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RT-Range User Manual User Manual

1. Only an integer value from 1 to 250 can be used Text descriptions are not supported This field is a text description for the user s benefit of the feature point file It can contain any valid alpha numeric characters including spaces but it cannot 66 99 contain a comma It can be blank i e two commas This field should contain the filename of the feature point file It is currently only for the user s benefit and it is not used by the software The feature point file is renamed when it is saved on the RT Range When it is uploaded using FTP then this field could be used to rename the file back to its original name This is a future potential feature that is not supported by the current software The RT Range will use this to identify this as a feature point file If this 1s not the first text on the second line then the file cannot be used This is the number of features in the file It can used to allocate memory space to hold the feature points as the file is read Up to a maximum of 65530 features can be loaded The list of the feature points will be in the following format ID Latitude Longitude Altitude Heading Type Reserved Description Table 64 gives the definitions of the fields Revision 151010 at mt Hertial GPS Table 64 Feature point file fields Field Description ID This is the ID of the feature point and it can be used to identify a specific feature point by number It i
2. G Start Line Configuration Start line located at point 4 of Line3td Please select the line width SMEG Start line onentation Line point A Latitude Line point A Longitude Line point B Latitude Line paint B Longitude Finish Options This menu has options to save the map file Note that map files cannot be saved until a start line has been set Ey Oxford Technical Solutions RT Range User Manual l XTS Inertial GPS Save This option saves the map file to the last file that was saved This will be the file specified in the initial page of the RT Range software or the last file that was specified using the Save As option Save and Quit This option performs a Save i e to the last file and then returns to the initial page of the RT Range software Save As This option saves the map file to a new name Enter the new name in the Save As dialog box that appears View Options This menu allows you to zoom in or out and pan the map as shown in Figure 21 above It behaves in the same way as the View Options in the Lane Survey Wizard Zoom Click on the Zoom to zoom in to the map the maximum zoom level is a 1 metre grid square Zoom Click on the Zoom to zoom out of the map The minimum zoom is a 1000 metre grid square Pan The pan options allow the user to pan the map to left right up or down If the user clicks on the Reset of the pan option then it redraws the map so that the whole survey fits wit
3. RT Range User Manual d IX TS Inertial GPS Read from a file If this option is selected the wizard will read all the settings from a file on the disk This can be used to store the configuration from several vehicles and quickly restore a particular vehicle s settings Load initial settings from RT Range This option connects to the RT Range over Ethernet and loads the settings that are currently programmed to the RT Range After selecting the source for the initial settings click Next Hunter Targets Setup The RT Range needs to know the IP addresses of the RTs in the hunter and target vehicles so it can pick up the correct data via Ethernet The IP addresses of the RTs will be shown on the delivery note that came with the RTs The IP address selection boxes list the RTs that have been found on the network Figure 62 shows the Hunter Targets Setup page of the Wizard where the IP addresses are selected Figure 62 RT Addresses RT Range Configuration Wizard RT Range Configuration Wizard O x Hunter Targets Setup Qax Set the IP address of the hunter and target vehicle or fixed points RT in the hunter vehicle x IXTI ee g AELE GE 4i mk 7 RT target setup Number of targets Read Configuration Target Type IP address ocation Target 2 Mobile Target Lane Measurements Range Measurements Options Target 3 Mobile Target v Commit l Target 4 Mobile Target Save Finish Target 4 Featur
4. heartbeat message and if configured it will be output periodically on the CAN bus even if no RTs are connected to the RT Range It is useful for checking that the RT Range CAN bus is working Revision 151010 EOI Ww Rertial GPS Table 45 RangeTimeGap Time gap between target and hunter identifiers 7B6h 1974 7C6h 1990 7D6h 2006 7E6h 2022 Description 0 16 S S 0 001 0 RangeTimeGap Time gap between target and hunter vehicles This is the longitudinal range divided by the speed of the hunter vehicle 16 16 S S 0 001 0 TimeToCollisionForwardWithAccel This is the time to collision in the forward direction computed using range velocity and acceleration Note Time to collision with acceleration is not available for fixed point or static targets A minimum acceleration of 0 05 m s is required By default unfiltered acceleration is used for this calculation Filters can be applied before the calculation using Advanced commands see page 94 Table 46 RangeLocal Difference in position of hunter and target in local co ordinates identifiers 7B7h 1975 7C7h 1991 7D7h 2007 7E7h 2023 Description 0 32 S m 0 001 0 RangeLocalDeltaX x Distance from hunter 32 32 S m 0 001 0 RangeLocalDeltaY y Distance from hunter Note The convention used for the local co ordinates is with the z axis up 12 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 47 RangePolygon
5. l XTS Inertial GPs of the target vehicle For a fixed point the heading of the fixed point needs to be entered and the pitch and roll are zero There are some restrictions on the polygons that can be used in the RT Range The polygons cannot have intersecting or overlapping lines They need to have a minimum of 3 points and a maximum of 24 points All the points are assumed to lie in the same plane Concave sets of points should be avoided The results may not be correct when the sensor point of the hunter is inside the polygon These restrictions are not normally a problem when using a polygon to represent the outline of a vehicle The polygon algorithm will either track the closest point or the closest edge depending on which one is closer Figure 93 shows the red hunter tracking the edge of the target between points and 6 and the blue hunter tracking point 3 Figure 93 Polygon point or edge tracking For the red hunter the Range Polygon output message will identify point 1 as the point on the right and point 6 as the point on the left For the blue hunter the Range Polygon output message will identify point 3 for both the left and the right points Note that the points are ordered in Figure 93 The points must be entered into the software ordered either clockwise or anti clockwise The software will use lines to connect consecutive points and the lines cannot intersect The software will not work out the bounding box around a
6. Ezi 65699 132 125 9 51 943138653 1 24862 132 037 9 51 94314003 1 2486163 131 999 5194315181 1 24860742 131 976 51 9431641 1 24859595 131 957 51 94317191 1 24858665 131 954 6 Show this poink 62 on the graph Set Start Line From this point 62 Reset highlighted rows Reverse all points Delete this line Show this point i on the graph This function centres the point corresponding to the spreadsheet row in the map window and highlights selects it Set Start Line from this point i This function is used to set the point for this spreadsheet row as the start line Once set the user can adjust the start line options using the menu on the left Reset highlighted rows This function is used to cancel the selection Reverse all points This function reverses all of the points in this line To reverse the entire map each line must be individually reversed Delete this line This function removes the line from the map Real Time Display The Real Time Display module is capable of displaying real time data with a high update rate from a variety of sources These include the RT Range system any of the RTs on the network and any associated CAN data where the CAN acquisition feature has been enabled for the RT in that vehicle It is also used to download map files or feature point files set the fixed positions set the ranging mode and configure the RT Range hardware Overview The Real time Display window
7. OxTS RT Range Survey Trolley This can be installed using NAVconfig Ey Oxford Technical Solutions RT Range User Manual l XTS Inertial GPS To initialise the RT on the Survey Trolley push the Survey Trolley in a forward direction at a speed exceeding m s You should be going straight when the RT initialises Afterwards you should make some turns accelerate and brake so that the RT can estimate some of the errors in its sensors The battery recommended for use with the Survey Trolley is a lead acid battery This should be kept in a charged state it should be recharged immediately after each use Lead acid batteries tend to degrade if left in an uncharged state To charge the battery connect the charger to the battery and plug the charger into the mains The light on the charger will indicate green when the battery is fully charged The charger can be left on the battery at all times when the battery is not in use Lead acid batteries require special disposal in most countries To dispose of the battery take it to the appropriate waste disposal place Revision 151010 EJ inertial GPS Software RT Range Software consists of four modules These are 1 Lane Survey 2 Map Creation 3 Real Time Display 4 Post Processing Figure 15 shows the Initial Page of the RT Range Software Figure 15 Initial page of RT Range software Use this option to survey a new line Creation lines into one map C User
8. Table 18 and Table 19 list the CAN messages that the RT Range puts on the CAN bus and the identifiers that are used for these messages These are the default identifiers but they can be changed using the configuration software The signals in each message are listed in the tables that follow Revision 151010 109 W nertial GPS Table 18 Default CAN bus messages for lane position measurements Identifier hex 7A0h 7A1h 7A2h 7A3h 7A4h 7A5h 7A6h 7A7h 7A8h 7A9h 7AAh 7ABh 7ACh 7ADh 7AEh 7AFh 5A0h SAlh SA2h 110 Oxford Technical Solutions Data contents Map identifier and distance Line on left of Point A Line on right of Point A Lines 1 to 4 to Point A Lines 5 to 8 to Point A Line to Point B Line to Point C Lines 1 to 4 to Point A velocity Lines 5 to 8 to Point A velocity Trajectory of A Curvature of Lines 1 to 4 Curvature of Lines 5 to 8 Lines 1 to 4 to Point B Lines 5 to 8 to Point B Lines 1 to 4 to Point C Lines 5 to 8 to Point C Lane Point A lever arm Lane Point B lever arm Lane Point C lever arm Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 RT Range User Manual Inertial GPs Table 19 Default CAN bus messages for range measurements Identifier hex Data contents T1 T2 T3 T4 7B0h 7C0h 7D0h 7E0h Longitudinal m
9. procurement of substitute goods or services loss of use data or profits or business interruption however caused and on any theory of liability whether in contract strict liability or tort including negligence or otherwise arising in any way out of the use of this software even if advised of the possibility of such damage Copyright Notice Copyright 2015 Oxford Technical Solutions Revision Document Revision 151010 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited Tel 44 0 1869 238 015 77 Heyford Park Fax 44 0 1869 238 016 Upper Heyford Oxfordshire Web http www oxts com OX25 SHD Email support oxts com United Kingdom Ey Oxford Technical Solutions RT Range User Manual SMIXTS Inertial GPs Table of contents Introduction l Lane position methodology Distance between multiple vehicles methodology Distance to fixed points and feature points methodology 10 ABD robot connection 10 RT Backpack for pedestrians 10 Outputs 10 Target CAN 11 Scope of Delivery 12 Battery 15 Specification 17 Warranty 19 Conformance notices 20 Regulator testing standards 20 Installation 21 RT Range S connections 21 LED definitions 22 Hunter vehicle wiring 22 Target vehicle wiring 23 Physical Installation 24 CAN Bus 25 RT Configuration 26 RT Processing Platform 26 IP Addresses 26 RT Range S system 27 Standard RT Range system 28 Survey Trolley Assembly
10. standard wireless LAN Parameter Range 2 x RT3002 Longitudinal Range 200 m 0 03 m RMS Lateral Range 200 m 0 00175 x Range RMS Resulting Range 200 m 0 03 m RMS Note In this example all details are the same as the Note of Table 8 except that for 200 m the lateral accuracy 1s 0 35 m Note If you use alternative wireless LAN devices you should not expect to achieve the kind of ranges possible with the RT XLAN Wireless LAN is also affected by high power electrical fields such as those found under high voltage electricity pylons Oxford Technical Solutions RT Range User Manual l XTS Inertial GPS Warranty Oxford Technical Solutions Limited warrants its products to be free of defects in materials and workmanship subject to the conditions set forth below for a period of one year from the Date of Sale Date of Sale shall mean the date of the Oxford Technical Solutions Limited invoice issued on delivery of the product The responsibility of Oxford Technical Solutions Limited in respect of this warranty is limited solely to product replacement or product repair at an authorised location only Determination of replacement or repair will be made by Oxford Technical Solutions Limited personnel or by personnel expressly authorised by Oxford Technical Solutions Limited for this purpose In no event will Oxford Technical Solutions Limited be liable for any indirect incidental special or consequential dama
11. A spline that fits exactly on all the points is drawn in red in Figure 96 This type of spline is very accurate at the surveyed points but it is not clear what the error will be between the points It will tend to overshoot after curves Spline smoothing all the points A spline that smoothes the points does not actually pass through any of the points that are surveyed This type of spline cuts corners Straight line fit between all the points Fitting a straight line between the surveyed points gives accurate measurements at the points and does not overshoot in between the points However the straight line has larger errors on curves or circles It also has other associated problems such as discontinuities in distance abrupt changes in curvature that affect acceleration etc The straight line fit is however the easiest solution to the problem and the one that is least likely to give unexplainable results It is the solution that has been used in the RT Range Ultimately it probably offers the best accuracy if the survey is conducted correctly The errors shown here in the drawing may look small considering how tight the curve is But when the points are surveyed at 1 m spacing typical for large road surveys then it is easy to introduce errors of 1 cm or more in the curve fitting This cannot Revision 151010 133 easily be seen on paper but it is significant compared to the measurement accuracy of the RT Range Discontinuou
12. Accel Target A Forward Range Acceleration of Targets mi s 000 00 Lateral Time to Collision with Accel Target 195 0 0 241 Resultant Range Rate Target m s RT Ran UTC offset RT Range 146 63 13 Position Targeti X m RT Range 9 1694164 74 Position Targeti Y mj RT Range 9 805332 90 Heading angle of Target deg RT Range 9 365 84 Forward Range Acceleration of Target m s Note The Display Items on the right hand side can be changed this is just a selection of the available measurements that can be displayed and what they can look like Configure RT Range menu The Configure RT Range menu is used to change the setup and operating mode of the RT Range Configure RT Range This option is used to run the RT Range Configuration Wizard This wizard is used to set the more permanent parameters of the RT Range and will probably only be used for a new installation in a vehicle There are many parameters in the RT Range Configuration Wizard and it is described in its own section later in this manual Quick Config The Quick Config option is used to change some of the real time settings of the RT Range without rebooting Options that can be changed using the Quick Config window include the lateral and longitudinal offset range mode fixed point locations and the local co ordinates used for the RT Range More details on the Quick Config are given in the section below 56 Oxford Technical Solutions RT Range User
13. An example feature point file is shown in Figure 101 Figure 101 Example feature point file feature list 7 RT Range airfield test line RT RangeTest_AirfieldLinel ftl number of fTeatures 1 1 51 940112776 O01 244082713 0130 261 258 8 4 1 0 Post 2 91 94015950 O01 24394702 0130 19 347 158 2 0 E Sign 3 51 94024407 001 244227378 0130 064 326 847 2 0 x1 Sign 4 51 94039547 001 24450395 0129 587 341 178 1 0 0 Sign 5 S31 94038175 001 24481045 0129 4435 290 798 3 0 U Cone 6 51 94049197 001 24483301 0129 225 326 358 2 0 C Sign f 31 94049216 O01 24491855 0129 368 302 381 4 0 wWater tap 8 51 94044339 001 24500736 0129 312 236 959 1 0 Post 9 51 94058045 001 24540721 0129 192 247 792 1 0 8 Post 10 51 94063415 001 24535482 0129 209 324 338 1 0 stick 11 51 94078665 001 24601052 0129 758 253 811 1 0 1I Post 12 51 94084804 O01 24595231 0129 813 341 162 1 0 6 Post az Oxford Technical Solutions RT Range User Manual XTS Inertial GPS RT Range and the Ibeo feature fusion ADAS reference system The integration of the RT Range and RT Range S systems with Ibeo laser scanner environment perception allows test drives in public traffic All relevant objects are displayed in every situation It can be automatically determined if and how well the target vehicle is visible to an on board sensor under test Incorrect measurements on vehicles other than the targe
14. Polygon measurements identifiers 7B8h 1976 7C8h 1992 7D8h 2008 7E8h 2024 Description 0 8 8 8 16 8 24 8 RangePolygonVisible Percentage of the target that is not hidden behind other targets RangePolygonInside Check whether the hunter is inside the target polygon If this is true then the answers may be incorrect and the vehicles may have crashed Please note that this field is not available in RCOM data RangePolygonLeftPoint Polygon point number to the left of the closest range to the polygon RangePolygonRightPoint Polygon point number to the right of the closest range to the polygon Table 48 RangeFeatInfo Range feature point information identifiers 7B9h 1977 7C9h 1993 7D9h 2009 7E9h 2025 Description 16 8 RangeFeatlId Feature point ID The ID of the feature being tracked is only valid when it is not one of 0000h disabled FFFEh unknown or no feature selected and FFFFh invalid RangeFeatType Feature point type The type of the feature being tracked is only valid when it is not one of 00h disabled FEh unknown or no feature selected and FFh invalid Revision 151010 123 W nertial GPS Table 49 RangeOffset Offsets to the range measurements identifiers 5B0h 1456 5C0h 1472 5DOh 1488 SEOh 1504 Description 0 16 I m 0 001 0 RangeOffsetForward Value added to the longitudinal range before it is output 16 16 I m 0 001 0 RangeOff
