Detailed Description

NVIDIA DriveWorks API: RadarScan

Description: This file defines the structures needed for the RadarScan.

Definition in file RadarScan.h.

Data Structures
struct	dwRadarDetectionFFTPatch

struct	dwRadarDetectionFFTPatchValidity

struct	dwRadarDetectionMisc

struct	dwRadarDetectionMiscValidity

struct	dwRadarDetectionProbability

struct	dwRadarDetectionProbabilityValidity

struct	dwRadarDetectionQuality

struct	dwRadarDetectionQualityValidity

struct	dwRadarDetectionStdDev

struct	dwRadarDetectionStdDevValidity

struct	dwRadarScanAmbiguity

struct	dwRadarScanAmbiguityValidity

struct	dwRadarScanHealth
	Defines the structure for holding health info of radar scen. More...

struct	dwRadarScanMisc

struct	dwRadarScanMiscValidity

struct	dwRadarScanValidity

Enumerations
enum	dwRadarDataQuality { DW_RADAR_QUALITY_NOT_AVAILABLE = 0 , DW_RADAR_QUALITY_NORMAL = 1 , DW_RADAR_QUALITY_REDUCED_COVERAGE = 2 , DW_RADAR_QUALITY_REDUCED_PERFORMANCE = 3 , DW_RADAR_QUALITY_REDUCED_COVERAGE_AND_PERFORMANCE = 4 , DW_RADAR_QUALITY_TEST_MODE = 5 , DW_RADAR_QUALITY_INVALID = 6 }
	Defines the quality of scan. More...

enum	dwRadarDetectionStatus { DW_RADAR_DETECTION_RECOGNITION_INVALID = 0 , DW_RADAR_DETECTION_RECOGNITION_ALL_DETECTIONS_INCLUDED = 1 , DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_COMPLETED = 2 , DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_FAILED = 3 }
	Defines the detection status. More...

enum	dwRadarHealthBlockage { DW_RADAR_HEALTH_NO_BLOCKAGE = 0 , DW_RADAR_HEALTH_FULL_BLOCKAGE = 1 , DW_RADAR_HEALTH_PART_BLOCKAGE_HIGH = 2 , DW_RADAR_HEALTH_PART_BLOCKAGE_MEDIUM = 3 , DW_RADAR_HEALTH_PART_BLOCKAGE_LOW = 4 , DW_RADAR_HEALTH_PART_BLOCKAGE_DEFECT = 5 }
	Defines the severity of blockage. More...

enum	dwRadarHealthDefect { DW_RADAR_HEALTH_DEFECT_FULL_FUNC = 0 , DW_RADAR_HEALTH_DEFECT_NOT_FULL_FUNC = 1 , DW_RADAR_HEALTH_DEFECT_OUT_OF_ORDER = 2 , DW_RADAR_HEALTH_DEFECT_SNA = 3 }
	Defines the defect of radar. More...

enum	dwRadarHealthDefectRsn { DW_RADAR_HEALTH_DEFECT_RSN_NO_DEFECT = 0 , DW_RADAR_HEALTH_DEFECT_RSN_WAKEUP_LINE_MALFUNC = 1 , DW_RADAR_HEALTH_DEFECT_RSN_ETHERNET_MALFUNC = 2 , DW_RADAR_HEALTH_DEFECT_RSN_SENSOR_IDENTIFICATION_ISSUE = 3 , DW_RADAR_HEALTH_DEFECT_RSN_RADAR_FAILURE = 4 , DW_RADAR_HEALTH_DEFECT_RSN_HARDWARE_FAILURE = 5 , DW_RADAR_HEALTH_DEFECT_RSN_SOFTWARE_FAILURE = 6 , DW_RADAR_HEALTH_DEFECT_RSN_INPUT_SIGNALS_MALFUNC = 7 }
	Defines the reason of defect. More...

