Usage:
roslaunch autoliv autoliv.launch
This driver obtains Autoliv MMR targets information from CAN bus. It consists of sending request messages, receving parser and visualization module. The updated documentation can be seen from here. The evaluation report by Leo is shown here.
List of ROS message:
/autoliv/diagnostics # diagnostic information
/autoliv/markers # markers for visualization
/autoliv/targets # target information
/autoliv/versions # versions of radar
Example /autoliv/targets message:
header:
seq: 618120 # sequence number
stamp:
secs: 1521585931 # ROS (epoch) time
nsecs: 536272379
frame_id: "autoliv"
target_id: 34 # target id defined by per radar measurement
x: -7.99607276917 # target lateral location related to radar in meters (left: negative, right: positive)
y: 18.7676010132 # target longitudinal location related to radar in meters (pointing front, only positive)
vx: -2.24595570564 # velocity of target projected to lateral axis in m/s (left: negative, right: positive)
vy: 5.27148771286 # velocity of target projected to longitudinal in m/s axis (towards: negative, away: positive)
range: 20.3999996185 # radar measure target range in meters
velocity: 5.73000001907 # velocity of target in m/s (towards: negative, away: positive)
bearing: -23.0767822266 # radar measure tareget bearing in degrees (left: negative, right: positive)
snr: 6.21557760239 # signal-to-noise ratio of the target
flags: 1 # flag: 0 - short range radar; 1 - mid range radar; 2 - moving target indication
The SNR plot can be seen below:
The accurate max range is about 60 meters and the FOV is about 80°.
The filtering algorithm is implemented separately in another repo radar-tool.
Full communication cycle:
- Send a sync message at 0x100.
- Command all the sensors at 0x201 to 0x204.
- Target messages are beginning at 0x300 and max of 140 dectections.
- Diagnostic messages are 0x3E1 to 0x3E3. A diag code True indicates a serious fault.
- Version message is at 0x3EF.
- 0x3FF gives the valid detections.