Moving Base cannot be used because a static Base Station is the only way to create a reference to a fixed point like a nominated static point.
Page 94 To overcome this the heading can be smoothed with a dynamic smoothing routine. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 95 Using VBOX Manager, go to the 'ADAS' menu and go to the 'STATIC POINT' menu and select 'SMOOTHING'. Smoothing Distance The smoothing routine is calculated between the current and previous samples. The previous sample to be used is determined using a Smoothing Distance, this results in a variable number of samples used to determine the smoothing level on the heading;...
Page 96 1. To set the speed threshold repeat steps above in 'Smoothing Levels', then select 'SPD THRESHOLD' and enter the speed threshold option. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 97 2. Measurement Tests In this stage the surveyed line edges are loaded into the test VBOX to act as a measurement reference. Then the Lane Departure test can be conducted with the VBOX measuring all of the parameters listed below with respect to the surveyed lane edge.
Page 98 Lane Survey Configuration https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 99 VBOX Configuration Base Station A static Base Station must be used for the VBOX to gain the RTK 2 cm positional accuracy. This is required for the lane survey as well as during testing. Moving Base cannot be used because a static Base Station is the only way to create a reference to a static location, which then allows measurement to other static objects like lane edges.
Page 100: Process Summary
A VBOX Test Suite live Workspace window set to Solution type shows '4' (RTK fixed). Process Summary Using Racelogic ADAS systems, there are two setup methods dependent on the straightness of the test lane edge. The following schematic shows the options for determining Lane Departure Warning parameters. https://racelogic.support/...
Page 101 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to 100 Hz, then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 102 For further info on RTK modes see Configuration. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the 'VBOX' setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/s.
Page 103 Multiple Lanes It is possible to load three surveyed lanes into the VBOX which can then be individually selected via VBOX Manager. It is NOT possible for the VBOX to make measurements to more than 1 lane edge at a time.
Page 104 ‘…’ icon at the bottom of the screen. Note: Use a maximum of 8 characters to allow the full file name to be displayed on VBOX Manager. 11. Copy the created .VBC file on to the root directory of the compact flash card being used in the VB3iSL-RTK unit.
Page 105 15. Select the 'LOAD' option. 16. The VBOX will browse the CF card for .vbc files, select the appropriate .vbc file for the reference lane in question. The lane is now loaded into the VBOX and is ready to be used to generate live Lane Departure values.
Page 106: Corner Position
When using the down sampled survey lane as a reference lane it is not possible to use the auto corner position function within the VBOX Manager. In this instance it is necessary to manually enter the offsets into VBOX Manager.
Page 107 2. Select 'SET FL POS'. 3. To manually set the corner position select 'LNG DIST'. 4. Enter the 'LNG DIST' value in accordance with the following orientation: https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 108 6. Repeat steps 2-5 for FR, RL and RR as required. Saving and Loading Corner Positions Once corner positions have been set in VBOX Manager, they can be saved as a .vbc file and recalled later for repeatability. If you have .vbc files saved using pre VBOX firmware version 1.2.5, you will need to load these back in, and re-save out to make them compatible with latest firmware.
Page 109 Smoothing Distance, this results in a variable number of samples used to determine the smoothing level on the heading; the lower the speed the more samples that are used. With 100 Hz logging and a https://racelogic.support/ Powered by...
Page 110: Speed Threshold
When the speed threshold is set to a certain speed the heading is locked when the vehicle travels under that speed. 1. To set the speed threshold repeat steps above in 'Heading Smoothing', then select 'SPD THRESHOLD' and enter the speed threshold option. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 111: Hardware Configuration
2. Measurement Tests In this stage the surveyed line edges are loaded into the test VBOX to act as a measurement reference. Then the Lane Departure test can be conducted with the VBOX measuring all of the parameters listed below with respect to the surveyed lane edge.