15. The RCOM file can be recorded in real time or made by post processing NCOM files Overview There are one or two stages required for post processing If the NCOM files are not available for every vehicle then it will be necessary to post process the RD files that are Revision 151010 or W Fertial Ges recorded in the RTs Once all the NCOM files are available the RT Range Post Processing wizard can be used to convert the NCOM files to RCOM and then to CSV Figure 80 and Figure 81 show the two stages of the workflow The RD files are logged internally in the RT these can be downloaded and reprocessed using the RT Post process software There is no need to use the RT Post process software to convert the NCOM file to CSV Alternatively the NCOM file can be logged by a separate PC in each vehicle using Enginuity this means you do not need to post process the RD files Figure 80 Workflow to convert RD files to NCOM files mobile rd gt el fp mobile ncom by post processing File logged in the RT mobile rd o o File logged in the vehicle using Enginuity software RT Post process software 98 Oxford Technical Solutions RT Range User Manual w nertial GPS Figure 81 Workflow to convert NCOM files to RCOM and CSV files Hunter Targets 1 to 4 hunter ncom target1 ncom target2 ncom target3 ncom target4 ncom Map N A Fixed gt Points Feat
16. around 1 km and will improve the data integrity at the lower ranges However its use does depend on your location and the local wireless LAN radio laws governing your particular area for suitability If you are unsure please contact your local representative for advice The RT systems we recommend using are the RT3002 RT3003 or RT2002 these all provide 1 2 cm positioning accuracy depending on the model If a 250 Hz output rate is required use an RT4002 or RT4003 series product The RT Range can work with lower accuracy and lower cost RT systems which may be acceptable in long range applications where accuracy is less important Table 4 Technical specification for RT Range S system Parameter Specification Voltage 10 25 V dc Power 15 W RT Range S Dimensions 234 x 120 x 76 mm Mass 1 93 kg Hunter 1 60 kg Target Operational temperature 10 to 50 C Table 5 Technical specification for lane measurements Parameter Range Accuracy using RT3002 Lateral distance to lane 30 m 0 02 m RMS Lateral velocity to lane 20 m s 0 02 m s RMS Lateral acceleration to lane 30 m 0 1 m s RMS To achieve these accuracies it is necessary to construct the map correctly See the Calculation details section It is also essential to configure the RT and the RT Range correctly It is not easy to measure all of the parameters accurately but time must be taken to do this Revision 151010 a7 W nertial GPS Table 6 Technical sp
17. can copy the Local Co ordinates setup from RAT on your network oose INS system Hi The Local Co ordinates translate the curved earth into a grid that is locally flat The transformation cannot do this accurately over a large range in fact no transformation can and the Local Co ordinates should only be used over a small area up to about 10 km square You must provide the position in latitude and longitude and altitude of the origin of the grid This is the position where the X and Y values will be zero You can also specify the angle of the x axis for the grid Normally the x axis will be north and the y axis will be west However sometimes it is easier to have the x axis and therefore the y axis in a different direction The x axis Angle field can be used to specify the direction of the x axis relative to north for example a value of 90 degrees will mean that the x axis points east Note that normally the RT has the z axis pointing down For the Local Co ordinates the z axis points up This is so the position plots in the same way as a map You don t normally look at maps from below and if you did the directions would be wrong Range Latency Measurements from the target vehicles are transmitted via Wireless LAN or via radio This inevitably leads to some delay in the measurements from the target So that the RT Range can output without any delay the position and velocity of the target vehicle has to be predicted This predic
18. defined in NAVconnect The selected colour also applies to the polygon fill and line The icon shape and colour used on the Hunter and Plan views can be also be defined The Polygon section houses the controls used to define the appearance of the polygon measurements including the ability to disable the polygon point numbers and measurement markers This can help reduce clutter in each view Save Data The Save data option is used to store RT Range RT and CAN data to a file or files The data is saved to binary formats called RCOM RT Range data NCOM RT data and XCOM RT and CAN data combined from a CAN enabled RT If the device is outputting CAN data the file extension will always be XCOM rather than NCOM The Data logging module logs the data from the Hunter Targets and selected RT Range as they appear in the NAVconnect window The logged files will have their file names saved using the following format o filename 000_ Tag id Association Tag xcom E Oxford Technical Solutions RT Range User Manual JOXTS o filename 000_ Tag id Association Tag rcom There will be a file logged for each of the enabled devices in the NAVconnect connection manager window Once all the data files have been logged open the RCOM file using NAVgraph NAVeraph will load all the files and display the RCOM NCOM or XCOM data in graph form along with a table using a chosen template From here it is then possible to export all data to
19. faqs topic how can 1 check what model of processor card is fitted in my unit IP Addresses The RT Range and the RTs communicate using TCP IP If some of the RTs have the same IP address then it will be necessary to change the IP addresses so that they do not clash The RT Range will identify which RT is performing each task by the IP address of the relevant RT You must not have two or more devices on the same network with the same IP address 26 Oxford Technical Solutions RT Range User Manual XTS Inertial GPS Each RT has a static IP address This is normally in the range 195 0 0 10 to 195 0 0 99 Some early systems are not in this range The RT Range Hunter has its own IP address This is normally in the range 195 0 0 110 to 195 0 0 120 Again some really early systems are not in this range The IP configurations of the wireless LAN devices used for vehicle to vehicle communication will vary depending on whether you have an RT Range S with RT XLAN or the standard RT Range system The differences are shown in Figure 10 and Figure 11 The RT Range S system can be used with other types of wireless LAN devices if required For configuration you should follow the basic examples shown in this manual while referring to the guidelines of the relevant manual for the wireless LAN device you are using RT Range S system For the purposes of this illustration the manual will refer to the RT XLAN for configuration of t
20. in relation to the polygon point s origin and where each polygon is Figure 68 Polygon definition window G Hunter Polygon Pohrgon number Ongin polygon data for the Bird s Eye view is only available with Number of points local co ordinate settings Please make sure local co ordinates RT to polygon origin setting is enabled for the a Polygon Grid size 1m Point Forward Right Polygon number The polygon number field 1s used to identify the polygon being used on the CAN bus The RT Range passes this number to the user via the CAN bus without using it or modifying it Unfortunately the CAN bus does not easily support text fields Number of points The number of points used to create each polygon ranges from 3 to 24 In terms of range measurements the RT Range will interpolate linearly between Ee Oxford Technical Solutions RT Range User Manual XTS Inertial GPS vertices so you only need to add enough points to define the desired shape Select the number or points you wish to use using the Number of points box RT to polygon origin To define each point or vertex that will make up a polygon you need to enter a two dimensional Cartesian co ordinate The y axis of the co ordinate system is aligned to the vehicle s longitudinal axis positive forwards the x axis of co ordinate system is aligned to the vehicle s lateral axis positive right However the system needs to know where the origin of you
21. or target through to the real time display 66 Oxford Technical Solutions RT Range User Manual d IX TS Inertial GPS windows This information is extremely useful for validating the actual measurement back to its source in a very user friendly way To set the Association tag and Tag id first locate the IP address of each device vehicle in the list in the NAVconnect window then select one of either Hunter Targetl Target2 Target3 or Target4 in the Association tag drop down list as appropriate to your system then double click on the Tag id to rename it to a user friendly name such as the colour or make and model of the vehicle The information entered will pass through to the real time display window as shown in Figure 54 Figure 54 Real time display with Tag id and Association tag Taget 1 GPS position mode Red car Targeta Linknown 20 Target 1 range lateral m Red car Tanget2 U0Y 15 Target 1 range forwarg Enabled Tag id eSamatiortag Address Productname Fil e Red car Red cm 192 168 1 50 RT Range Al wl White car 192 168 1 125 RT2007 Al Mw f Redcar 192 168 1 76 RT3003 a Bird s Eye View The Bird s Eye View is part of the Display Data menu It provides an aerial view of the test area and is a good way to visualize where the hunter and targets fixed points and map are in relation to each other Figure 55 shows the Bird s Eye View window Revision 151010 or mi Fert
22. separate CSV files or directly to a single CSV file Please read the NAVeraph manual for more information about how to do this Note RT Range Post Process does not currently support the XCOM file The Data Logging dialog box is shown in Figure 57 Figure 57 RT Range Data Logger Q Data Logger General File Stat Stop Parameters Value Working directory C Users bobor Documents OXTS AT Range Data Last file s written mobile D00 Next file mobile 000 file size A Logging start condition Logging stop condition Sound Inactive Test status Running Dev ID 15 08 14 14et General tab The General tab shows a summary of the logging Descriptions of the parameters are shown in Table 15 Revision 151010 E W ertial Ges Table 15 Description of the General tab parameters Parameter Description Working directory Displays the directory where all test files will be saved Last file s written Displays the name of the last test file recorded Next file Displays the name of the next test file to be recorded File size Sum total of all the file sizes being logged combined Logging start condition Displays all options selected for starting the test Logging stop condition Displays all options selected for stopping the test Sound Displays whether any of the start or stop sounds are active File tab The File tab can be used to select the directory file name and number of the next file to be wr
23. target vehicle Acceleration ius Welocity ius Welocity u s a5 3 5 0 4 4 5 5 5 5 6 6 5 T T i Time It can be seen from the graph that the effect on the velocity measurement for this transient is large 0 1 m s is over 3 times larger than the RMS specification The error duration is short and the error is not present for the whole of the test just during the period when the acceleration changes This error can be removed by increasing the output latency or by post processing the data Lane position measurement effects The problem of surveying lane markings constructing a map and computing the outputs is not trivial when accuracies in the centimetre region are required It is very unlikely that the person who painted the road managed to paint it accurately especially on bends But small changes in curvature of the line have huge effects on the acceleration measurements 132 Oxford Technical Solutions RT Range User Manual OxTs Inertial GPS There is also the problem of constructing a smooth line for the RT Range to follow It is possible to use splines fit curves or to simply use straight segments All solutions have their associated problems Initially splines are an obvious choice but there are problems in the detail Figure 96 shows five points with three different fitting techniques Figure 96 Fitting between the points on the lines Spline fitting exactly on all the points
24. to Line 6 32 16 S m 0 001 0 Line7PosLateralA Distance from Point A to Line 7 48 16 S m 0 001 0 Line8PosLateralA Distance from Point A to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative m Oxford Technical Solutions RT Range User Manual Inertial GPS Table 25 LinesFromB line to Point B identifier 7A 5h 1957 Description 0 16 S m 0 001 0 LeftFromBPosLateral Distance from Point B to line on left of A 16 8 U LeftOfBNumber Line number on the left of B 24 8 U RightOfBNumber Line number on the right of B 32 16 S 1 m 0 0001 0 CurvatureOfB Instantaneous curvature of Point B Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative When there 1s no line number on the left or right of point B then the field will be FFh Table 26 LinesFromC line to Point C identifier 7A6h 1958 Description 0 16 S m 0 001 0 RightFromCPosLateral Distance from Point C to line on right of A 16 8 U LeftOfCNumber Line number on the left of C 24 8 U RightOfCNumber Line number on the right of C 32 16 S 1 m 0 0001 0 CurvatureOfC Instantaneous curvature of Point C Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative When there is no line number on the left or right of point C
25. to sensor position section The terms forward right and up refer to the vehicle co ordinate frame For peace of mind the relative position of the sensor is shown on the diagram note this is just a guide and not to scale or accurate It is essential to make these measurements accurate This is not easy with a tape measure Unless the measurements are made accurately the RT Range cannot be accurate To define the hunter as a polygon select the Use Polygon option The Polygon window will open automatically You can re open this window at any time using the Configure button For detailed information on defining polygons see Defining polygons on page 84 for details If any of the targets on the Hunter Target Setup page are defined as feature points the Field of view section will be visible on the Hunter tab The maximum range for the field of view is 500 m in both real time and post process Care should be taken when using a large field of view range with a high number of feature points in a small area Ey Oxford Technical Solutions RT Range User Manual d IX TS Inertial GPS This may be too much for the processor in real time and may require more CPU time for the RT Range system causing delays However there should be no adverse effects if post processing the data When feature points become active the RT Range provides its usual comprehensive list of real time information on each one This includes longitudinal lateral a
26. until it is refreshed This selects auto scale where the scales of the graph will adjust automatically to keep all the items in view This shows the configuration window for the Bird s Eye View 68 Oxford Technical Solutions RT Range User Manual XTS Inertial GPS The Bird s Eye View presents data in three different tabbed views called Hunter view Plan view and Origin view The Hunter view tab offers a plan view based on the longitudinal and lateral distance between the object the view is centred on and other objects The y axis is always aligned with the hunter vehicle s forward axis To select which vehicle the view is centred on click the Configure icon then select a vehicle from the Display Mode tab of the Map Display Mode window as shown in Figure 56 The Plan view tab is a useful view when working with feature points and fixed points The Origin view tab is especially useful view for ADAS testing as it shows the defined polygon for each vehicle in the test including the hunter as well as providing a visual indication of which points are being used for range measurements In order to use the Origin view local co ordinates must be defined see p 64 1f they are not the window will remain blank The Origin view can be centred on any vehicle in the test by clicking on the Configure icon and selecting a vehicle from the Display Mode tab of the Map Display Mode window as shown in Figure 56 The axes are a
27. window Note that if the data from the target has too many dropped packets because of the radio then the filter will automatically be reset The RT Range will fill in occasional dropped packets and try to maintain the filter Longitudinal Range Offset of Target The Longitudinal Range Offset is normally configured using the Quick Config Longitudinal Offset page It can be configured here too This value will show the value that is committed to the RT Range If the value has not been committed using the Longitudinal Offset page but is being used until the RT Range is reset then the real time value will not be read from the RT Range The Longitudinal Range Offset will be added to the longitudinal range that has been computed This allows for small adjustments to the longitudinal range that is output Lateral Range Offset of Target The Lateral Range Offset is normally configured using the Quick Config Lateral Offset page It can be configured here too This value will show the value that 1s committed to the RT Range If the value has not been committed using the Lateral Offset page but is being used until the RT Range 1s reset then the real time value will not be read from the RT Range Revision 151010 Es Mt Kertial GPS The Lateral Range Offset will be added to the lateral range that has been computed This allows for small adjustments to the lateral range that is output Advanced The advanced option box is used for sendi