enum	dwRadarHealthError { DW_RADAR_HEALTH_ERROR_VOLT_LOW = 1 << 0 , DW_RADAR_HEALTH_ERROR_VOLT_HIGH = 1 << 1 , DW_RADAR_HEALTH_ERROR_TEMP_UNDER = 1 << 2 , DW_RADAR_HEALTH_ERROR_TEMP_OVER = 1 << 3 , DW_RADAR_HEALTH_ERROR_INTERFERENCE = 1 << 4 , DW_RADAR_HEALTH_ERROR_TIMESYNC = 1 << 5 , DW_RADAR_HEALTH_ERROR_SNA = 1 << 6 }
	Defines the bitmasks of errors detected by diagnostic function. More...

enum	dwRadarModel { DW_RADAR_MODEL_UNKNOWN = 0 , DW_RADAR_MODEL_CONTI_ARS430 = 1 , DW_RADAR_MODEL_CONTI_ARS540 = 2 , DW_RADAR_MODEL_CONTI_ARS620 = 3 , DW_RADAR_MODEL_HELLA_GEN6 = 4 }
	Defines the radar sensor model. More...

Data Structure Documentation

◆ dwRadarDetectionFFTPatch

struct dwRadarDetectionFFTPatch

Data Fields
float32_t	azi1	FFT Patch value at azimuth bin plus 1 (dB)
float32_t	azi2	FFT Patch value at azimuth bin plus 2 (dB)
float32_t	aziM1	FFT Patch value at azimuth bin minus 1 (dB)
float32_t	aziM2	FFT Patch value at azimuth bin minus 2 (dB)
float32_t	center	FFT Patch value at center bin (dB)
float32_t	doppler1	FFT Patch value at Doppler bin plus 1 (dB)
float32_t	doppler2	FFT Patch value at Doppler bin plus 2 (dB)
float32_t	dopplerM1	FFT Patch value at Doppler bin minus 1 (dB)
float32_t	dopplerM2	FFT Patch value at Doppler bin minus 2 (dB)
float32_t	range1	FFT Patch value at Range bin plus 1 (dB)
float32_t	range2	FFT Patch value at Range bin plus 2 (dB)
float32_t	rangeM1	FFT Patch value at Range bin minus 1 (dB)
float32_t	rangeM2	FFT Patch value at Range bin minus 2 (dB)

◆ dwRadarDetectionFFTPatchValidity

struct dwRadarDetectionFFTPatchValidity

Data Fields
bool	azi1Validity
bool	azi2Validity
bool	aziM1Validity
bool	aziM2Validity
bool	centerValidity
bool	doppler1Validity
bool	doppler2Validity
bool	dopplerM1Validity
bool	dopplerM2Validity
bool	range1Validity
bool	range2Validity
bool	rangeM1Validity
bool	rangeM2Validity

◆ dwRadarDetectionMisc

struct dwRadarDetectionMisc

Data Fields
uint8_t	dopplerAmbgtIdx	Index of the ambiguity domain in which the resolved Doppler velocity lies (NoUnit)
float32_t	maskAngleSectAzi	Masking angle sector in which weak targets are not detected in azimuth dimension (rad)
float32_t	maskAngleSectElev	Masking angle sector in which weak targets are not detected in elevation dimension (rad)
uint8_t	measurementModel	Applied measurement model to resolve this detection. Each number corresponds to a specific state (NoUnit) Measurement model definition will be updated later
float32_t	peakDetectionThreshold	Detection's peak detection threshold (dB)
float32_t	rxSigStrength	Detection's received signal strength. 0 dB represents the case that the full transmitted power is received. (dB)

◆ dwRadarDetectionMiscValidity

struct dwRadarDetectionMiscValidity

Data Fields
bool	dopplerAmbgtIdxValidity
bool	maskAngleSectAziValidity
bool	maskAngleSectElevValidity
bool	peakDetectionThresholdValidity
bool	rxSigStrengthValidity