Page 112 Lane Survey Configuration https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 113: Base Station
VBOX Configuration Base Station A static Base Station must be used for the VBOX to gain the RTK 2 cm positional accuracy. This is required for the lane survey as well as during testing. Moving Base cannot be used because a static Base Station is the only way to create a reference to a static location, which then allows measurement to other static objects like lane edges.
Page 114 It is also good practice to save the location into the Base Station memory. Confirm that the VBOX unit is in RTK 'Fixed' DGPS status, indicated by the following: A VBOX Tools live window set to Solution Type shows 'DIFF' LED on the VBOX front panel is illuminated green.
Page 115: Process Summary
(RLACS168). 2. Enter the setup menu of VBOX Manager. 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to 100 Hz, then select 'BACK' to return to the 'VBOX' setup menu. https://racelogic.support/ Powered by...
Page 116 For further info on RTK modes see Configuration. 7. Select 'DGPS RS232 Rate' and select the appropriate settings for your radios, return to the 'VBOX' setup menu. Note: To ensure that the VBOX receives the DGPS correction signal, the correct RS232 rate must be set. All Racelogic blue boxed radios use 115200 kbit/s, Satel grey boxed radios use either 19200 kbit/s or 38400 kbit/s.
Page 117: Straight Line
Within the Racelogic ADAS firmware there are two ways for surveying a lane. If the test is intended for straight lanes only then a simple point-to-point lane (utilising up to 8 points along the lane) can be surveyed using a VBOX 3i RTK and a survey pole as described in ‘Straight Line‘...
Page 118 6. On VBOX Manager go to the 'LANE DEP' menu options and select 'LANE 1'. 7. Then click on the 'SET LANE' option. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 119: Corner Position
“The corners of the polygon are defined by the lateral and longitudinal locations where the plane of the outside edge of each tire makes contact with the road. This plane is defined by running a perpendicular line from the outer most edge of the tire to the ground.” https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 120 Lane Departure Test Schematic Automatic Corner Position 1. Within the 'LANE DEP' option of VBOX Manager select 'CORNER POS'. 2. With the front left corner of the vehicle placed over the initial reference point of Lane 1 and facing in the same direction as the line was set, select 'SET FL POS'.
Page 121 When using the down sampled survey lane as a reference lane it is not possible to use the auto corner position function within VBOX Manager. In this instance it is necessary to manually enter the offsets into VBOX Manager. 1. Within the 'LANE DEP' option of VBOX Manager select 'CORNER POS'.
Page 122 Note: The corner position must be in-front of the GPS antenna, i.e. a positive longitude. 5. Repeat step 4 but for the 'LAT DIST'. 6. Repeat steps 2-5 for FR, RL and RR as required. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 123 Saving and Loading Corner Positions Once corner positions have been set in VBOX Manager, they can be saved as a .vbc file and recalled later for repeatability. If you have .vbc files saved using pre VBOX firmware version 1.2.5, you will need to load these back in, and re-save out to make them compatible with latest firmware.
Page 124 When the speed threshold is set to a certain speed the heading is locked when the vehicle travels under that speed. 1. To set the speed threshold repeat steps above in 'Heading Smoothing', then select 'SPD THRESHOLD' and enter the speed threshold option. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 125 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 126 LDWS - Video The addition of the Video VBOX to the VB3i ADAS system adds synchronised video logging with the added benefit of overlaid data at static images. Video is often required to be recorded as part of regulation requirements.
Page 127 This guide will explain the process to create accurate on-screen gauges for showing the distance from a vehicle front edge to the “road edge”. Example scene https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 128: Configuration Procedure
Configuration procedure • Set the Video VBOX up on the test vehicle, with both side mounted cameras aligned as required. Use the supplied Camera preview unit to ensure correct camera alignment, as shown above. The supplied extendable suction mounted camera mounts will allow the cameras to be mounted as shown in the picture below. Place your clearly marked calibration rods at the front wheel positions at exact 90 degrees to the body of the car.