28. 29 Survey Trolley installation 30 Software 34 PC configuration 35 Revision 151010 tal Ww Rertial GPS Anti virus software 36 Lane Survey Wizard 37 Overview 37 Selecting a line filename 38 Connecting to the RT 38 View options menu 40 Add point option menu 40 Finish option menu 41 Display data menu 42 Spreadsheet Viewer 46 Map Creation Wizard 47 Selecting a map filename 47 Overview 47 Add Line Options 48 Start Line Option 49 Finish Options 50 View Options 51 Clean Up Line 51 Map View 53 Spreadsheet Viewer 54 Real Time Display 55 Overview 55 Configure RT Range menu 56 RT Range Quick Config 57 File Selection menu 65 Display Data menu 65 Connection configuration using the NAVconnect window 66 Associations and tags 66 Bird s Eye View 67 Save Data 70 RT Range Configuration Wizard 75 Overview 75 Reading the Initial Configuration 76 Hunter Targets Setup 77 Lane Measurements 78 Range Measurements 80 Defining polygons 84 Options 85 Committing the configuration to the RT Range 95 Saving a copy of the RT Range configuration locally 96 RT Range Post Processing Wizard 97 Overview 97 Select Data Source 99 a Oxford Technical Solutions RT Range User Manual SMOXTS Inertial GPs Read Configuration 100 Lane Tracking Mode 101 Target Setup 102 Lane Measurements Setup 103 Range Measurements 104 Options 104 Select Fields 104 Output Config 105 Output File 107 Finish Page 107 Outputs 109 CAN bus messages 109
29. 447 51 94233144 1 24950274 133 444 51 94232372 1 24951008 133 442 51 942316 1 24951783 133 446 51 94230796 1 24952469 133 453 51 94230001 1 24953156 133 447 51 94229205 1 24953862 133 445 51 94228422 1 24954609 133 428 51 94227654 1 24955361 133 418 Map View The Map View shows all of the points in all of the lines Within each point is an arrow showing the direction to the next point Points can be selected by double clicking Points that are selected appear highlighted in the spreadsheet viewer Selected points can be moved by dragging the mouse It is not clear that this is a useful feature since the survey needs to be performed very accurately and it is not easy to adjust things accurately using the mouse The scale of the computer screen is too different to that of the road so that small motions on the mouse are large changes on the road However if we provided a greater zoom then you would not be able to see the surrounding points and the adjustment would not make sense Right clicking on a selected point shows a menu as shown in Figure 40 Figure 40 Map Point Menu the Map Creation Wizard o Insert New Point After Insert Wew Point Before Pi Delete This Point d Move F Revision 151010 EJ Mt Kertial GPS Insert New Point After The Insert New Point After function inserts a point half way between the current point and the next point i e furth
30. 47 CFR March 2014 Part 15 109 Class A limits e EN 55022 2010 e EN 55024 2010 e EN 61326 2 1 2006 using the general requirements of EN 61326 1 2006 e EN 61326 1 1 2013 using the general requirements of EN 61326 1 2013 Ey Oxford Technical Solutions RT Range User Manual y OxTS Inertial GPsS Installation The installation of the RT Range assumes that the RT systems have already been installed correctly in the vehicle It also assumes that you have an RT Range S system with an RT XLAN vehicle to vehicle communication device If you have a standard RT Range system then the wiring is similar to that shown here except that it uses a standard WLAN integrated into the RT Range case It is possible to use the RT XLAN with the standard RT Range system or directly to the RT in the target vehicle and this is described in the RT XLAN manual Please contact support oxts com if further wiring or configuration advice is required RT Range S connections The RT Range S Hunter front panel connections are shown in Figure 6 please refer to Table 10 for a description of each item Figure 6 RT Range S front panel layout O E E The RT Range S target front panel is very similar to the hunter but only has one LED for power and does not have a CAN output Revision 151010 En Ww Rertial GPS Table 10 RT Range S front panel layout descriptions Label Item Description l LEDs These have various definitions
31. Cancel The display shows the current lateral range to the selected target This is only refreshed when the Refresh button is pressed To adjust the lateral range enter the adjustment in the Adjust Lateral Range by edit box or use the lt and gt buttons to increment or decrement the value The Lateral Range after box shows lateral range after the offset has been applied To zero the lateral range press the Zero button After the adjustment has been entered press OK or Apply in order to send the new lateral offset to the RT Range The lateral offset can be saved permanently in the RT Range or just used until the RT Range is reset To save it permanently select the Commit this setting to the RT Range so it remembers it after next reset option Revision 151010 Ey W nertial GPS The lateral range is particularly susceptible to unexpected errors when using the offsets to configure the vehicle Consider the situation in Figure 46 Figure 46 Using lateral offsets causes problems on turns Relying on the offsets entirely causes problems in turns The RT Range measures the range between the sensor position on the hunter vehicle and the bulls eye position on the target vehicle This is shown using the darker red arrows Assume that the bulls eye position on the target vehicle is not entered so that the RT Range measures to the RT s position and the longitudin
32. Disable Identifier 030th 0202h 0206h Data Rate 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz 100Hz if gt Select All Save DBC File The target status messages are configured slightly differently compared to the other messages The Ethernet transmission from the RT to the RT Range does not transmit every status message every 100 Hz or 250 Hz cycle instead only one status message is transmitted each cycle The RT Range will apply the same principle Only one status message will be transmitted each cycle at the data rate that is selected If packets are dropped by the radio wireless LAN from the RT to the RT Range then these messages will not be predicted or interpolated they will not be output or an older version will be output Local Co ordinates The RT Range includes the option to output the position of the hunter and target vehicles in a local co ordinate system This is often easier than using latitude and longitude The local co ordinates of the hunter and target vehicles are output on the CAN bus Figure 75 shows the Local Co ordinates dialog box Ey Oxford Technical Solutions RT Range User Manual d MXTS Inertial GPS Figure 75 Local Co ordinate setup in the RT Range Configuration Wizard 5 Local Co Ordinate Setup Enable Local Co Ordinates Local Co ordinates Base Latitude 51 31557923 deg Base Longitude 3 19983227 deg x axis Angle You
33. G RT Range Post Processing Wizard Set Conditions Tae Ran g Choose configuration settings for output Select Data Source seconds to skip at start Read Configuration Lane Tracking Mode Target Files Setup Output data rate Lane Measurements Duration in seconds Range Measurements iio Options Speed Units Select Fields Acceleration Units Output Files H Time Reference Units Finish Page Confidenthy Accurately 151007 14bd Seconds to skip at start If a value is entered for this option then the output CSV file will have the first part of the data truncated from the file This option helps split long CSV files in to smaller sections Duration in seconds If a value is entered for this option then the CSV file will only include a short duration of data rather than all the data until the end of the file Output data rate This option can be used to decimate the output data to a lower data rate e g 25 Hz Distance Units The units metres feet and yards can be selected for the distance based measurements e g longitudinal range Speed Units The units m s km h mph and knots can be selected for the velocity based measurements Acceleration Units The acceleration can be measured in m s or in G Note that G is an approximation since gravity is not constant across the earth Time Reference Units The time field of the CSV file can be changed so that it relates to different clock standards The reference cl
34. Heartbeat messages 111 Table heading definitions 112 Signals 112 Calculation details 127 Range measurement effects 127 2D and 3D measurement planes 127 Polygons 128 Range velocity with polygons 129 Errors in heading 130 Lateral velocity effects 130 Transient errors due to communication link delay 131 Lane position measurement effects 132 Discontinuous distance 134 Co ordinates for measurements with respect to the Lines 134 Acceleration on curves 135 Effect of the line survey on the accuracy 136 Rules for the Clean Up Line tool in the Map Creation Wizard 137 Line map and feature point file format descriptions 138 Line file format 138 Map file format 138 Header fields 139 Line fields 140 Feature point file format 140 RT Range and the Ibeo feature fusion ADAS reference system 143 Introduction to the Ibeo Feature Fusion System 143 Benefits of adding the Ibeo Feature Fusion System to the RT Range system 143 Revision 151010 5 W Fertial GPS Ibeo Laser View ILV visualization 144 Revision history 147 e Oxford Technical Solutions RT Range User Manual XTS Inertial GPS Introduction The RT Range is a bolt on system to the RT inertial and GNSS navigation system that performs two tasks 1 It measures the position of a vehicle relative to lane markings 2 It measures the relative position i e range between multiple vehicles The lane position feature of the RT Range is useful for testing and validating ot
35. I m 0 001 0 LanePointCLeverArmY Lever arm from the RT to lane measurement point C in the y direction 32 16 I m 0 001 0 LanePointCLeverArmZ Lever arm from the RT to lane measurement point C in the z direction Table 39 RangeForward Longitudinal measurements identifiers 7B0h 1968 7COh 1984 7D0h 2000 7E0h 2016 Description 0 32 S m 0 001 0 RangePosForward Longitudinal range 32 16 S m s 0 01 0 RangeVelForward Longitudinal velocity 48 16 S S 0 001 0 RangeTimeToCollisionForward Longitudinal time to collision computed using range and velocity but not acceleration Revision 151010 119 Ww Rertial GPS Table 40 RangeLateral Lateral measurements identifiers 7B1h 1969 7Cih 1985 7D1h 2001 7E1h 2017 Description 0 32 S m 0 001 0 RangePosLateral Lateral range 32 16 S m s 0 01 0 RangeVelLateral Lateral velocity 48 16 S S 0 001 0 RangeTimeToCollisionLateral Lateral time to collision computed using range and velocity but not acceleration Table 41 RangeResultant Resultant measurements identifiers 7B2h 1970 7C2h 1986 7D2h 2002 7E2h 2018 Description 0 32 S m 0 001 0 RangePosRes Resultant range 32 16 S m s 0 01 48 16 RangeVelRes Resultant velocity N RangeAngleHeading Angle to target in view of the hunter degrees 0 01 The resultant velocity is the rate of change of the resultant range and not the modulus of the longitudinal lateral ve
36. IP Address added 080613 Added multiple Targets 081212 Added Fixed Point from RT Post processing measurements from Targets Changed packing lists for new Wireless LAN antenna 090619 Removed optional SATEL radio Added ABD robot connection Survey Trolley Installation moved and improved Clarified workflow for post processing Added Line File and Map File formats Changes for the latest software 090917 Added Survey Trolley Assembly section 100426 Added velocity compared to lines time gap Added lateral offsets Added maps in Bird s Eye View Changed RCOM logging Added RT2000 product references 110228 Added polygons hidden targets hunter measurement plane target status on CAN bus range accuracy outputs lane heading and curvature additional lane measurements from points B C lane heartbeat message start line in logging window 1 Corrections to CAN messages default identifiers offsets and description Added fixed point heading and feature point ID type position and heading to CAN outputs Updated software screenshots and description to include feature points fixed point polygons Added description about adding multiple line files Changes to Configure Display 131210 Increased polygon points to 24 Updated ABD robot interface Increased field of view range to 500 m Added CAN pin assignments Other minor updates 140611 Modified to incorporate RT Range S system Wiring configuration drawings specification changes and conformanc
37. Manual d MOXTS Inertial GPS Abort Lane Tracking The RT Range will continue tracking the lane position until the car drives past the final point on Line 1 The lane position measurement can be aborted early by clicking on this button It is not normally necessary to abort the lane tracking since the lane tracking will start from the beginning as soon as the start line is crossed However if you need to have negative Distance along Lanel before your test then you may need to use this feature to cancel the current lane tracking before starting a new test RT Range Quick Config The RT Range Quick Config window can be used to modify some of the behaviour of the RT Range without needing to reboot Figure 43 shows the introduction window of the RT Range Quick Config window From the Quick Config window one of the options on the left hand side needs to be selected Each of these options is described below Figure 43 RT Range Quick Config introduction window 5 RT Range Quick Config Introduction RT Range Select the configuration to be changed These options are used to change the configuration RI Range without resetting You cannot change all the parameters here you must use the RT Range Configuration software to change Longitudinal Offset all the parameters Lateral Offset Range Mode Select the parameter on the left that you wish to change Local Co ordinates Advanced Confidernthy Accurately Longitudinal
38. Offset The longitudinal range of the RT Range can be adjusted or offset to account for small errors in the configuration This is not a substitute for measuring as Revision 151010 E W ertial Ges accurately as possible it 1s a quick technique for making small changes to the longitudinal range Clicking on Longitudinal Offset brings up the Quick Config window on the Longitudinal Offset page as shown in Figure 44 There may be a short delay while the software reads the current settings from the RT Range Figure 44 Longitudinal Offset in the Real Time Display a RT Range Quick Config Longitudinal Offset RT Range Adjust the Longitudinal Range to remove offsets Adjust Longitudinal Range ot Target 1 Longitudinal Range of Target m Lateral Offset Adjust Longitudinal Range by m Range Mode Longitudinal Range after m Local Co ordinates Advanced Just use this setting until the RT Range is reset Confidently C Commit this setting to the RT Range so it remembers after next reset Accurately Cancel The display shows the current longitudinal range to the selected target This is only refreshed when the Refresh button is pressed To adjust the longitudinal range enter the adjustment in the Adjust Longitudinal Range by edit box or use the lt and gt buttons to increment or decrement the value The Longitudinal Range after box shows longitudinal range after the offset has been ap
39. RT Range Lane position and vehicle to vehicle measurement User Manual Covers all RT Range models Confidently Accurately w Rertial GPS Legal Notice Information furnished is believed to be accurate and reliable However Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of Oxford Technical Solutions Limited Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of Oxford Technical Solutions Limited This publication supersedes and replaces all information previously supplied Oxford Technical Solutions Limited products are not authorised for use as critical components in life support devices or systems without express written approval of Oxford Technical Solutions Limited All brand names are trademarks of their respective holders The software is provided by the contributors as is and any express or implied watranties including but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed In no event shall the contributors be liable for any direct indirect incidental special exemplary or consequential damages including but not limited to
40. RT Range system 4 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 3 RT Range Survey Trolley components Item Qty Description Base plate with wheels attached l 2 Lower frame assembly with radio antenna plate attached 1 3 Upper frame assembly l 4 Fixed PC shelf 3 5 Antenna pole sections l 11 GPS 702 GG antenna 2 6 Joint alugs 12 ji M6 x 12 mm hex socket screws 12 8 M6 washers 4 13 M4 x 40 mm countersunk bolt with locking nuts 4 12 M4 nuts 4 14 M4 washers 1 9 UNC bolt 2 10 1 U Bolt with plate and nuts 2 15 Bungee straps 1 16 Battery connection cable l Battery charger l Mains cable l Trigger switch Note Some of these components might already be pre assembled on delivery Item numbers refer to the assembly drawing in Figure 12 Battery The Survey Trolley will require a battery Please note that this is not supplied by OxTS and must be purchased by the customer The ideal battery is a Yuasa NP24 12 a 12 V 24 Ah lead acid battery measuring 166 x 175 x 125 mm Revision 151010 a5 Inertial GPS Figure 5 Survey Trolley 16 Oxford Technical Solutions RT Range User Manual w nertial GPS Specification The technical specification of the RT Range depends on both the type of wireless LAN communication link and RT systems being used We recommend the use of the RT XLAN on the RT Range Using the RT XLAN will make it possible to achieve longitudinal ranges in of
41. ad a page that has been previously saved using the Save Display Page or Save Display Page As options The files extension for the Display Page files is RTGL New Display Page This option clears the screen of all the display items Configure Display This option is used to add Display Items to the RT measurement viewer The user can also choose to have multiple windows each showing different measurements After clicking on Configure Display the user can select the required measurements and the amount of windows By clicking Add window the user can add more windows and name them appropriately as shown in Figure 27 Figure 27 Add Windows in the Configure Display window D Configure Display RT LineSurvey rtgl Windows Hunter Target 1 Target 2 Enabled Name Fos X Fos Y Height Size Window Normal Window Normal 73 now a Add window The user can specify the measurements displayed in each window as shown in Figure 28 and described in Table 12 Revision 151010 EJ W nertial GPS Figure 28 Add Measurements in the Configure Display window Configure Display RT LineSurvey rtgl Windows Hunter Target 1 Target 2 Configure Hunter1 192 168 1 50 Speed T arge HAH HH Hunter1 192 168 1 50 Number of GPS Satellites am HAHAH Hunter1 192 168 1 50 GPS Position Mode s E T Small s HHH HR Add Measurements Table 12 Configure Display window descriptions Column Description E