◆ dwRadarDetectionProbability

struct dwRadarDetectionProbability

Data Fields
uint16_t	ambgtID	Ambiguous detections are assigned the same ambiguity id and unambiguous detections get the ID zero (NoUnit)
uint8_t	ambgtProbb	Probability that the detection represents the real reflection position among the set of all hypotheses (percent, e.g, 100 means 100%)
uint8_t	existProbb	Detection's existence probability (percent, e.g, 100 means 100%)
uint8_t	multiTrgtProbb	The probability that this detections represents multiple unresolved detections (percent, e.g, 100 means 100%)

◆ dwRadarDetectionProbabilityValidity

struct dwRadarDetectionProbabilityValidity

Data Fields
bool	ambgtIDValidity
bool	ambgtProbbValidity
bool	existProbbValidity
bool	multiTrgtProbbValidity

◆ dwRadarDetectionQuality

struct dwRadarDetectionQuality

Data Fields
uint8_t	aziQuality	Quality of azimuth measurement which ranges from 0 to 100 (NoUnit) A high value indicates a good accordance with the model. A low value does not necessarily imply a low quality of the measurement but rather increases the probability for a large measurement error
uint8_t	dopplerQuality	Quality of doppler velocity measurement which ranges from 0 to 100 (NoUnit) A high value indicates a good accordance with the model. A low value does not necessarily imply a low quality of the measurement but rather increases the probability for a large measurement error
uint8_t	elevQuality	Quality of elevation measurement which ranges from 0 to 100 (NoUnit) A high value indicates a good accordance with the model. A low value does not necessarily imply a low quality of the measurement but rather increases the probability for a large measurement error
uint8_t	rangeQuality	Quality of range measurement which ranges from 0 to 100 (NoUnit) A high value indicates a good accordance with the model. A low value does not necessarily imply a low quality of the measurement but rather increases the probability for a large measurement error

◆ dwRadarDetectionQualityValidity

struct dwRadarDetectionQualityValidity

Data Fields
bool	aziQualityValidity
bool	dopplerQualityValidity
bool	elevQualityValidity
bool	rangeQualityValidity

◆ dwRadarDetectionStdDev

struct dwRadarDetectionStdDev

Data Fields
float32_t	aziStdDev	Standard deviation of the azimuth angle (rad)
float32_t	dopplerStdDev	Standard deviation of the doppler velocity (m/s)
float32_t	elevStdDev	Standard deviation of the elevation angle (rad)
float32_t	rangeStdDev	Standard deviation of the range (m)

◆ dwRadarDetectionStdDevValidity

struct dwRadarDetectionStdDevValidity

Data Fields
bool	aziStdDevValidity
bool	dopplerStdDevValidity
bool	elevStdDevValidity
bool	rangeStdDevValidity

◆ dwRadarScanAmbiguity

struct dwRadarScanAmbiguity

Data Fields
float32_t	aziAnglAmbgtDLowLmt	Lower limit of the sensor's unambiguous azimuth (rad)
float32_t	aziAnglAmbgtDUpLmt	Upper limit of the sensor's unambiguous azimuth (rad)
float32_t	dopplerAmbgtDLowLmt	Lower limit of the sensor's unambiguous doppler range (m/s)
float32_t	dopplerAmbgtDUpLmt	Upper limit of the sensor's unambiguous doppler range (m/s)
float32_t	elevAnglAmbgtDLowLmt	Lower limit of the sensor's unambiguous elevation (rad)
float32_t	elevAnglAmbgtDUpLmt	Upper limit of the sensor's unambiguous elevation (rad)
float32_t	rangeAmbgtD	Upper limit of the sensor's range ambiguity (m)

