DriveWorks SDK Reference
5.8.83 Release
For Test and Development only

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
 
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

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

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

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

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

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

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

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.