DriveWorks SDK Reference
5.20.37 Release
For Test and Development only

Data Structures | Enumerations
RadarScan.h File Reference

Detailed Description

NVIDIA DriveWorks API: RadarScan

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

Definition in file RadarScan.h.

Go to the source code of this file.

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 ,
  DW_RADAR_MODEL_FICOSA = 5
}
 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 mceTrackAge Detection multi cycle elevation track age (number of cycles)
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 multiCycleElevation Detection multi cycle elevation (rad)
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 mceTrackAgeValidity The validity of mceTrackAge in struct dwRadarDetectionMisc.
bool multiCycleElevationValidity The validity of multiCycleElevation 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 71 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 95 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.

DW_RADAR_MODEL_FICOSA 

Ficosa model.

Definition at line 50 of file RadarScan.h.