◆ dwRadarScanAmbiguityValidity

struct dwRadarScanAmbiguityValidity

Data Fields
bool	aziAnglAmbgtDLowLmtValidity
bool	aziAnglAmbgtDUpLmtValidity
bool	dopplerAmbgtDLowLmtValidity
bool	dopplerAmbgtDUpLmtValidity
bool	elevAnglAmbgtDLowLmtValidity
bool	elevAnglAmbgtDUpLmtValidity
bool	rangeAmbgtDValidity

◆ dwRadarScanHealth

struct dwRadarScanHealth

Data Fields
dwRadarHealthBlockage	blockage	Blockage info of radar scan.
dwRadarHealthDefect	defect	Defect info of radar scan.
dwRadarHealthDefectRsn	defectRsn	Defect reason of radar scan.
dwRadarHealthError	errors	Bitmask of Health errors.

◆ dwRadarScanMisc

struct dwRadarScanMisc

Data Fields
dwTime_t	cycleTime	Cycle time of sensor (radar cycle time plus the time for preparation of Ethernet packages) (us)
dwTime_t	duration	Measure duration (us)
uint8_t	lowRangeInd	Probability of a low range detection (percent)
uint32_t	maxReturns	Maximum number of detections, that sensor could produce.
uint8_t	modulationMode	Current modulation mode of the sensor. Each number corresponds to a specific state Modulation mode definition will be updated later
dwRadarDataQuality	quality	Data quality.
float32_t	rangeDopplerCovCoeff	Covariance coefficient of the range and doppler dimension.
uint8_t	sensorID	Sensor ID.
dwRadarDetectionStatus	status	Current status of the sensor. Each number corresponds to a specific state.

◆ dwRadarScanMiscValidity

struct dwRadarScanMiscValidity

Data Fields
bool	cycleTimeValidity
bool	durationValidity
bool	lowRangeIndValidity
bool	maxReturnsValidity
bool	modulationModeValidity
bool	rangeDopplerCovCoeffValidity
bool	sensorIDValidity

◆ dwRadarScanValidity

struct dwRadarScanValidity

Data Fields
dwRadarDetectionFFTPatchValidity	detectionFFTPatchValidity
dwRadarDetectionMiscValidity	detectionMiscValidity
dwRadarDetectionProbabilityValidity	detectionProbabilityValidity
dwRadarDetectionQualityValidity	detectionQualityValidity
dwRadarDetectionStdDevValidity	detectionStdDevValidity
dwRadarScanAmbiguityValidity	radarScanAmbiguityValidity
dwRadarScanMiscValidity	radarScanMiscValidity

Enumeration Type Documentation

◆ dwRadarDataQuality

enum dwRadarDataQuality

Defines the quality of scan.

Enumerator
DW_RADAR_QUALITY_NOT_AVAILABLE	Quality field not available from sensor.
DW_RADAR_QUALITY_NORMAL	Radar sensor quality is normal.
DW_RADAR_QUALITY_REDUCED_COVERAGE	Radar sensor quality has reduced coverage.
DW_RADAR_QUALITY_REDUCED_PERFORMANCE	Radar sensor quality has reduced performance.
DW_RADAR_QUALITY_REDUCED_COVERAGE_AND_PERFORMANCE	Radar sensor quality has reduced coverage and performance.
DW_RADAR_QUALITY_TEST_MODE	Radar sensor in test mode.
DW_RADAR_QUALITY_INVALID	Radar sensor quality is invalid.

Definition at line 62 of file RadarScan.h.

◆ dwRadarDetectionStatus

enum dwRadarDetectionStatus

Defines the detection status.

Enumerator
DW_RADAR_DETECTION_RECOGNITION_INVALID	Detection is invalid.
DW_RADAR_DETECTION_RECOGNITION_ALL_DETECTIONS_INCLUDED	All detections included.
DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_COMPLETED	Too many detection and sorting completed.
DW_RADAR_DETECTION_RECOGNITION_TOO_MANY_DETECTIONS_SORTING_FAILED	Too many detection and sorting failed.