Page 129 • Connect your Laptop computer via USB to the Video VBOX, run Video VBOX setup software on the laptop. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 130 • Now, a ruler image can be created using the line style simple shape elements within VVB Setup. • Alternatively, take a “print screen” image of your Video VBOX software screen to use in a third party image manipulation software.
Page 131 • Then save this scene. • Reconnect to your Video VBOX in the test car and download the new scene into the video VBOX. • Without moving the vehicle or the rulers record a few seconds of video to confirm that the on screen gauges and the markings on the Rulers line up.
Page 132 The following diagrams show the recommended hardware configuration for each vehicle. The items greyed out are not essential but many customers may find them beneficial. Please ensure that all vehicle antennas are correctly positioned and connected. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 133 Lane Survey Configuration https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 134 Park Assist Test Schematic https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 135 VBOX Configuration Base Station A static Base Station must be used for the VBOX to gain the RTK 2 cm positional accuracy. This is required for the lane survey as well as during testing. Moving Base cannot be used because a static Base Station is the only way to create a reference to a static location, which then allows measurement to other static objects like lane edges.
Page 136 Solution type shows '4' (RTK fixed). Process Summary Using the Racelogic ADAS systems there are two setup methods dependent on the straightness of the test lane edge. The following schematic shows the options for determining Lane Departure Warning parameters. https://racelogic.support/...
Page 137 3. Select the 'VBOX' option. 4. Select 'LOG RATE' and set the rate to 100 Hz, then select 'BACK' to return to the 'VBOX' setup menu. 5. Select 'DYNAMICS' and set the dynamic mode to 'NORMAL', this Dynamics mode is best for ADAS tests, return to the 'VBOX' setup menu.
Page 138 Within the Racelogic ADAS firmware there are two ways for surveying a lane. If the test is intended for straight lanes only then a simple point-to-point lane (utilising up to 8 points along the lane) can be surveyed using a VBOX 3i RTK and a survey pole as described in ‘Straight Line‘...
Page 139 5. Mark this point on the Ground with paint or Sticky tape, as you will need to come back to it if you wish to Auto set the Antenna offsets. 6. On VBOX Manager go to the 'LANE DEP' menu options and select 'LANE 1'. https://racelogic.support/...
Page 140 'SET PNT 3'. 11. After setting the last point click on 'BACK' to return to the main menu. Repeat this procedure for any other test lines that you have up to a maximum of 3 lines. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 141 The following provides a guide to setting the two front left and right measurement positions. Automatic Corner Position 1. Within the 'LANE DEP' option of VBOX Manager select 'CORNER POS'. 2. With the front left corner of the vehicle placed over the initial reference point of Lane 1 select 'SET FL POS'.
Page 142 When using the down sampled survey lane as a reference lane it is not possible to use the auto corner position function within VBOX Manager. In this instance it is necessary to manually enter the offsets into the VBOX Manager.
Page 143 Note: The corner position must be in-front of the GPS antenna, i.e. a positive longitude. 5. Repeat step 4 but for the 'LAT DIST'. 6. Repeat steps 2-5 for FR, RL and RR as required. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 144 Saving and Loading Corner Positions Once corner positions have been set in VBOX Manager they can be saved as a .vbc file and recalled later for repeatability. Note: For corner positions to be recalled accurately, the GPS antenna location on the car and the location of the Base Station GPS antenna must be identical as when the data was recorded.
Page 145 1. To set the speed threshold repeat steps above in 'Heading Smoothing', then select 'SPD THRESHOLD' and enter the speed threshold option. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 146 VBOX File Processor - Park Assist VBOX File Processor Parking Plugin is designed to meet ISO regulation 204/WG14 ISO16787 ‘Assisted Parking Systems (APS) — parking with reference to other parked vehicles’. Requirements Input source files must contain true heading information in order to be compatible. This means that the Parking Assist plugin will work with files from VB3i SL RTK units only.