42. al offset is used to correct this If the vehicle now turns then the lateral range will track the pink arrow which is clearly different to the result expected It is best to measure the sensor and bulls eye position as accurately as possible and only rely on the longitudinal and lateral offsets for small adjustments Range Mode There are three ranging modes in the RT Range car to car fixed point and feature point In fixed point mode the RT Range measures the distance from the hunter vehicle to a fixed point rather than the distance to the target vehicle A fixed point might be the corner of a parked car or a stationary target In feature point mode a file containing thousands of feature points can be loaded into the RT Range These can represent objects such as road signs or traffic lights and the RT Range can measure the distance from the hunter vehicle to these feature points The range mode of the RT Range is shown in Figure 47 60 Oxford Technical Solutions RT Range User Manual d IX TS Inertial GPS Figure 47 Target Configuration in the Real Time Display 5 RT Range Quick Config Range Mode Select the Target mode to fixed point or car RT Range Number of Target 1 Longitudinal Offset Target Type IP AddressLocation Lateral Offset Target 1 Local Co ordinates Advanced Just use this setting until the RT Range is reset Confidernthy Accurately Targets 1 to 4 can be configured either to track tar
43. alB Distance from Point B to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 33 LinesSTo8PosLateralB lines 5 to 8 to Point B identifier 7A Dh 1965 Description 0 16 S m 0 001 0 Line5PosLateralB Distance from Point B to Line 5 16 16 S m 0 001 0 Line6PosLateralB Distance from Point B to Line 6 32 16 S m 0 001 0 Line7PosLateralB Distance from Point B to Line 7 48 16 S m 0 001 0 Line8PosLateralB Distance from Point B to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Revision 151010 nr W nertial GPS Table 34 Lines1To04PosLateralC lines 1 to 4 to Point C identifier 7A Eh 1966 Description 0 16 S m 0 001 0 LinelPosLateralC Distance from Point C to Line 1 16 16 S m 0 001 0 Line2 PosLateralC Distance from Point C to Line 2 32 16 S m 0 001 0 Line3PosLateralC Distance from Point C to Line 3 48 16 S m 0 001 0 Line4PosLateralC Distance from Point C to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 35 LinesSTo8PosLateralC lines 5 to 8 to Point C identifier 7AFh 1967 Description 0 16 S m 0 001 0 Line5PosLateralC Distance from Point C to Line 5 16 16 S m 0 001 0 Line6PosLateralC Distance from Point C to Line 6 32 16 S m 0 001 0 Line7PosLateralC Dista
44. ance between multiple vehicles methodology Calculating the distance between multiple vehicles requires an RT system to be installed in each vehicle Distance measurements are made from the hunter vehicle to each target The measurements are in the reference frame of the hunter vehicle so a longitudinal lateral and resultant range can be measured The RT Range supports up to four mobile targets The measurements made by the RT fitted in each target vehicle are transmitted wirelessly back to the hunter vehicle by high speed Wireless LAN The RT Range receives those measurements and computes the distances velocities accelerations and other parameters about the vehicles To allow for radio delays the RT Range predicts the position of each target vehicle so the measurements can be output in real time with a low latency The RT Range can also operate with a fixed delay so as to give the radio time to transmit the data and reduce the error in the prediction The effect of prediction is discussed later Typically the radio delay is 10 ms and there is no degradation in performance with this delay Even when the radio delay is up to 50 ms the error in range is very small less than one centimetre Figure 2 Range measurements between two vehicles Hunter vehicle Longitudinal range Target vehicle Revision 151010 o The measurement points on the hunter vehicle and on the target vehicles can be different to the position of the RTs and di
45. and are described in the LED definitions section of this manual 2 CAN out Hunter only Requires 120 Q resistor between CAN High and CAN Low and is described in the CAN Bus section of this manual 3 Fuse Fitted with a 4 A quick blow fuse 4 12 V Power in 10 25 V dc power input 5 RT XLAN PoE Dedicated PoE port Provides Ethernet and power to the RT XLAN 6 Ethernet ports Built in 3 port Ethernet switch 7 12 V Power out 2 x 12 volt power output sockets for an RT and a spare LED definitions It is best to use the RT Range software for detailed information about the status of RT Range S system but the LEDs on the front panel are capable of giving a quick indication of the status of the system Mode Hunter only Indicates how the RT Range is configured When it is configured to make vehicle to lane and vehicle to target measurements the LED will be orange When configured to make just vehicle to target measurements the LED will be red For lane only measurements the LED will be green A solid LED indicates no data is coming from the hunter A flashing LED indicates the hunter is outputting data Target Hunter only Indicates data is being received over Ethernet from target 1 This LED should always be flashing red A solid LED Orange or Green colour indicates a fault Power Hunter and Target Unit is powered up when lit Hunter vehicle wiring The wiring diagram for the hunter vehicle is shown in Figure 7 a Oxford Technical Solu
46. ange system The RT Range Hunter wireless LAN is normally configured as 195 0 0 210 The RT Range Target wireless LAN is normally configured in the range 195 0 0 211 to 195 0 0 219 With multiple targets it is likely that you will need to change the IP address of the wireless LANs A typical IP configuration of a standard RT Range system is shown in Figure 11 Ey Oxford Technical Solutions RT Range User Manual wW Inertial GPS Figure 11 IP address ranges standard RT Range system HUNTER VEHICLE RT Range Hunter 195 0 0 110 to 195 0 0 119 RT3000 WLAN Usually 195 0 0 210 195 0 0 10 to 195 0 0 99 Suggested IP range 195 0 0 02 to 195 0 0 09 fr fit 3 TARGET VEHICLE RT Range Target WLAN 195 0 0 211 to 195 0 0 219 RT3000 195 0 0 10 to 195 0 0 99 Suggested IP range 195 0 0 02 to 195 0 0 09 If the wireless LANs are configured in Ad Hoc mode and more than one RT Range Hunter is being used in the same area then the RT Range Hunters will be required to have different IP addresses In Access Point Client mode the SSID of one of the groups will need to be changed or the Wireless LAN Access Points will clash It is possible to use alternative wireless LANs like the RT XLAN on the standard RT Range systems provided they are configured correctly The configuration is similar to the RT Range S and this is shown in Figure 10 Please contact support oxts com 1f you require further advice on how to do thi
47. be disabled so that no range measurements are output Figure 85 shows the Target Files Setup page of the RT Range Post Processing wizard 102 Oxford Technical Solutions RT Range User Manual Inertial GPs Figure 85 Target Files Setup page in the RT Range Post Processing Wizard RI Range Post Processing Wizard q q Target Files Setup RT Range Select Target vehicle or Fixed points files Select Data Source RT target setup Read Configuration Number of targets Lane Tracking Mode Target J Files Target 1 Mobile Target Lane Measurements arg rg ia Range Measurements Target2 Mobile Target w Options Target 3 Fixed Point s SEEEI CEILS Tage 4 E 3 Output Config Output Files Feature point file Finish Page Confidenthy Accurately 151007 14bd Select the number of targets using the Number of targets dropdown list Mobile Target To compute the range from the hunter vehicle to a mobile target select Mobile Target from the dropdown list and select the associated target NCOM file Fixed Point To compute the range from the hunter vehicle to a fixed point select Fixed Point from the dropdown list and select a fixed point file The fixed point file has to be saved using the Real Time Display software Feature Point To compute the range from the hunter vehicle to a feature point select Feature Point from the dropdown list and select a feature point file FTL Lane Measurements Setup T
48. ch vehicle alongside RT Range data This feature can significantly reduce the complexity of the data collection process Its use for CAN data is dependent on the RT in the relevant vehicles having the CAN acquisition feature enabled Please contact OxTS or your local representative for more information Lane position methodology Lane position is measured by surveying the road markings using an RT system and generating a map from the data The RT system is then fitted to the car and the map is downloaded to the RT Range The RT Range compares the current position reported Revision 151010 Ral Oaxrs by the RT to the map The lane position measurements are output over Ethernet and CAN bus See Figure 1 for details of these steps Figure 1 Steps taken for Lane Position Measurement in RT Range Generate a map that can be used by the RT Range Drive using measurements wa from the map file V a f d a Fj i AA j A ef sa aaa 8 Oxford Technical Solutions RT Range User Manual Qopxrs The RT Range allows up to eight lane markings to be measured In addition the RT Range provides three separate measurement points on the vehicle and gives the distances from these three points to the lane markings As well as distance the RT Range measures velocity and acceleration relative to the lane markings To help plot the data the RT Range also gives the distance travelled along the reference line Line 1 Dist
49. chical tree structure The individual measurements available to pick by those categories are a Oxford Technical Solutions RT Range User Manual SMOX TS Inertial GPS displayed on the right When a category is selected using the mouse or arrow key all the measurements in the tree structure under that category are displayed Figure 29 Add Measurements Window Add measurements E All discovered devices Time Position Velocity Acceleration Orientation Angular rate GPS Status Configuration Find Oo All discovered devices Measurement LI LJ L E E L E L L E L E L E E L E L E m L m L LI E L E L L lt Time from start of file Time from start of region Time from initialisation Trigger 1 time of falling edge Trigger 1 time of ising edge Camera 1 output time Trigger 2 time of falling edge Trigger 2 time of rising edge Camera 2 output time Update count of trigger 1 falling edge Update count of tigger 1 rising edge Update count of trigger 1 transition Camera 1 output update count Update count of tigger 2 falling edge Update count of trigger 2 ising edge Update count of tigger 2 transition Camera output update count UTC offset Level after tigger 1 transition Level after trigger 2 transition Time Trigger 1 nano time of falling edge Trigger 1 nano time of nising edge Camera 1 output nano time Trigger 2 nano time of falling edge Trigger 2 nano
50. dd Line Options of the Map Creation Wizard Figure 32 Add Line Options of the Map Creation Wizard 4a Add New Line 4a Add To Existing Line Add New Line This option is used to add a new line to the map From the Open File dialog box select a new line file with an RTRL extension After the line is selected the Add Line Options dialog box will appear The line can be added in the forward or normal direction or in the reverse direction i e the line was surveyed starting at the end and finishing at the start Figure 33 shows the Add Line Option dialog box Figure 33 Add Line Options of the Map Creation Wizard 3 Add Line options File name Direction Dc My Data Forward Users can also select multiple line files and add them to the map by selecting the line files from Windows Explorer and drag and drop them onto the map as shown in Figure 34 ry Oxford Technical Solutions RT Range User Manual JOXxTs Inertial GPs Figure 34 Add Multiple Line Files to the Map Creation Wizard Add to Existing Line This option is used to add one line to another line on the map The new line will be added to the end of the existing line there is no way to add the new line to the start of the existing line so the lines must be added in the correct order New lines can be added in forward or reverse directions Start Line Option The RT Range lane position measurements start when the vehicle crosses the start
51. e Point Revision 151010 7 After selecting the IP address of the RT in the hunter vehicle select the data rate of that RT For an RT3000 select 100 Hz for an RT4000 select 250 Hz For RT2000 products select the output rate of the product being used Up to four targets can be defined in the RT target setup area First choose the number of targets you wish to define These will then appear in the lower window ready for further configuration For each target the system needs to know its type Mobile Target Fixed Point or Feature Point Mobile Targets are attached to a specified IP address Fixed Point targets are defined by position either by entering the lat lon heading and altitude directly or by reading an offset position from an RT that is available on the network When one of the targets is defined as a feature point a Feature Point File can be defined at the bottom of the window Click the button to choose its location For more information on using fixed points or feature points see the Quick Configuration page for fixed points or feature points It is not possible to change the number of targets without resetting the RT Range If you intend to use one target at the start of the test then have more targets later on it 1s best to define all the targets at the start and ignore the extra outputs until you need them It is possible to have more than one target with the
52. e by 8 Type This specifies either an unsigned value U or a signed value S Units This is the units for the signal Factor This is the factor that the integer unit should be multiplied by to get the signal into the units given in the table Offset This is the value of the signal when the integer value in the CAN message is zero It is zero for all the RT signals and can usually be discarded Signals The following tables describe the signals in each of the messages 12 Oxford Technical Solutions Description 0 32 32 8 40 8 48 8 56 8 U U U 0 001 RefLineDistAlong Distance travelled along Line l MapNumber Map number FFh means invalid or no map Reserved Reserved Reserved C a a a E Note If the distance is negative then the RT Range is not computing the lane position Lane position measurements will resume when the hunter vehicle drives through the start line The negative values represent the distance to the start line Table 21 LeftLineLateral line on left of Point A identifier 7A1h 1953 Description 0 16 16 16 32 16 48 8 56 8 U U 0 001 0 01 0 01 LeftLinePosLateral Lateral distance from Point A to Line LeftLineVelLateral Lateral velocity from Point A to Line LeftLineAccelLateral Lateral acceleration from Point A to line LeftLineNumber Line number on left of Point A Reserved Note When the RT Range is not computing the lane position the line
53. e displaced output position of the RT to Point A B or C For best results you should not use the Displace Output option of the RT as this can be confusing The measurements are in the vehicle co ordinate frame These are the co ordinates that you have configured the RT to use in the Orientation page of the RT configuration software It 1s essential to make these measurements accurate This is not easy with a tape measure Unless the measurements are made accurately the RT Range cannot be accurate Measurements are always displayed in metres but can be entered in inches or feet as well For inches add in to the end of the number and for feet add ft to the end of the number For example 11 3 in would be interpreted as 11 3 inches or 0 287 m Range Measurements Range measurements between a hunter and target can be made using polygons or a single point depending on how they have been configured We call the single point on the hunter a sensor and a single point on a target is called a bulls eye Ey Oxford Technical Solutions RT Range User Manual IX TS Inertial GPS Figure 65 Typical Positions for Sensor and Bulls eye Points on the Vehicles RT to sensor position offset measurements 5 4 Target vehicle p s If the hunter and target are configured as a sensor and bulls eye then range measurements are calculated between those two points If a hunter is configured as a polygon but
54. e hunter vehicle with respect to the line There is the acceleration of the hunter vehicle plus the curvature of the line The curvature of the line accounts for the circumstance where the hunter vehicle travels straight with no acceleration and the line curves towards or away from the hunter vehicle In Figure 98 the hunter vehicle could be travelling in a straight line however the line is curved and so there is some acceleration of the hunter vehicle away from the line The RT Range computes the acceleration relative to the line as 2 aj t Vf where ay is the acceleration of the vehicle in the co ordinate frame of the line is the instantaneous curvature of the line dy 1s the distance to the line and V is the velocity of the hunter vehicle along the line Using the formula above makes sure that if the hunter vehicle is travelling on a circle that has the same centre as the line then there will be no acceleration relative to the line Revision 151010 195 W nertial GPS Effect of the line survey on the accuracy There are several conflicting problems facing the line survey process For accurate tracking of the lane markings the points should be as close together as possible but making the points closer makes the curvature noisier Figure 99 Error using straight lines to approximate curves Error grows as Points get further apart Figure 99 shows the effect of having the points too far apart on a cur
55. e notices 140802 Updated with information about the Ibeo fusion system Added move table scaling 141202 Updated for real time CAN acquisition RT Range front panel connections new images and other minor revisions 151010 Added Hunter polygon added new acceleration filters updated styles GUI updates Revision 151010 ar
