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
	Defines FFT patch value of the detection. More...

struct	dwRadarDetectionFFTPatchValidity
	Defines the validity of FFT patch value in the detection. More...

struct	dwRadarDetectionMisc
	Defines the detection misc. More...

struct	dwRadarDetectionMiscValidity
	Defines the validity of the detection misc. More...

struct	dwRadarDetectionProbability
	Defines the probability of some items recevied in a detection. More...

struct	dwRadarDetectionProbabilityValidity
	Defines the validity flag of the probability. More...

struct	dwRadarDetectionQuality
	Defines the quality of the detection. More...

struct	dwRadarDetectionQualityValidity
	Defines the validity of the detection quality. More...

struct	dwRadarDetectionStdDev
	Defines standard deviation of the detection. More...

struct	dwRadarDetectionStdDevValidity
	Defines the validity of standard deviation of the detection. More...

struct	dwRadarScanAmbiguity
	Defines the ambiguity of a radar scan. More...

struct	dwRadarScanAmbiguityValidity
	Defines the validity of the ambiguity. More...

struct	dwRadarScanMisc
	Defines the radar scan misc. More...

struct	dwRadarScanMiscValidity
	Defines the validity of the radar scan misc. More...

struct	dwRadarScanValidity
	Defines the validity of features in a radar scan. Include the validity structure in this page. More...

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	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	The validity of azi1 in struct dwRadarDetectionFFTPatch.
bool	azi2Validity	The validity of azi2 in struct dwRadarDetectionFFTPatch.
bool	aziM1Validity	The validity of aziM1 in struct dwRadarDetectionFFTPatch.
bool	aziM2Validity	The validity of aziM2 in struct dwRadarDetectionFFTPatch.
bool	centerValidity	The validity of center in struct dwRadarDetectionFFTPatch.
bool	doppler1Validity	The validity of doppler1 in struct dwRadarDetectionFFTPatch.
bool	doppler2Validity	The validity of doppler2 in struct dwRadarDetectionFFTPatch.
bool	dopplerM1Validity	The validity of dopplerM1 in struct dwRadarDetectionFFTPatch.
bool	dopplerM2Validity	The validity of dopplerM2 in struct dwRadarDetectionFFTPatch.
bool	range1Validity	The validity of range1 in struct dwRadarDetectionFFTPatch.
bool	range2Validity	The validity of range2 in struct dwRadarDetectionFFTPatch.
bool	rangeM1Validity	The validity of rangeM1 in struct dwRadarDetectionFFTPatch.
bool	rangeM2Validity	The validity of rangeM2 in struct dwRadarDetectionFFTPatch.

◆ 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	The validity of dopplerAmbgtIdx in struct dwRadarDetectionMisc.
bool	maskAngleSectAziValidity	The validity of maskAngleSectAzi in struct dwRadarDetectionMisc.
bool	maskAngleSectElevValidity	The validity of maskAngleSectElev in struct dwRadarDetectionMisc.
bool	peakDetectionThresholdValidity	The validity of peakDetectionThreshold in struct dwRadarDetectionMisc.
bool	rxSigStrengthValidity	The validity of rxSigStrength in struct dwRadarDetectionMisc.

◆ 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	ambgtProbbAzi	Probability that the detection represents the real reflection position among the set of all hypotheses (percent, e.g, 100 means 100%)
uint8_t	ambgtProbbElev	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	The validity of ambgtID in struct dwRadarDetectionProbability.
bool	ambgtProbbAziValidity	The validity of ambgtProbbAzi in struct dwRadarDetectionProbability.
bool	ambgtProbbElevValidity	The validity of ambgtProbbElev in struct dwRadarDetectionProbability.
bool	ambgtProbbValidity	The validity of ambgtProbb in struct dwRadarDetectionProbability.
bool	existProbbValidity	The validity of existProbb in struct dwRadarDetectionProbability.
bool	multiTrgtProbbValidity	The validity of multiTrgtProbb in struct dwRadarDetectionProbability.

◆ 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	The validity of aziQuality in struct dwRadarDetectionQuality.
bool	dopplerQualityValidity	The validity of dopplerQuality in struct dwRadarDetectionQuality.
bool	elevQualityValidity	The validity of elevQuality in struct dwRadarDetectionQuality.
bool	rangeQualityValidity	The validity of rangeQuality in struct dwRadarDetectionQuality.

◆ 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	The validity of aziStdDev in struct dwRadarDetectionStdDev.
bool	dopplerStdDevValidity	The validity of dopplerStdDev in struct dwRadarDetectionStdDev.
bool	elevStdDevValidity	The validity of elevStdDev in struct dwRadarDetectionStdDev.
bool	rangeStdDevValidity	The validity of rangeStdDev in struct dwRadarDetectionStdDev.

◆ 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	The validity of aziAnglAmbgtDLowLmt in struct dwRadarScanAmbiguity.
bool	aziAnglAmbgtDUpLmtValidity	The validity of aziAnglAmbgtDUpLmt in struct dwRadarScanAmbiguity.
bool	dopplerAmbgtDLowLmtValidity	The validity of dopplerAmbgtDLowLmt in struct dwRadarScanAmbiguity.
bool	dopplerAmbgtDUpLmtValidity	The validity of dopplerAmbgtDUpLmt in struct dwRadarScanAmbiguity.
bool	elevAnglAmbgtDLowLmtValidity	The validity of elevAnglAmbgtDLowLmt in struct dwRadarScanAmbiguity.
bool	elevAnglAmbgtDUpLmtValidity	The validity of elevAnglAmbgtDUpLmt in struct dwRadarScanAmbiguity.
bool	rangeAmbgtDValidity	The validity of rangeAmbgtD in struct dwRadarScanAmbiguity.

◆ 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	The validity of cycleTime in struct dwRadarScanMisc.
bool	durationValidity	The validity of duration in struct dwRadarScanMisc.
bool	lowRangeIndValidity	The validity of lowRangeInd in struct dwRadarScanMisc.
bool	maxReturnsValidity	The validity of maxReturns in struct dwRadarScanMisc.
bool	modulationModeValidity	The validity of modulationMode in struct dwRadarScanMisc.
bool	rangeDopplerCovCoeffValidity	The validity of rangeDopplerCovCoeff in struct dwRadarScanMisc.
bool	sensorIDValidity	The validity of sensorID in struct dwRadarScanMisc.

◆ dwRadarScanValidity

struct dwRadarScanValidity

Data Fields
dwRadarDetectionFFTPatchValidity	detectionFFTPatchValidity	Defines the validity of FFT patch value in the detection.
dwRadarDetectionMiscValidity	detectionMiscValidity	Defines the validity of the detection misc.
dwRadarDetectionProbabilityValidity	detectionProbabilityValidity	Defines the validity flag of the probability.
dwRadarDetectionQualityValidity	detectionQualityValidity	Defines the validity of the detection quality.
dwRadarDetectionStdDevValidity	detectionStdDevValidity	Defines the validity of standard deviation of the detection.
dwRadarScanAmbiguityValidity	radarScanAmbiguityValidity	Defines the validity of the ambiguity.
dwRadarScanMiscValidity	radarScanMiscValidity	Defines the validity of the radar scan misc.

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.

◆ 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.