Page 147 Parking assist can be used to create any virtual 3 sided parking bay, for use with reverse or parallel parking tests. A bay must be configured from 3 separate files that have to be plotted by the user. The user cannot create a bay from a single logged file. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 148 Input files can be .vbo (VBOX), .vbc (lane departure), or .dbn (PB/DB/VBM). When a file with more than two position points is loaded, parking assist plugin will produce a line of best fit through the position points within the loaded file. This ensures the bay sides are straight.
Page 149 This is only a visual representation, and has no bearing on the actual result (i.e. thickness of line does not alter result). https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 150 The vehicle measurement points section allows the user to configure required vehicle measurement points. There is no limit to the number of vehicle measurement points that can be set. Points should be measured from the primary antenna as shown below. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 151 (i.e. p1) is referencing in the processed result. Each configured point will produce 5 range channels, two relative to entry points, and three relative to the bay sides. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 152 Two measurements in relation to the bay side entrance points will exist for every vehicle measurement point. For example, the p1_e2 measurement is the distance between the second entry point and the first defined vehicle measurement point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 153 If the vehicle is outside of the configured bay, the bay side range measurements are calculated to the closest bay side point (i.e. the entrance point). Note: As all range values are absolute values, they have no signing. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 154 Prior to processing the files, the user is able to alter what channels are processed, along with changing the naming conventions to make them suit their own needs. Licensing All process blocks within VBOX File Processor are free of charge. However, ADAS plugins require 'free' registration. https://racelogic.support/ Powered by...
Page 155 TSR - Traffic Sign Recognition Testing (Multi Static Point) The VBOX can track up to 100 static points and report precise positions and angles to these targets which is used when validating Traffic Sign Recognition systems. Enabling Multi Static Point Mode 1.
Page 156 4. Once selected, a ‘tick’ icon will be displayed next to the 'MULTI STATIC POINTS' menu and it would have expanded to include: • Survey Mode • Field of View • Smoothing The VBOX is now set to 'MULTI STATIC POINTS' mode. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 157: Setting The 'Field Of View'
The Field of view is a circular arc that defines when a feature should be referenced, represented as the orange area in the diagram below. If a static point lies outside of this area, it will be ignored until it enters the field of view. https://racelogic.support/ Powered by...
Page 158 Defining the Field of View using VBOX Manager 1. Under the 'MULTI STATIC POINT' menu, enter the 'FIELD OF VIEW' menu. 2. Enter the 'OFFSET' menu. This menu allows the user to translate the antenna position to another position on the vehicle (usually the sensor position).
Page 159 6. Enter the 'MIN DISTANCE' menu. Similar to the 'MAX DISTANCE' menu, this allows the user to define the distance from the offset point that the field of view will start. 7. Once the distance has been set, press the 'APPLY' button. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 160 10. Enter the 'END ANGLE' menu. This allows the user to define the angle from the centreline at which the field of view will end. Anything to the left of the centre line will be negative, anything to the right hand side will be positive. 11. Once the angle has been set, press the 'APPLY' button. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 161 3. To define the first point of a feature, move the antenna to the required position and press 'POINT 1'. If successfully saved, VBOX Manager will display the 'OK' message. To define the second point of a feature, move the antenna to the required position and press 'POINT 2'.
Page 162 4. Once one/both points have been surveyed, select 'NEXT'. 5. VBOX Manager will then display a 'FEATURE 1 SAVED' message. Repeat this process as required. The saved features can be cleared at any time using the 'CLEAR POINTS' option under the 'SURVEY MODE' menu.
Page 163 3. To create a new file, select '{CREATE NEW}'. This will bring up an alpha numeric scroll wheel where the user can enter the desired file name. 4. Once saved, VBOX Manager will display a 'SAVE SUCCESSFUL' message. https://racelogic.support/ Powered by...
Page 164 1. Under the 'SURVEY MODE' menu, select 'LOAD POINTS'. This will bring up a list of all previously saved files that are present on the compact flash card. 2. Selecting a file name will load that file into the VBOX. Smoothing If the box is set into twin antenna mode, the smoothing menu will not be present as the calculations will run off of the True heading provided by the twin antenna lock.