56. e sent to the robot Targets can be either mobile targets or fixed points Note that the RT Range connects the Ethernet in one vehicle to the Ethernet in the other vehicle When there are two robots one in each vehicle then the RT Range cannot be connected to both robots unless the IP address of the robot is changed There is a Safety risk if care is not taken when using two robots Make sure you understand Ey Oxford Technical Solutions RT Range User Manual Inertial GPS which RT Range and which RT is sending data to which robot and how it is getting there Later versions of the RT Range and robot software are able to identify problems by identifying the serial number of the RT in the robot software Older versions cannot do this and it is essential to get the configuration right Range acceleration filter The Range acceleration filter window allows the relative acceleration between hunter and individual targets to be filtered The accelerations are filtered before they are used in any calculations One tab is shown for each defined target Once Enable Range acceleration filter has been selected it is possible to choose from one of five different filters e General e Butterworth e Bessel e Chebyshev 0 5 dB e Chebyshev 2 0 dB The Cut off frequency of each filter can be defined as well as the Damping ratio of the General filter The effects of the filter are summarised in the lower half of the Acceleration filter
57. e target status messages Figure 73 Configurable CAN messages for target navigation messages CAN Message Configuration o od Ranged Ranged Status Lane Lane Status Target Target Status Target Target Stat 4 Navigation Measurements Check Identifier Data Rate Target Latitude Longitude Disable 0701h 100Hz Target Altitude Disable 0702h 100Hz Target Velocity Disable 0703h 100Hz Target VelocityLevel Disable 0704h 100Hz Target ccelVehicle Disable 0705h 100Hz Target ccelLevel Disable 0706h 100Hz Ch7 TarngetHeadingPitchRoll Disable LiF 100Hz Cha TargetRate Vehicle Disable 0708h 100Hz Cho TargetRate Level Disable 0709h 100Hz Chig Target Track SlipCurvature Disable 100Hz Ch111 TargetPosLocal Disable 100Hz Chi2 TargetVelrawLocal Disable 100Hz Select All Clear All Save DBC File Revision 151010 EJ W Fertial GPS Figure 74 Configurable CAN messages for target status messages G CAN Message Configuration Range4 Ranged Status Lane Range Messages Target Reserved TargetReserved TargetPosNEDStdey Target VelNEDStdey TargetAngleStdev Target yro Bias Target Accel Bias TargetGyro Sf TargetGyro Bias Stdev TarngetAccel Bias Stdey Target ayro St Stdev TaroetGosAntOttset Lane Status Target O x Target Status Target Target Stat Check Disable Disable Disable Disable Disable Disable Disable Disable Disable Disable Disable
58. earch can be restricted to a smaller subset by selecting a category of measurements rather than all the measurements in the file or files Click Add to complete and add your selections You can add further measurements at any time by repeating this process The first group of categories in the top left hand side window is called All discovered devices All available measurements are here and it is possible by selecting just one measurement to add that measurement to the Configure Display window for each of Revision 151010 5 the devices For example if the measurement Time is picked from the All discovered devices group one instance of the Time measurement will where time is a valid measurement for that device be added to the Configure Display window for each device found Once a Display Item has been added to the Real time Display window the user can change its properties by right clicking on the item This opens the Text Properties window shown in Figure 30 Please note that the background colour cannot be changed from within the Display item properties box Figure 30 Display Item properties Q Text Properties Speed mph Hunteri Range Display Items can be moved up and down by dragging and dropping them into the required position Display Items can also be moved between different windows in the same way Save Display Page This option saves the Display Page to the current file Save Display Pa
59. easurements Table 39 7B1h 7C1h 7D1h 7Elh Lateral measurements Table 40 7B2h 7C2h 7D2h 7E2h Resultant measurements Table 41 7B3h 7C3h 7D3h 7E3h Position of hunter in local co ordinates Table 42 7B4h 7C4h 7D4h 7E4h Position of target in local co ordinates Table 43 7B5h 7CSh 7D5h 7E5h Status information Table 44 7B6h 7C6h 7D6h 7E6h Time gap Table 45 7B7h 7C7h 7D7h 7E7h Range in local co ordinates Table 46 7B8h 7C8h 7D8h 7E8h Polygon measurements Table 47 7B9h 7C9h 7D9h 7E9h Feature point information Table 48 S5BOh 5COh 5D0h SEOh Range offset Table 49 SBlh S5Clh 5D1h SElh Range fixed point latitude longitude Table 50 5B2h 5C2h 5D2h SE2h Range fixed point altitude heading Table 51 5B3h 5C3h 5D3h SE3h Range sensor lever arm Table 52 5B4h 5C4h 5D4h 5E4h Range bulls eye lever arm Table 53 5B5h 5C5h 5D5h SE5h Range target vehicle parameters Table 54 5B6h 5C6h 5D6h SE6h Range accuracy Table 55 5B7h 5C7h 5D7h 5E7h Range feature point latitude longitude Table 56 5B8h 5C8h 5D8h SE8h Range feature point altitude heading Table 57 T1 T2 T3 and T4 are abbreviated from Target1 Target2 Target3 and Target4 In addition to these messages the RT Range can output the navigation CAN messages from the target RTs This allows all the RT measurements and the RT Range measurements to be collected in one vehicle See the RT manual for details of the target navigation CAN messages Heartbeat messages Without a heartbeat message the RT Range s CAN bus may not out
60. ecification for RT Range with RT XLAN Parameter Specification RT XLAN radio range Approx 1 km line of sight RT XLAN Delay lt 50 ms RMS Note These figures are based on a correctly configured RT XLAN system Table 7 Technical specification for RT Range with standard wireless LAN Parameter Specification Wireless LAN radio range Approx 200 m line of sight Wireless LAN Delay lt 70 ms RMS Note These figures are based on a typical wireless LAN device such as those used in the original RT Range system Table 8 Technical specification for range measurements RT XLAN Parameter Range 2 x RT3002 Longitudinal Range 1 km 0 03 m RMS Lateral Range 1 km 0 03 m RMS Resulting Range 1 km 0 03 m RMS Note There is an additional component the heading accuracy which changes the accuracy of the measurements in the hunter vehicle s co ordinate frame In a scenario where the target is ahead or behind the hunter i e approximately 0 or 180 relative heading then the Lateral Range has an additional error of Range x 0 00175 as a result of the 0 1 deg heading accuracy So for example at a range of 100 m then the lateral accuracy is 0 175 m and for 1000 m the lateral accuracy is 1 75 m However for a scenario where the vehicles are adjacent the situation is reversed so the Lateral Range accuracy is 0 03 m RMS and the Longitudinal Range accuracy is 0 00175 x Range RMS Table 9 Technical specification for range measurements
61. er RT Hunter NCOM file Read Configuration O RCOM file Lane Tracking Mode Target Files Setup Lane Measurements Range Measurements Options Select Fields Output Config Output Files NCOM File of Hunter Finish Page C Users bobor Documents OXTS RT Data Hunter ncom Confidenthy Accurately 151007 14bd Read Configuration If you have saved a configuration in a file or if you want to use the configuration that is stored in your RT Range then you can load these in to the RT Range Post Processing wizard Figure 83 shows the read configuration options in the RT Range Post Processing wizard 100 Oxford Technical Solutions RT Range User Manual MIXTS Inertial GPs Figure 83 Read Configuration in RT Range Post Processing Wizard RT Range Post Processing Wizard Read Configuration Tae Ran q a Choose where the initial settings should be read from Select Data Source Use default settings O Read from a file Lane Tracking Mode Start with the default Load initial settings from RT Range values or load a Target Files Setup configuration from a Lane Measurements ete ee Range Measurements Options Select Fields Output Config Output Files Finish Page Confidenthy Accurately 151007 14bd Default Settings To use the default settings select the radio button The lane and range settings will contain the default settings that the RT Range system was delivered with Read from file The
62. er along the line Insert New Point Before The nsert New Point Before function inserts a point half way between the current point and the previous point 1 e not as far along the line Delete This Point The Delete This Point function deletes the selected point Move The Move function allows the user to move the selected point It will move the selected point by 1 pixel on the grid The value of 1 pixel changes depending on the grid size The scale factors are shown in Table 13 Table 13 Scale factors for the move function Grid size Move option shifts point by 1 0m 0 02 m 2 5m 0 05 m 5 0 m 0 10 m 10 0 m 0 20 m 25 0 m 0 50 m 50 0 m 1 00 m 100 0 m 2 00 m 250 0 m 5 00 m 500 0 m 10 00 m 1000 0 m 20 00 m Spreadsheet Viewer The spreadsheet viewer shows numerical values for all of the points in the correct order Lines that are loaded in reverse will be shown with the last point of the line in the first row of the spreadsheet viewer Points that are highlighted on the Map View will be highlighted in the spreadsheet viewer By right clicking on a row of the spreadsheet viewer the spreadsheet pop up menu will appear This is shown in Figure 41 Ey Oxford Technical Solutions RT Range User Manual Inertial GPs Figure 41 Map Point Menu the Map Creation Wizard 9 91 9429739 1 248760979 132 346 51 94290075 1 24575403 132 325 72712 132 267 571294 132 229 s70769 132 218 565947 132 126
63. erences in the calculations Some of the differences that may be experienced are explained in this section Range measurement effects There are two main effects on the data in the range measurements These are due to errors in heading and due to viewing the target vehicle from the co ordinate frame of the hunter vehicle There is also the effect of the communication link delay and the transient effect this has on the measurements 2D and 3D measurement planes By default the RT Range computes the range in the horizontal plane This is the distance between the vehicles viewed from above with no altitude or orientation effects It is also possible to configure the RT Range to output the distance projected into a measurement plane that is attached to the hunter s orientation Figure 91 shows the horizontal measurement plane solution The range between either of the hunter vehicles white to either target vehicle red will be the same regardless of orientation of either vehicle or their difference in altitude Figure 91 Horizontal 2D measurement plane calculation 2D horizontal plane Revision 151010 127 W nertial GPS In the 2D horizontal plane mode a full 3D calculation is still used to compute the sensor point and the bulls eye point from the position of the RT the orientation of the vehicle does affect the position of the sensor and bulls eye points When the measurement plane is attached to the hunter vehic
64. evice under Test DuT 4 Blending of data from both RT Range and Ibeo laser scanners to achieve better accuracy than is possible with either system and to provide measurements even when the target s are not visible to lasers 5 Rapid set up of RT Range Target systems in target vehicles utilising automatic parameter calibration and shape recognition lbeo Laser View ILV visualization The Ibeo visualization of a Feature Fusion System fused with an RT Range system is shown in Figure 102 It shows the scenario from above bird view Em Oxford Technical Solutions RT Range User Manual OxTs Inertial GPS Figure 102 Ibeo Laser View ILV data visualization File Edit View Tools Help 8 tH WV F D om o Sna A he gt Q Agu Scanner IP 192 168 0 55 t gt f video camera objects ef Vehicle Status i 75 4km h speed amp yaw rate j 1 05 s amp n a ox n a Ax 0 8375 m Ay 0 0004m Ay 0 0 At 40 0 ms a n a ye ay n a Mg ego vehicle scan points a ego vehicle lt Playback controls QQ QO a O ra B 2014 05 20715 35 50 546635 A B E i a a al Hunter ego vehicle This box shows the hunter vehicle in correct sizing and driving direction Scan points Fach coloured scan point represents the distance and echo pulse width reflectivity Objects The green rectangles represent all objects within the field of view of the Ibeo laser scan
65. evision 151010 1 W nertial GPS Scope of Delivery The RT Range consists of several different sections these are broken down into 1 Hunter vehicle components 2 Target vehicle components 3 Survey Trolley and accessories optional A separate table has been made for each section In addition to these components an RT RT2000 RT3000 or RT4000 system is required Please see the RT manual for the components in an RT system 2 Oxford Technical Solutions RT Range User Manual d IX TS Inertial GPS Table 1 RT Range S Hunter vehicle components Qty Description 1 1 RT Range S Hunter system unit 2 l Power cable M12 M to M12 F 14C140A 3 1 Power cable M12 F to cigarette lighter plug 77CO002B 4 l RJ45 RJ45 2 m Ethernet cable UDP straight l RT Range Manual l RT Range Software CD Figure 3 Image of RT Range S Hunter with components Note The RT Range S components differ slightly from the standard RT Range system Revision 151010 E Inertial GPS Table 2 RT Range S Target vehicle components Qty Description 1 l RT Range S target system unit 2 l Power cable M12 M to M12 F 14C140A 3 l Power cable M12 F to cigarette lighter plug 77C0002B 4 l RJ45 RJ45 2 m Ethernet cable UDP straight l RT Range Manual l RT Range Software CD Figure 4 Image of RT Range S target with components Note The RT Range S components differ slightly from the standard
66. fferent to the positions of the lane measurement positions This makes it easy to compare the RT Range measurements to those of a radar mounted on the front of the car The target vehicles can be represented as polygons and the hunter will then track the closest point on the polygon s perimeter including interpolating between the polygon points Distance to fixed points and feature points methodology Just as the RT Range measures the distance to a mobile target another vehicle or pedestrian it can also measure the distance to a fixed point e g a balloon car The RT Range includes tools to measure the position of fixed points accurately and quickly The RT Range can also recognise feature points Feature points are a large collection of fixed points representing signs road markings and other street furniture at known positions Unlike fixed points which are active all the time a field of view can be defined in the RT Range to represent a camera When feature points enter the camera s field of view the distance to those feature points can be computed For example along a test route on the public highway the position and classification of 10 000 feature points is known as the vehicle drives along the route the RT Range will output the distance to the feature points that are currently in view ABD robot connection The RT Range can provide feedback to the ABD steering robot This allows the robot to trigger tests based on di
67. ge As This option saves the Display Page to a new file Spreadsheet Viewer This viewer is the spreadsheet at the bottom right of the window It shows the points that have been added to the map in numerical format Measurements of latitude longitude altitude heading north accuracy east accuracy down accuracy number of GPS satellites and GPS position mode are shown The user does not have the option to change the measurements properties of the spreadsheet These are the measurements that are saved in the line file and used to generate the map 46 Oxford Technical Solutions RT Range User Manual MIX TS Inertial GPS Map Creation Wizard The Map Creation Wizard takes the line files made by the Lane Survey Wizard and assembles them into a map Selecting a map filename Before running the Map Creation Wizard the filename that will be used to save the map can be selected from the initial page of the RT Range software see Figure 15 We recommend you create the map file in the same directory as the line survey files as this will make it quicker to select and add each line survey file The filename extension for a map file is RTRM Overview The layout of the Map Creation Wizard is very similar to the Lane Creation Wizard with the exception that the RT measurements are not present On the left hand side are the menus and buttons that control the software In the middle is a map that displays all the points on the lines tha
68. ges whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Oxford Technical Solutions Limited with respect to the products herein Revision 151010 19 Conformance notices The RT Range S complies with the radiated emission limits for 47CFR15 109 2014 class A of Part 15 subpart B of the FCC rules and with the emission and immunity limits for class A of EN 55022 These limits are designed to provide reasonable protection against harmful interference in business commercial and industrial uses This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user 1s encouraged to try to correct the interference by one or more of the following e Re orient or relocate the receiving antenna e Increase the separation between the equipment and the receiver The RT Range S conforms to the requirements for CE Regulator testing standards e FCC rules Title
69. get vehicles or to measure the distances to fixed points or feature points Note that the RT Range Hunter does not know the filenames of the fixed points If you receive the RT Range data on a computer that does not have the fixed point files for example then the software automatically creates a file and gives it a name The RT Range searches all the files in the fixed point file directory in order to find the fixed point that matches Fixed Point Mode To change the fixed point that the RT Range is tracking click on the button This shows the Fixed Point Setup dialog box as shown in Figure 48 Revision 151010 EE i Inertial GPS Figure 48 Fixed Target Setup window in the Real Time Display 5 Fixed Target Setup kai File Name FoeedPoint Tanget ka Edit Lat Lon New From RT Select Cancel The fixed point is stored in a file Select the file holding the latitude longitude and altitude of the fixed point from the dropdown list The fixed point files have extension RTFP New fixed points can be made by clicking on the Edit Lat Lon button or the New From RT button The Edit Lat Lon button shows the Set Fixed Point dialog box as shown in Figure 49 Figure 49 Set Fixed Point window in the Real Time Display 5 Set Fixed Point a Fed Point File Name ecceletelln a E a Position Latitude 051 94357130 deg Longitude 001 74941450 deg Altitude The name of the fixed po