Definition at line 86 of file RadarScan.h.

◆ dwRadarHealthBlockage

enum dwRadarHealthBlockage

Defines the severity of blockage.

Enumerator
DW_RADAR_HEALTH_NO_BLOCKAGE	No blockage.
DW_RADAR_HEALTH_FULL_BLOCKAGE
DW_RADAR_HEALTH_PART_BLOCKAGE_HIGH	High blockage.
DW_RADAR_HEALTH_PART_BLOCKAGE_MEDIUM	Medium blockage.
DW_RADAR_HEALTH_PART_BLOCKAGE_LOW	Low blockage.
DW_RADAR_HEALTH_PART_BLOCKAGE_DEFECT	Blockage has defect.

Definition at line 404 of file RadarScan.h.

◆ dwRadarHealthDefect

enum dwRadarHealthDefect

Defines the defect of radar.

Enumerator
DW_RADAR_HEALTH_DEFECT_FULL_FUNC	No defect.
DW_RADAR_HEALTH_DEFECT_NOT_FULL_FUNC	Has defect and parital function.
DW_RADAR_HEALTH_DEFECT_OUT_OF_ORDER	Has out of order defect.
DW_RADAR_HEALTH_DEFECT_SNA	Defect info is not available.

Definition at line 362 of file RadarScan.h.

◆ dwRadarHealthDefectRsn

enum dwRadarHealthDefectRsn

Defines the reason of defect.

Enumerator
DW_RADAR_HEALTH_DEFECT_RSN_NO_DEFECT	No defect.
DW_RADAR_HEALTH_DEFECT_RSN_WAKEUP_LINE_MALFUNC	Radar wakeup line is malfunctioning.
DW_RADAR_HEALTH_DEFECT_RSN_ETHERNET_MALFUNC	Radar eth stack is malfunctioning.
DW_RADAR_HEALTH_DEFECT_RSN_SENSOR_IDENTIFICATION_ISSUE	Radar has identification issue.
DW_RADAR_HEALTH_DEFECT_RSN_RADAR_FAILURE	Generic failure in Radar.
DW_RADAR_HEALTH_DEFECT_RSN_HARDWARE_FAILURE	Hardware failure in Radar.
DW_RADAR_HEALTH_DEFECT_RSN_SOFTWARE_FAILURE	Software failure in Radar.
DW_RADAR_HEALTH_DEFECT_RSN_INPUT_SIGNALS_MALFUNC	Input siganls of Radar are malfunctioning.

Definition at line 377 of file RadarScan.h.

◆ dwRadarHealthError

enum dwRadarHealthError

Defines the bitmasks of errors detected by diagnostic function.

Enumerator
DW_RADAR_HEALTH_ERROR_VOLT_LOW	Low voltage.
DW_RADAR_HEALTH_ERROR_VOLT_HIGH	High voltage.
DW_RADAR_HEALTH_ERROR_TEMP_UNDER	Under temperature.
DW_RADAR_HEALTH_ERROR_TEMP_OVER	Over temperature.
DW_RADAR_HEALTH_ERROR_INTERFERENCE	Interference error.
DW_RADAR_HEALTH_ERROR_TIMESYNC	Error in timesync.
DW_RADAR_HEALTH_ERROR_SNA	Has unavailable data in the scan.

Definition at line 425 of file RadarScan.h.

◆ dwRadarModel

enum dwRadarModel

Defines the radar sensor model.

Enumerator
DW_RADAR_MODEL_UNKNOWN	Unknown model.
DW_RADAR_MODEL_CONTI_ARS430	Conti ARS430 model.
DW_RADAR_MODEL_CONTI_ARS540	Conti ARS540 model.
DW_RADAR_MODEL_CONTI_ARS620	Conti ARS620 model.
DW_RADAR_MODEL_HELLA_GEN6	Hella Gen6 model.

Definition at line 44 of file RadarScan.h.