Page 165 With 100 Hz logging and a smoothing distance of 1 m at 72 km/h, the heading is calculated over the previous 5 samples, whilst at 15 km/h the heading would be calculated over the previous 26 samples. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 166 2. Select ‘SMOOTHING DIST' and enter the smoothing option for the Subject Vehicle, from the options between 0.00 m and 2.00 m. 3. For typical Vehicle Separation applications we recommend a smoothing distance of 1 m. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 167: Speed Threshold
Speed Threshold. 1. To set the speed threshold repeat step 1 above, then select 'SPD THRESHOLD' and enter the speed threshold option for the Subject Vehicle. 2. We recommend a Speed Threshold of 5 km/h. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 168 Please refer to the individual test setup pages for details on moving base radio connections. The items greyed out are not essential but many customers may find them beneficial. Single CAN bus connection https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 169 With Video VBOX https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 170 Dual CAN bus connection https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 171 With Video VBOX https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 172 ADAS CAN outputs It is possible to output the VBOX ADAS channels to a 3rd party data logger on the VBOX ‘VCi’ CAN port, which is as default assigned to the ‘SER’ connector. If the 3rd party logger has a 9 way D-sub connector then a RLCAB019L cable should provide the required interface.
Page 173 *Update rate depends on GPS update rate. 10 ms Update rate shown corresponds to 100 Hz GPS setting. **Default Identifiers. The identifier values can be changed using the configuration software. 1. If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 174 7. Altitude above the WGS 84 ellipsoid, 0.01 meters per bit, signed. 8. Vertical Velocity, 0.01 m/s per bit, signed. 9. Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3, Bit 3 = Logging Status.
Page 175 Vehicle Separation - Target 1 CAN Data Below is the tabular list of additional ADAS CAN messages that are present at the Subject VBOX vci output CAN port, when Single target/ Multiple Target veh sep or Static point mode is used. The ID’s of the CAN messages can be configured through VBOX Tools software if required.
Page 176 21. Latdif_tg1 difference in minutes between Subject Latitude and Target 1Latitude, 32 bit IEEE Float. 22. Lngdif_tg1 difference in minutes between Subject Longitude and Target 1 Longitude, 32 bit IEEE Float. 23. YawRat_tg1 Yaw rate from target vehicle, only if fitted (deg/s), 32bBit IEEE Float. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 177 Vehicle Separation - Target 2 CAN Data Below is the tabular list of additional ADAS CAN messages that are present at the Subject VBOX vci output CAN port, when ‘multiple target’ mode is used. The ID’s of the CAN messages can be configured through VBOX Tools software if required.
Page 178 24. Current subject vehicle contact point to target vehicle 2 – 8 bit unsigned integer. 25. Current target vehicle 2 contact point – 8 bit unsigned integer. 26. Longitudinal Diff (m), 32 bit IEEE Float. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 179 Lane Departure CAN Data The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to ‘Lane Departure” mode. The ID’s of the CAN messages can be configured through VBOX Tools software if required.
Page 180: Range_Fl
Multi Static Point CAN Data The standard VBOX CAN output is extended with additional identifiers containing vehicle separation data when the VBOX is set to “Multiple Static Points” mode. The ID’s of the CAN messages can be configured through VBOX Tools software if required.
Page 181 28. Longitudinal Distance to feature from the origin of the field of vision (m), 16 bit unsigned integer. 29. Time to Collision wrt to the feature point (seconds), 16 bit unsigned integer. 30. Angle of the feature wrt to the vehicle heading (°), 16 bit unsigned integer. https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 182 The following tables provide a list of channels capable of being calculated in each vehicle within an ADAS test. For Single Vehicle Target testing Racelogic refers to each vehicle as the ‘Subject Vehicle’ or the ‘Target Vehicle’. For example, under testing for adaptive cruise control the lead vehicle will be the Target Vehicle, whilst the following vehicle (where the adaptive cruise control is being testing) is referred to as the Subject Vehicle.