70. gether since this can also cause interference Figure 9 Ideal antenna locations on top of the vehicle The position where the RT is installed in the vehicle is not critical for the accuracy of the RT measurements However normally the user requires the RT to be located at a specific position such as the centre of gravity The RT Range configuration includes configurations for the positions of the RT Range measurements so these are remote from the RT mounting position See the section on the RT Range software for more information on configuring the measurement positions The RT Range S Hunter and Target boxes are suitable for mounting on the RT Strut with the RT If you have the standard RT Range Hunter and Target boxes these are a suitable size for positioning behind the passenger seat CAN Bus Cables for the CAN bus will need to be prepared by the user Because the CAN bus can have many devices or nodes on it it is impossible to supply a suitable cable for all circumstances When preparing the cable it is essential to put in at least one 120 Q resistor between CAN High and CAN Low Again this is a feature of the CAN bus and not of the nodes on the CAN bus Although CAN is a differential bus and does not require the ground to Revision 151010 Ea be connected many systems will not work unless the ground is connected You are advised to always connect the grounds of the systems See the cable drawings for details of the c
71. has two sections On the left is the menu system and on the right are the measurements Additional measurement windows can be opened and configured The layout of the screen is shown in Figure 42 Revision 151010 Es Inertial GPS Figure 42 Layout of the Real Time Display window Hunter output latency RT Range 5 Longitudinal Range Targeti m RT Range 9 000 00 4 a Wiumber of targets RT Range S 000 1 3 j Configure RT Range Se ee ee n j Quick Config GPS position mode Blue car Hunter i WAAS 7 Abor Paia Tracia Hunter packets received RT Range 0 0 0 4 3 60188 Speed 3D mis Blue car Hunter Lateral Range Targeti m RT Range 9 Resultant Range Targeti m RT Range 9 000 18 Angle to T t1 d RT R g Y Download Map File e rece sieal Bil Stanae Ys Download Feature Point File Longitudinal Range Rate Target m s RT R 207 35 Lateral Range Rate Targeti m s RT Range lt T gt Display Data R 000 01 A Time ns RT Range z Open Display Page Forward Time to Collision Targeti RT Rang g New Display Page Time from start of file RT Range S 0 0 0 0 0 g Configure Display La Save Display Page iH Save Display Page As Hunter local co ordinates position Yr m RT Bird s Eye View Forward Time Gap Targeti RT Range 9 Hunter local co ordinates position Xr m RT Sivtelibeading ideg RT Range S Lateral Time to Collision Targeti RT Range Forward Time to Collision with
72. he Finish Option menu options allows the user to save the line file and quit the Lane Survey Wizard or save the line file and start a new line file The Finish Options are shown in Figure 24 Revision 151010 ce W Rertial GPS Figure 24 Finish Options of the Lane Survey Wizard Hj Save And Quit hid Save And Start New Line Save And Quit This option saves the current line file and returns to the initial screen of the RT Range Software Save And Start New Line This option will save the current line file and start a new line file The line filename automatically increments for example if the current filename was Linel rtrl then it will set the new filename Line2 rtrl If the current filename does not consist of an incremental number then the software will prompt for the name for the next file as shown in Figure 25 Figure 25 Next Filename dialog of Lane Survey Wizard 2 Enter file name for next time C Data Line wa Display data menu This menu allows the user to change the items displayed in the RT measurement viewer Pages can be saved and loaded or items can be added to the display cy Oxford Technical Solutions RT Range User Manual AIX TS Inertial GPS Figure 26 Display Data options of the Lane Survey Wizard 2 Open Display Page New Display Page Configure Display Ley Save Display Page fy Save Display Page As Open Display Page This option can be used to lo
73. he RT Range S system The RT XLAN will normally be factory configured as follows e RT XLAN Base Hunter 195 0 0 170 e RT XLAN Client Target 1 2 3 4 In the range of 195 0 0 171 to 195 0 0 174 Each RT XLAN will be marked showing its IP address and configuration This may be especially useful if you have ordered different IP addresses to the standard ones For more information about the RT XLAN configuration please refer to the RT XLAN user manual For alternative wireless LAN devices the Base should be configured as an Access Point in network bridge mode and the Client should be configured as a station in network bridge mode There may be variations to this for different wireless LAN devices and we recommend speaking to the WLAN device manufacturer asking them for the best way to achieve a Base Client configuration as specified above A typical IP configuration of an RT Range S system is shown in Figure 10 Revision 151010 Ea Inertial GPS Figure 10 IP address ranges RT Range S system HUNTER VEHICLE RT XLAN Base RT Range Hunter RT3000 Usually 195 0 0 170 195 0 0 110 to 195 0 0 119 195 0 0 10 to 195 0 0 99 Suggested IP range 195 0 0 02 to 195 0 0 09 lt TARGET VEHICLE RT XLAN Client RT Range Target Optional RT3000 195 0 0 171 to 195 0 0 174 IP address not applicable 195 0 0 10 to 195 0 0 99 Suggested IP range 195 0 0 02 to 195 0 0 09 Standard RT R
74. her technologies for lane position measurement such as lasers or vision The range or distance between multiple vehicles is useful for validating cruise control radar and other advanced accident avoidance systems The RT Range is designed to be used with the RT series of products 100 Hz and 250 Hz The output rate of the RT Range is determined by the output rate of the RT in the hunter vehicle Following a redesign of the RT Range housing and vehicle to vehicle communication hardware the latest version of the RT Range is now called the RT Range S The RT Range S is essentially the same as the standard version but has been re designed with more robust internal and external connections and uses the RT XLAWN as the preferred method of vehicle to vehicle data communication rather than the internal WLANs in the previous design The use of the RT XLAN device in the new design will provide a far greater communication range than previously possible Throughout the manual there are references to the RT3000 These apply equally to other RT products as well unless stated otherwise There will also be references to RT Range accessories cables and connections which may be slightly different depending on whether you have an RT Range or RT Range S RT Range software version 141216 reverse date format and onwards allow the RT Range to become a fully featured CAN acquisition system displaying and logging real time CAN data from multiple sources within ea
75. hin the window The keyboard arrow keys can also be used to pan the map Clean Up Line When surveying using the Lane Survey Wizard you may add some points incorrectly for example too close together The Clean Up Line Tool identifies Lines that have undesirable points from a calculation perspective and steps the user through the process of tidying up the points There is some discussion in the Calculation Discussion section on what makes a point undesirable and on the best way to survey lane markings Figure 37 shows the Clean Up Line menu Revision 151010 EN i Inertial GPS Figure 37 Clean Up Line menu in the Map Creation Wizard A Clean Up Lin Start lire rtrl lire ctrl lined rtrl line5 rtrl lineb rtrl The Clean Up Line Tool automatically identifies the lines that need some attention and only shows these in the dropdown list To start the process of cleaning up a line select the line from the dropdown list and click on Start This will display the Clean Up Line dialog box as shown in Figure 38 Figure 38 Clean Up Line dialog box in the Map Creation Wizard Clean up Line10 rtrl Description Angle is too high 176 059 deg Show Next Point The Clean Up Line Tool will zoom the map to a 1 m grid spacing automatically Then it will highlight the point on the line that has violated the rules The user has the option of deleting the point or moving to the next point The Clean Up Tool will high
76. his is the same configuration page as the car lane measurements in the RT Range Configuration wizard It is provided so changes can be made to the positions of points A B and C in post processing This page will only be shown by the wizard if a map file has been selected otherwise it will be skipped Revision 151010 103 mi Fertial GPs Range Measurements This is the same configuration page as the car range measurements in the RT Range Configuration wizard It 1s provided so changes can be made to the positions of the sensor bulls eye and polygon in post processing Options Figure 86 shows the Options page of the RT Range Post Processing wizard Figure 86 Options page in the RT Range Post Process Wizard G RT Range Post Processing Wizard Options RT Ran g Options to improve calculations Select Data Source Options Settings Read Configuration Local Co ordinates Digable Lane Tracking Mode Range acceleration filter Disable Lice iat heaton Longitudinal Range Offset of Target 0 000m D sterol Range Offset of Target 0 000 m Longitudinal Range Offset of Target 0 000 m Select Fields Lateral Range Offset of Target 0 000 m Range Measurements Output Config Longitudinal Range Offset of Tanget3 0 000 m Output Files Lateral Range Offset of Tanget3 0 000m peasy sare Longitudinal Range Offset of Tanget4 0 000 m Lateral Range Offset of Target4 0 000 m Advanced Disable Confidenthy Accurately 151007 14bd The
77. ial GPs Figure 55 RT Range Bird s Eye View Q Birds eye view Q a osage Hunter view Plan view Origin View 7 1688 Hunter Target1 Longitudinal m Measurements Value Polygon point 10 Polygon No 9 Polygon Origin 0 000 m Polygon point 1 694 m Polygon point 1 961 m Polygon point 1 664 m Polygon point 0 323 m Polygon point 0 159 m Polygon point 1 629 m Polygon point 1 147 m Polygon point 0 195 m Polygon point 0 491 m Polygon point 0 959 m Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point Polygon point 0 Lateral m There are several icons that control the appearance of each tab in the Bird s Eye View These are described in Table 14 Table 14 Icon functions in the Bird s Eye View Icon Q G GP S N Name Zoom In Zoom Out Pan Refresh Auto Scale Configure Description This icon is used to enter zoom in mode Click and drag the mouse over the area to be zoomed This icon zooms out The icon is used to enter pan mode Click and drag the mouse to pan the view This icon can be used to refresh the screen When a target stops operating it will remain in view
78. ile Table 62 Line format in the map file Field Name Description l Latitude Latitude of the point in decimal degrees 2 Longitude Longitude of the point in decimal degrees 3 Altitude Altitude of the point 4 Heading Heading of the line at this point 5 Line Type Always zero Note 1 The Line Type is not currently used Feature point file format The feature point file holds a list of features positions so that the RT Range can compute the range to them The first two lines are headers followed by one line for each feature point The file is stored in CSV format and always uses the English number system full stop for the decimal separator and comma for the list separator The feature point file should have an extension ftl The header lines in the feature point file are in the following format feature list YY Y TTTTTT NNNNNN number of features X XX Table 63 gives the definitions of the fields 140 Oxford Technical Solutions RT Range User Manual Inertial GPs Table 63 Feature point file header fields Field Description Feature list YYY TTTTTT Number of features XXX The RT Range will use this to identify that this is a feature point file This is the feature point file reference number and it is output on RCOM and displayed in the Real time Display as Reference number of feature set It can be used to identify which feature point file is being used by the RT Range
79. ile This function can be used to download another map file to the RT Range box Map files have the extension RTRM The RT Range will start using the new map file as soon as the download cycle completes The RT Range software remembers the last map file that was downloaded to the RT Range and uses this file in the Bird s Eye View Download Feature Point Files This function can be used to download a feature point file to the RT Range unit Feature point files have the extension FTL The RT Range will start using the new feature point file as soon as the download cycle completes The RT Range software remembers the last feature point file that was downloaded to the RT Range and uses this file in the Bird s Eye View Display Data menu The Display Data menu configures the right hand side of the Real Time Display The Display Data menu in the Real Time Display is the same as the Display Data menu in the Lane Survey Wizard except it also has the Bird s Eye View feature Please refer to the section Display data menu earlier in the manual The Save Display functions also operate in the same way as the Lane Survey tool and can be saved to different templates depending on the tests being carried out If at any time the windows are accidently closed and not saved as a template the settings will be Revision 151010 5 W Fertial Ges automatically saved to a template file called LastDisplay rtgl Just open this template and sa
80. int is used to generate the filename and appears in the dropdown list of the Send Fixed Point dialog box Enter the latitude longitude and altitude of the fixed point You will need to use a high precision many decimal places for the latitude and longitude values The New from RT button gets the latitude and longitude values from any RT on the network Ey Oxford Technical Solutions RT Range User Manual AIX TS Inertial GPS Figure 50 Fixed Point from RT window in the Real Time display 5 Fixed Point from RT Freed Point File Name Available INS systems set Position From Position Latitude Longitude The name of the fixed point is used to generate the filename and appears in the dropdown list of the Send Fixed Point dialog box Select the desired RT from the dropdown dialog box Because the RT may not be at the exact fixed point location values can be entered to displace the fixed point location from the RT s position If there is no RT Range on the network the dialog box will not show the RT position This 1s because the decoded RT data latitude longitude altitude and heading are contained in the RCOM packets from the RT Range For this feature to work correctly an RT Range system must be connected to the network Mobile Target Mode In this mode the RT Range measures the position of a mobile target from the hunter vehicle To track a mobile target e g target vehicle pedestrian Revisio
81. istances Table 58 Lateral error for different ranges for 0 1 deg heading error Range to Target Lateral Range Error 5m 0 9 cm 10m 1 7 cm 20 m 3 5 cm 50 m 8 7 cm 100 m 17 cm Lateral velocity effects Consider the lateral velocities of the hunter and target vehicles in Figure 94 they are both zero Yet the lateral range velocity is not zero 130 Oxford Technical Solutions RT Range User Manual w Hertial GPS Figure 94 Lateral velocity of the target compared to the hunter This effect is also seen if you have a stationary hunter vehicle a stationary target or fixed point and somehow rotate the hunter vehicle on the spot The lateral range velocity will not be zero even though everything is stationary Transient errors due to communication link delay The RT Range uses a constant acceleration model for predicting the position and velocity of the target vehicle This prediction is to overcome the delay in the communication link either Wireless LAN or radio modem or both The effect on position for this type of transient is small less than 1 cm The effect on the velocity is higher Figure 95 shows the acceleration curve velocity curve and velocity error for a 0 8 g sudden acceleration 1t assumes a communication link delay of 70 ms which is about the peak expected from the Wireless LAN when the vehicles are close Revision 151010 131 Figure 95 Example transient error for 0 8 g acceleration on
82. itten The File tab is shown in Figure 58 Figure 58 RT Range Data Logger File tab G Data Logger General File Start Stop Working directory C Users bobgr Documents OATS RT Range Data File name NAVograph version 15 07 14 0 14cl C Open NAVgraph automatically after each test Acceleration accuracy Select template file for NAVgraph to display data Test status Running Ss Dev ID 15 08 14 14et 2 Oxford Technical Solutions RT Range User Manual l XTS Inertial GPS The Working directory is the directory where all the data will be saved This can be changed by clicking on the button to the right An explorer window showing the files can be opened by clicking on the folder button The File name is the base name of the file that will be created The window will automatically append a number to the end of the file The number can be changed by clicking on the 000 button The number on this button will change as the file number changes The number represents the next file to be written Start stop tabs The Start and stop tabs are used to set the conditions when a file will start and stopped being logged The Start tab is shown in Figure 59 Figure 59 RT Range Data Logger Start tab Q Data Logger General File Stat Stop On trigger of T Rising Edge Falling Edge Add new condition Enabled Measurement User Tag Value Condition C Play sound at the sta
83. le then the range is computed along a measurement plane that is angled with the hunter vehicle Figure 92 shows the hunter measurement plane solution The two target vehicles red have the same forward longitudinal range when using the hunter measurement plane in the horizontal measurement plane the top target vehicle would have a longer forward range In mathematical terms the 3D range vector from the sensor point on the hunter to the bulls eye point on the target or closest part of the polygon is computed Then this 3D vector is projected in to the forward and lateral right directions of the hunter vehicle The hunter z axis information is not output Figure 92 Hunter 3D measurement plane calculation When using the hunter measurement plane it is important to align the pitch measurements of the RT in the hunter with the pitch measurement of the sensor The Enginuity software that comes with the RT has tools for adjusting the pitch measurements of the RT It should be noted that the difference in range between the horizontal measurement plane and the hunter measurement plane is very small except on very steep slopes Polygons Targets and fixed points in the RT Range can be represented as polygons The RT Range will then compute the range from the hunter to the closest part of the polygon Polygons are planar or flat and are orientated by the heading pitch and roll 128 Oxford Technical Solutions RT Range User Manual