Page 183: Channel Description
The difference between Subject Vehicle and Target Vehicle latitude The difference between Subject Vehicle and Target Vehicle Lngdif-tg1 Lngdif-tg2 longitude Spd-tg1 Spd-tg2 Target Vehicle course over ground speed km/h Spd-sv Subject Vehicle course over ground speed km/h https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 184 Rolling time sent over 2.4Ghz Radio Link, used to indicate the LkTime-sv quality of radio link between vehicles App_Mode App_Mode The current operating mode of the Subject VBOX **** The time it would take the Subject Vehicle to travel across the SepTim-tg1 SepTim-tg2 Vehicle separation distance at its current speed...
Page 185 NOTE: The LatRsv-tg1 and LngRsv-tg1 values are calculated from offset points on each respective vehicle. Details of how to apply these offsets is provided in the quick start guide later in this manual (Section ‘Pre-test configuration’). ‘LngRtg-tg1’, ‘LatRtg-tg1’ Longitudinal and Lateral Range with respect to target vehicle heading https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/...
Page 186 It is a requirement of the National Highway Traffic Safety Administration “Forward Collision Warning System NCAP Confirmation Test March 2012” confirmation tests that the Subject Vehicle (SV) remains within 0.6 m of the centre line of the Target Vehicle (in the standard referred to as Principle Other Vehicle - POV). https://racelogic.support/ Powered by 01VBOX_Automotive/...
Page 187 0.5° over a vehicle separation of 100 m: By using a Reference lane heading a very stable Lateral Range channel is generated. Please click here for details on how to record a reference lane. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 188 Longitudinal Speed. T2C2sv-tg1 Time to collision taking into account a decelerating target vehicle NHTSA provide the following equation to account for a decelerating target vehicle in test 2 of their FCWS NCAP confirmation test. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 189 ADAS radio link has intermittently failed. The VBOX ADAS system will suffer occaisional single sample drops outs, which are acceptable but larger periods of time with full or intermittent drop outs are an indicator of a Radio problem that needs addressing.
Page 190: App Mode
For Adaptive Cruise control testing; time it would take the Subject Vehicle to travel across the Vehicle separation distance at its current speed. App Mode This channel indicates the current operating mode of the VBOX. App Mode Value Description Normal...
Page 191: Table Of Contents
Lateral speed toward line wrt to LatSpd-FR km/h vehicle front right point The Angle between the vehicle heading and the tangent of the Angle ° reference lane at the point where range is calculated https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 192 Lateral speed of the left hand offset point with respect to the marked lane edge. LatSpd-Lt = V * Sin(α) = GPS velocity (course over ground) α = Lane edge Heading – Heading at Vehicle offset point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 193 Lateral speed of the right hand offset point with respect to the marked lane edge. LatSpd-Rt = V * Sin(α) = GPS velocity (course over ground) α = Lane edge Heading – Heading at Vehicle offset point. https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 194: Angle Calculation
TTC-FL; TTC-FR; TTC-RL; TTC-RR Time to cross the reference lane calculated from the Front Left, Front Right, Rear Right or Rear Left offset point range and lateral speed. e.g. TTC-FR = Range_FR (metres)/LatSpd_FR (m/s) https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...
Page 195 Lane Departure Calculations Around A Curve When testing a Lane Departure Warning System around a curved lane the VBOX firmware takes measurements from the corner position to the nearest perpendicular tangent line to the curved lane edge, as shown below.
Page 196 Lng_Range (1-5) feature in ID 1/2/3/4/5 measured in the direction of the subject vehicle's heading The angle to the feature in ID 1/2/3/ Angle (1-5) 4/5 with respect to the subject ° vehicles heading https://racelogic.support/ Powered by 01VBOX_Automotive/ ADAS_Applications/ ADAS_User_Manual/...

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