84. light the first point that violates the rules This violation will be based on points that are both behind and ahead of the current point It is not necessarily the first point that is wrong Figure 39 shows a point that has been highlighted by the Clean Up Line tool This point violates the rules because the angle to the next point is too large 1 e the line is not straight enough It is clear to the user that it is the next point that is in error and the current point should not be deleted By clicking Show Next Point the user can skip this point and move on to the next point Ey Oxford Technical Solutions RT Range User Manual Inertial GPS Figure 39 Clean Up Line example point awe Fruity LUNOJ UT LNR U Ly I Line8 rtrl Line9 rtr Line10 rtri G Clean up Line10 rtrl EBE Lon Lit 51 94246494 1 2493801 133 514 Description Angle is too high 176 059 deg 51 94245705 1 24938738 133 507 51 94244915 1 2493946 133 491 51 94244131 1 24940189 133 481 Delete This Point Poi Delete This Point ioes i 51 94243345 1 24940913 133 485 51 94242566 1 24941628 133 498 51 94241764 1 24942317 133 497 51 94240981 1 24943038 133 487 51 942402 1 24943721 133 483 51 94239409 1 24944439 133 478 51 94238635 1 24945164 133 474 51 94237865 1 2494589 133 472 51 94237091 1 24946627 133 475 51 94236305 1 24947369 133 472 51 94235525 1 24948108 133 461 51 9423473 1 24948824 133 452 51 94233934 1 2494955 133
85. line This reduces the real time search requirements of the RT Range and also enables the RT Range to have maps with crossing lines It is essential to set the position of the start line before the start line options can be set The start line is based on one of the points at or near the start of one of the lines normally the central line In order to add a start line first select a point on the map by double clicking the point In the spreadsheet viewer the point will be highlighted Right click the highlighted point in the spreadsheet viewer and select Set Start Line from this point as shown in Figure 35 Now the start line is set and will be drawn on the map display Revision 151010 EJ mi Fertial GPs Figure 35 Setting the Start Line in the Map Creation Wizard ol 94230156 1 2 SLI l iz 91 94239252 L2 5i 94243009 1 2 Dl 94248452 1 m 53068 1 2 Show this point 531 on the graph E770 1 2 Set Start Line From this point 531 62282 l m Reset highlighted rows 66871 1 p Reverse all points 71401 il F Delete this line 75657 1 7 91 9420041 1 2 nl 94204956 1 2 51 9420950 1 2 9194294134 1 2 Note that the start line is directional and will only trigger in the direction of the map Define Start Line Position Once the start line has been set the Define Start Line position option allows the user to change the start line width Figure 36 Setting the Start Line in the Map Creation Wizard
86. locity vector Table 42 RangeHunterPosLocal Position of hunter in local co ordinates identifiers 7B3h 1971 7C3h 1987 7D3h 2003 7E3h 2019 Description 0 32 S m 0 001 0 RangeHunterPosLocalX x distance from origin 32 32 S m 0 001 0 RangeHunterPosLocalY y distance from origin Note The convention used for the local co ordinates is with the z axis up 120 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 43 RangeTargetPosLocal Position of target in local co ordinates identifiers 7B4h 1972 7C4h 1988 7D4h 2004 7E4h 2020 Description 0 32 S m 0 001 0 RangeTargetPosLocalX x Distance from origin 32 32 S m 0 001 0 RangeTargetPosLocalY y Distance from origin Note these values are predicted to real time if the communication link s has more delay than the range delay field The convention used for the local co ordinates is with the z axis up Table 44 RangeStatus Status information for range measurements identifiers 7B5h 1973 7C5h 1989 7D5h 2005 7ESh 2021 Description 0 8 U RangeHunderGpsPosMode Hunter GPS position mode 8 8 U RangeTargetGpsPosMode Target GPS position mode 16 16 U S 0 001 0 RangeRangeTargetLatency Prediction used for target measurements 32 16 U S 0 001 0 RangeRangeOutputLatency Output latency range delay 48 8 U RangeStatusByte 56 8 U RangeRefPlane Note that this is a
87. lways aligned with the local co ordinates axes The tabbed section on the right hand side of the Bird s Eye View provides at a glance information about the vehicles under test The information changes depending on which view is currently selected The width of the window can be resized by placing your cursor on the window boundary and click dragging The widths of the columns within each tabbed section can also be adjusted in the same way View Configuration Clicking on the configuration icon opens the Map Display Mode window The settings selected here affect all three views in the Bird s Eye View Hunter Plan and Origin view Revision 151010 69 Figure 56 RT Range Bird s Eye View configuration S Map display mode Display Mode Seale Hunter Target Graph View centred on Display Mode This tab allows you to choose which object the views should be centred on when the Auto Scale button is clicked Scale By default each view is auto scaled to show all objects The Scale tab allows you to over ride the default scaling by specifying the minimum and maximum values on each axis The aspect ratio can also be preserved by selecting Preserve aspect ratio Hunter Target The Hunter Target tab is used to set the display characteristics for each hunter and target The caption text position and colour can be adjusted using the controls in the Caption section The caption text can be changed independently of the Tag id that is
88. me messages are with reference to GPS time NAVeconfig does include filter design for the angular acceleration filter Other coefficients can be computed using NAVconfig read from the mobile cfg file and then transferred to the RT Range advanced commands Es Oxford Technical Solutions RT Range User Manual AOXTS Inertial GPS Figure 77 Range measurement plane Committing the configuration to the RT Range The commit screen allows you to send the configuration to the RT Range system The IP address of the RT Range is required for this The IP address is usually 195 0 0 n where n is the serial number of the RT Range The IP address is marked on the delivery note Figure 78 shows the Commit page of the RT Range Configuration Wizard Revision 151010 EJ W hertial GPS Figure 78 Commit page in the RT Range Configuration Wizard RT Range Configuration Wizard O x Commit Commit Configuration IP Address of RT Range RT Ra nge 195 0 0 115 Read Configuration Hunter Targets Setup Lane Measurements Range Measurements Options Save Fintsh The RT Range will automatically reset after the settings are committed It takes about 40 seconds for the RT Range to reboot Saving a copy of the RT Range configuration locally Before finishing it is possible to save a copy of the settings in a file on the local computer This is useful for storing configurations for several vehicles o
89. n 151010 63 W Fertial Ges etc choose Mobile Target from the dropdown menu and select the IP address of the RT that is in the target vehicle Feature Point Mode In this mode the RT Range computes the range from the hunter vehicle to the appropriate predefined feature point To use feature points choose Feature Points from the dropdown menu Local Co ordinates The RT Range has its own set of local co ordinates These can be different to the local co ordinates used by any of the RTs Normally the local co ordinates are configured as part of the RT Range Configuration Wizard but they can be set and changed quickly using the Quick Config window The RT Range Quick Config Local Co ordinates window is shown in Figure 51 Figure 51 RT Range Quick Config Local Co ordinates window 5 RT Range Quick Config Local Co ordinates RT Range Adjust the origin of the Local Co ordinates Just use this setting until the RT Range is reset O Commit this setting to the RT Range so it remembers after next reset net Get Local Co ordinates from the RT on network Longitudinal Offset Lateral Offset Range Mode Base Latitude Advanced Base Longitude Base Aude ys Andle Confidernthy Accurately Cancel Local Co ordinates can be configured temporarily to the RT Range or they can be saved as part of the RT Range configuration To save them temporarily choose the Just use this setting until the RT Range is re
90. n up to eight lines The file extension for the map files is RTRM Using the Map Creation Wizard you can add the start line to the map Real Time Display Once the map files are created the Real Time Display can be used to download the map files and feature point files to the RT Range configure other RT Range settings and display the RT Range measurements in real time RT Range measurements can be stored to files using the Real Time Display Post Processing Wizard The Post Processing Wizard can be used to reprocess the NCOM files from the hunter vehicle and target vehicles for range measurements use a map file for lane position measurements and or use fixed point file for fixed point range measurements The lane and range measurements are saved in a CSV file format The Post Processing Wizard can also be used to convert the binary files stored by the Real Time Display into CSV format PC configuration The RT Range software communicates with the RT Range hardware and the RTs using Ethernet For this communication to work the Ethernet of the PC has to be configured correctly The PC should have an IP address in the range 195 0 0 2 to 195 0 0 9 or any other Ethernet address on this network that is not used The subnet mask should be 255 255 255 0 The RT Range software needs to open Ethernet port 3000 to communicate with the RT in the hunter or target vehicle This port can only be opened by one application at a time if any other applica
91. nable Enabling this check box allows you to display hide this measurement on the display window Source Decoded data provided by the RT Range or INS system physical source such as hunter car etc Measurement Description of the measurement set for the display control Unit Unit of measurement Type Display type Text Graph or Alert bar Size The display control size can be Small Medium and Large Configure Allows to set the properties of the display control format limits unit etc Background colour Display control s background colour associate to the physical source colour 1 e red background colour is associated to a red car There are three types of items that can be inserted Graphs Text or Alert Bars The properties of these items can be set in this window I e Measurement unit unit size text format Configure and background colour The background colour is useful for quickly identifying different types of measurements in the display Clicking the Add Measurements button will open a new window where it is possible to select the required measurements for each individual window as shown in Figure 29 The Add Measurements dialog box makes it possible to find and add measurements to the Real time Display from any of the available measurements All the measurement types available from each device are grouped by that device and its associated measurement categories These are then displayed on the left side in a hierar
92. nce from Point C to Line 7 48 16 S m 0 001 0 Line8PosLateralC Distance from Point C to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 36 LanePointALeverArm lever arm from the RT to the lane measurement Point A identifier 5A0h 1440 Description 0 16 I m 0 001 0 LanePointALeverArmX Lever arm from the RT to lane measurement point A in the x direction 16 16 I m 0 001 0 LanePointALeverArmyY Lever arm from the RT to lane measurement point A in the y direction 32 16 I m 0 001 0 LanePointALeverArmZ Lever arm from the RT to lane measurement point A in the z direction 118 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 37 LanePointBLeverArm Lever arm from the RT to the lane measurement Point B identifier 5A 1h 1441 Description 0 16 I m 0 001 0 LanePointBLeverArmX Lever arm from the RT to lane measurement point B in the x direction 16 16 I m 0 001 0 LanePointBLeverArmyY Lever arm from the RT to lane measurement point B in the y direction 32 16 I m 0 001 0 LanePointBLeverArmZ Lever arm from the RT to lane measurement point B in the z direction Table 38 LanePointCLeverArm Lever arm from the RT to the lane measurement Point C identifier 5A2h 1442 Description 0 16 I m 0 001 0 LanePointCLeverArmX Lever arm from the RT to lane measurement point C in the x direction 16 16
93. nd resultant range forward and lateral time to collision of each target as well as the Feature Point ID When feature points leave the Field of view the RT Range does not show the measurements to these feature points anymore unless they re enter the field of view Figure 67 Range Measurements Target tab RT Range Configuration Wizard o x Car Range Measurements Set measurements of Range Sensor inertial Ges e e T Tee C Use Polygon Configure DOC lare E PT buis eve postion Forward v 0 000 m Read Configuration Hunter Targets Setup Lane Measurements Options Commit Save Finish The target configuration tab is almost identical to the Hunter tab and is configured in the same way By default a target 1s defined as a bulls eye unless the Use polygon option is selected The main difference is the Vehicle dimension tab that is found on Target tabs The length and Width fields are not used by the RT Range software They are passed through the software and provide an extra mechanism for the user to identify which vehicle was being used as a target during the tests Revision 151010 EJ W nertial GPS Defining polygons Polygons whether they are for a hunter or target are defined in a window similar to the one shown in Figure 68 This window is used to tell the RT Range how many points make up a polygon shape where the RT s measurement origin is
94. ners with their correct sizing Each object has the following information o id Displays the objects id o va Absolute velocity in km h o classification car bike truck pedestrian unknown big unknown small RT Range Target objects Targets are displayed in red and have the classification tag as Target n where n represent the target number Hunter ego vehicle status The vehicle status window provides data such as the hunter vehicle speed in km h and hunter vehicle yaw rate Revision 151010 145 W Rertial GPS Video camera window The video camera window displays the recorded video image of a camera installed in the ego vehicle This video data is not used by object tracking its purpose is only the visualization For more information about the Ibeo OxTS integration please refer to the Ibeo OxTS Integration Customer Documentation and the Ibeo Feature Fusion Customer Documentation which is available from Ibeo Automotive Systems GmbH http www ibeo as com contact html 146 Oxford Technical Solutions RT Range User Manual Inertial GPs Revision history Table 65 Revision history Revision Comments 051018 Initial Version 051114 Typing Corrections 051118 More Corrections and change of CAN IDs to 7A0h 7BOh range 060803 Updated for new RT Range box 061211 Software changes 070611 Software changes 071214 Software change Logging added Longitudinal Offset added Wireless LAN SSID and
95. ng advanced commands to the RT Range and is normally used for testing There are some advanced commands that the user may want to configure Table 16 lists some of the advanced commands that may be useful Table 16 Advanced commands Command Description rangel meas plane hunter range2 meas plane hunter range3 meas plane hunter range4 meas plane hunter targetl rate xx x target2_rate xx x target3_rate xx x These commands are used to change the measurement plane used for each target from the horizontal plane 2D to the hunter plane 3D Figure 77 shows the difference diagrammatically Further explanation 1s available in the Calculation Details section page 127 at the end of the manual These commands are used to advise the RT Range of the expected data rate for the target They are essential when using the acceleration extrapolation target4 rate xx x filter below These commands are used to set an acceleration filter that is used to extrapolate the position and velocity of the target vehicle when real time data is not needed It 1s essential to set the expected target data rate when using these commands rangel extrapol filt range2_extrapol filt range3_extrapol filt x x x range4 extrapol filt x x x MK ops can timeref gps can timeref utc These commands configure the CAN target time messages output by the hunter to be with reference to GPS time or UTC time By default the target ti
96. nsors that measure the lane position e Positions of the sensors on all vehicles that measure the distance between the vehicles Revision 151010 EA W Fertial Ges e Shapes of the target vehicles and fixed points if polygons are going to be used e CAN bus Local Co ordinate Origin Range Latency etc The RT Range is a very precise instrument and these measurements are critical to getting the best results from it It is not easy to get all of the measurements accurate to 1 cm or better However a 1 cm error on the RT Range configuration will result in a 1 cm error in the outputs It is critical to get these measurements accurate Reading the Initial Configuration Figure 61 shows the first page of the wizard Figure 61 Read Configuration page of the RT Range Configuration Wizard RT Range Configuration Wizard O x Read Configuration 0 A Choose where the initial settings should be read from E S Y x w Inertial GPS Use default settings Read from a file RT Ra Lle L E Load intial settings from RT Range Hunter Targets Setup Lane Measurements Range Measurements Options Commit Save Finish The initial settings that the wizard displays can come from several sources Default Settings If this option is selected then the wizard will start with a default set of values The current values in the RT Range will be lost when these new values are committed 76 Oxford Technical Solutions
97. number on left of Point A will be FFh and the measurements will be 8000h full scale negative Revision 151010 113 W Rertial GPS Table 22 RightLineLateral line on right of Point A identifier 7A2h 1954 Description 0 16 S m 0 001 0 RightLinePosLateral Lateral distance from Point A to line 16 16 S m s 0 01 0 RightLineVelLateral Lateral velocity from Point A to line 32 16 S m s 0 01 0 RightLineAccelLateral Lateral acceleration from Point A to line 48 8 U RightLineNumber Line number on right of Point A 56 8 U Reserved Note When the RT Range is not computing the lane position the line number on right of Point A will be FFh and the measurements will be 8000h full scale negative Table 23 Lines1To4PosLateralA lines 1 to 4 to Point A identifier 7A3h 1955 Description 0 16 S m 0 001 0 LinelPosLateralA Distance from Point A to Line 1 16 16 S m 0 001 0 Line2 PosLateralA Distance from Point A to Line 2 32 16 S m 0 001 0 Line3PosLateralA Distance from Point A to Line 3 48 16 S m 0 001 0 Line4PosLateralA Distance from Point A to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 24 Lines5To8PosLateralA lines 5 to 8 to Point A identifier 7A4h 1956 Description 0 16 S m 0 001 0 Line5PosLateralA Distance from Point A to Line 5 16 16 S m 0 001 0 Line6PosLateralA Distance from Point A
98. o smooth GPS jumps if it is allowed to warm up correctly and if it is given some motion during the warm up period More information is given in the Survey Trolley section Overview The Lane Survey Wizard has four parts to its screen the menus the map the RT measurement viewer and the spreadsheet viewer On the left hand side are the menus and buttons that control the software In the middle is a map that displays the current position and the position of points that have been Revision 151010 Ea W nertial GPS added to the line In the top right corner is the RT measurement viewer this can be configured to show measurements from the RT such as velocity heading GPS position mode number of satellites and other measurements useful when surveying In the bottom right is the spreadsheet viewer showing numerical values for the points that have been added to the line Figure 18 Main screen of the Lane Survey Wizard i AT Pange Lace curves viad C Ukert bobo Document OXTSVRT Fange ap Lias 2 o ui Finish Options i mwm Me F Selecting a line filename Before running the Lane Survey Wizard the file that will be used to record the line can be selected on the initial page of the RT Range software see Figure 15 We suggest you put all the line files from one survey in their own directory and name the files Linel Line2 Line3 etc By putting a number at the end of the filename the Lane Survey Wizard
99. ociationtag Address Product name Fimmwared Serial number Connection lag Bytes receiv Mw Hunter vehicle Hunter v 10 197 1 6 RT3003 20150708 5085 802656 The Tag id and Association tag can be renamed to pass through a personalised name to the display Revision 151010 EJ W nertial GPS View options menu This menu allows you to zoom in or out and pan the map as shown in Figure 21 Zoom Click on Zoom to zoom in to the map the maximum zoom level is a 1 metre grid square Zoom Click on Zoom to zoom out of the map The minimum zoom is a 1000 metre grid square Pan The pan options allow the user to pan the map to left right up or down If the user clicks on Reset in the pan option then it redraws the map centred on the current location given by the RT The keyboard arrow keys can also be used to pan the map Figure 21 View options of the Lane Survey Wizard a View Options Add point option menu This menu controls how the points are added to the line file The Add Point menu is shown in Figure 22 Figure 22 Add Point menu of the Lane Survey Wizard Add Point Here qm AdjustAutoAdd ON Add Points Here The Add Points Here menu allows you to add a point to the map at the current point This can be used as a manual method of adding points it can be used to add a point when the auto add feature is off or it can be used to add in special points in between the points that are automaticall
100. ock can either be the local time of the PC that is running the RT Range Post Processing wizard UTC GMT time or GPS time 106 Oxford Technical Solutions RT Range User Manual l XTS Inertial GPs The RT Range measures in GPS time and UTC time by default GPS and UTC time are currently 16 seconds different with 12 00 00 UTC time being 12 00 16 GPS time The local time is computed by taking the time zone of the local computer and adding it to UTC time Output File The output file needs to be chosen for the measurements Figure 89 shows the Select Output File page of the RT Range Post Processing wizard Figure 89 Output Files page in the RT Range Post Processing Wizard RI Range Post Processing Wizard q q Select output file RT Range Select ASCII output files Select Data Source Read Configuration i Export to main output file Lane Tracking Mode Target Files Setup D _My Data Writing OxTS Data Good RT Range data mobile Lane Measurements Range Measurements Options Select Fields Output Config Finish Page Confidenthy Accurately 151007 14bd Check the Export to main output file checkbox and enter a filename for the output file When the Export button 1s clicked the software will start processing the data This may take some time for large files Finish Page The Finish Page allows you to launch Explorer in the folder where the output file is created Figure 90 shows the Finish Page of
101. of the point in the North South direction in metres 6 East stdev Estimated accuracy of the point in the East West direction in metres 7 Altitude stdev Estimated accuracy of the point in the vertical direction in metres 8 empty Not currently used 9 satellites Number of satellites tracked by the GPS at this point 10 Position mode Position mode of the GPS at this point see NCOM Description Manual for a definition of position mode Note 1 These fields are not currently transferred to the map file Map file format The map file consists of a header followed by each of the lines in order An example file is shown in Figure 100 198 Oxford Technical Solutions RT Range User Manual MIX TS Inertial GPs Figure 100 Example map file map number 22 origin 51 94322136 1 26696946 138 009 start line 51 9433702331181 L 266974597911789 51 943294365567 1 26671038784474 Lines rtrl 26 20 number of lines 6 Jine 1 linel rtr number of points 110 51 94322156 1 266959946 1358 009 027 0736 0 jL 94328786 1 26691446 1358 27 026 4461 0 51 94335396 1 26686126 138 532 025 6640 0 line 2 line2z rtr number of points 105 51 94325215 1 26694229 138 079 026 8682 0 51 94329884 1 26688 752 158 326 026 2888 0 51 94336506 1 26683469 158 551 025 4278 0 IL 94s4a10 1 26678391 158 674 024 6603 0 6 Note Not all the line information has been shown has been u
102. onnections required for the CAN bus RT Configuration Full instructions on how to configure the RT are supplied in the RT User Manual Only the settings applicable to the RT Range are listed here The RT Range and the RT both have the ability to displace the measurements to a remote position If the RT has a displaced output then the RT Range will work from this displaced output position and not from the mounting location of the RT In other words the RT s output displacement will displace all of the measurement points of the RT Range For simplicity you are advised to disable the Output Displacement option of the RT systems and only use the output displacement options of the RT Range The CAN baud rate for the RT Range the RT and for the other nodes on the CAN bus must be the same The performance of the wireless LAN can be improved by delaying the Ethernet output of some of the RTs Normally each target is delayed by a different amount so that their output on the wireless LAN does not clash This can be configured on the Ethernet option of NAVconfig RT Processing Platform Only the latest TP500 and TP600 processing platforms can work with 250 Hz products or in installations where there are 4 targets The older platforms such as the TP400 do not have sufficient processing power and will give incorrect results The following FAQ describes how to find which processing platform is in an RT system http support oxts com
103. ows Secu rity Alert Windows Firewall has blocked some features of RT Riange on all public and private networks Name RT Range Publisher Oxford Technical Solutions Path C program files x86 oxts yt ange t_range exe Allow RT Range to communicate on these networks Private networks such as my home or work network Public networks such as those in airports and caf s not recommended because these networks often have little or no security allow access tl Ensure both Private and Public networks are selected to ensure the software can continue functioning when moving from one type to another Lane Survey Wizard The Lane Survey Wizard is used with an RT that is mounted on a trolley such as the Survey Trolley option It is also possible to survey the lines with the RT in a car but it is very hard if not impossible to drive the car along the lane markings accurate to 2 cm or better The quality of the driving or how the trolley is pushed will directly affect the performance of the lane position measurements The Line Survey software is not designed to add more than one point per second so car based surveys will need to be driven slowly or have a large gap between the line points Before attempting to use the Lane Survey Wizard module the user must set up the RT on the Survey Trolley The RT needs to be initialised and operating correctly Waiting for the warm up period is not strictly required but the RT will be able t
104. plied To zero the longitudinal range press the Zero button After the adjustment has been entered press OK or Apply in order to send the new longitudinal offset to the RT Range The longitudinal offset can be saved permanently in the RT Range or just used until the RT Range is reset To save it permanently select the Commit this setting to the RT Range so it remembers it after next reset option Ey Oxford Technical Solutions RT Range User Manual d MXTS Inertial GPS Lateral Offset The lateral range of the RT Range can be adjusted or offset to account for small errors in the configuration This is not a substitute for measuring as accurately as possible it is a quick technique for making small changes to the lateral range Clicking on Lateral Offset brings up the Quick Config window on the Lateral Offset page as shown in Figure 45 There may be a short delay while the software reads the current settings from the RT Range Figure 45 Lateral Offset in the Real Time Display 5 RT Range Quick Config Lateral Offset Adjust the Lateral Range to remove offsets RT Range Adjust Lateral Range of Target Longitudinal Offset Lateral Range of Target m Adjust Lateral Range by m Range Mode Lateral Range after m Local Co ordinates Advanced Just use this setting until the RT Range is reset Confidenths O Commit this setting to the RT Range so it remembers after next reset Accurate
105. put anything until all the vehicles are configured initialised and range measurements are being computed This can make it difficult to check the operation in the garage before going out to test To avoid this the RT Range can output heartbeat CAN messages These will be output even if range measurements and lane tracking measurements are not being computed and if no data is being received from the RTs The messages are output approximately once per second Revision 151010 m The heartbeat messages are the Range Status messages one for each target and the Lane Map Status message The Range Status heartbeat messages will only be output if the associated target 1s configured if you have no targets configured then no Range Status heartbeat messages will be output Similarly if there is no map in the RT Range then the Lane Map Status message will not be output These messages will not be output if they are disabled in the CAN configuration If no heartbeat messages are received check that some operation of the RT Range is configured and that the CAN bus is configured to output the heartbeat messages Table heading definitions The fields in the tables have the following meanings Offset bits This is the offset into the message where the signal starts To compute the offset in bytes divide the value by 8 Length bits This is the length of the signal in bits To compute the length of the signal in bytes divide the valu
106. r measurements is with respect to the RT in that particular vehicle The controls in the RT to polygon origin allow you to describe where your measurement origin 1s in relation the RT installed in that vehicle Polygon The lower half of the window is dedicated to the polygon shape On the left hand side is a list of numbers where the co ordinates of each point can be entered To the right is a visual representation of the resultant shape The Grid size menu can be used to increase the visibility in the window when working with large polygons It does not matter if the points are added in a clockwise or anti clockwise way but they should be entered consecutively Do not add the front left point followed by the rear right point for example shapes that cross are not supported Concave shapes should also be avoided A red square is used to represent the relative position of the RT installed in the vehicle This is useful to confirm that the offset you have specified in the RT to polygon origin section is correct Load Save Polygons can be saved to and loaded from files using the Load and Save buttons If you often use the same car it is quicker to load the polygon shape then check the RT to polygon origin is still valid Options The Options page is used to configure the RT Range options Figure 69 shows the Options page of the RT Range Configuration Wizard Each of the options are described below To edit options click in the settings col
107. r several setups on one vehicle The Finish page also lets you know if the settings have been committed successfully to the RT Range system or not Figure 79 shows the Finish page 96 Oxford Technical Solutions RT Range User Manual SIXT S Figure 79 Finish page in the RT Range Configuration Wizard Q RT Range Configuration Wizard a O x g g Finish Save configuration in a file Inertial tGPS RT Range You have not yet committed your changes to the RT Range Go back to Commit to retry Read Configuration Hunter Targets Setup Lane Measurements Range Measurements Options Commit Preserve these settings in file C Users bobgr Documents OXTS RT Range Config To save a copy of the setting in local file check the Preserve these setting in file check box and enter the filename The RT Range software will make the folder automatically if it does not exist RT Range Post Processing Wizard The RT Range Post Processing wizard is used to reprocess the NCOM files of hunter and target vehicles and extract the lane position or range measurements in CSV file format This might be required if the communication link was not installed failed to work or the results are required without prediction It can also be used to reprocess the data using different settings for example different positions for Points A B or C The RT Range Post Processing Wizard can also be used to convert RCOM files to text
108. r under a certain value Alternatively a test can be manually triggered by clicking the Start now button The Play sound at the start of the test option provides useful feedback when conducting tests and the driver s attention 1s focused elsewhere The Pre trigger duration feature is used to capture a set amount of data prior to the start trigger which is done by reading data back from an internal buffer The data is then attached to start of the logged data When the logger is triggered or manually started the Running button in the bottom left hand corner of the window turns red cs Oxford Technical Solutions RT Range User Manual AIX TS Inertial GPS Figure 60 RT Range Data Logger Define Start Line 5 Define Start Line Entry to straight 2 Use map file start line Get Position From Set start line at RT s position Use RT Hunter w Fre here Line length Line position Left edge Latitude 51 5423 7 814 deg Longitude 1 24918007 deg Right edge Latitude 51 94246725 deg Longitude RT Range Configuration Wizard The RT Range Configuration Wizard is accessed through the Real Time Display The parameters in the RT Range Configuration Wizard are normally only changed when the system is installed in a vehicle Overview In order to configure the RT Range correctly the following information is required e IP Addresses of the RTs and of the RT Range e Position s in the hunter vehicle of the se
109. randomly ordered set of points The final point will connect to point i e point 6 in Figure 93 Range velocity with polygons The range velocity is ambiguous when the closest edge is being tracked The RT Range computes the difference between the instantaneous velocity of the sensor point compared to the edge of the polygon Revision 151010 129 W nertial GPS For example in Figure 93 the red hunter is tracking the edge between points 1 and 6 Assuming that the hunter is overtaking the target then the range velocity forward longitudinal will be approximately the difference in speed between the hunter and the target vehicles Another interpretation would be that the range velocity forward would be zero since the intersection point is also moving which is not what the RT Range outputs This interpretation avoids large jumps in range velocity lateral when the blue hunter turns and the point tracked jumps quickly possibly immediately from point 2 to point 3 The velocity implementation in the RT Range may be different to the velocity used by other sensor systems Errors in heading At large distances the heading accuracy of the RT has a large effect on the lateral range measurement Although the RT3002 system can measure heading accurate to as low as 0 1 degrees this can cause the lateral range measurement to have significant errors in it Table 58 shows the error in the lateral range for a 0 1 degree error for different d
110. range and lane parameters will be read from the defined RTRange cfg file To select a different configuration file use the browse button to select a different file Load Initial Settings from RT Range To use the same settings as the RT Range system select the radio button and make sure the RT Range system is connected to the network via Ethernet Enter the correct IP address in the edit box to download the configuration file from the RT Range hardware Lane Tracking Mode The RT Range Post Processing wizard can compare the position of the hunter vehicle to the lane markings Check the Use Map File checkbox to perform the lane position measurements and select a map file Figure 84 shows the Lane Position File Mode Page of the RT Range Post Processing wizard Revision 151010 101 mi Fertial GPS Figure 84 Lane Position Map file selection in RT Range Post Processing Wizard RI Range Post Processing Wizard q q Lane Tracking File Mode Tae Range Select a Map file for Lane tracking Select Data Source Use Map file Read Configuration Target Files Setup Lane Measurements Range Measurements Options Select Fields Output Config Output Files Finish Page Confidenthy Accurately 151007 14bd Target Setup The RT Range Post Processing wizard can compute the range from the hunter vehicle to fixed points or to target vehicles Either a fixed point file or a target NCOM file is required to do this The range mode can
111. re an RT2500 or RT2002 is used the wiring is the same as above except that the J6 Ethernet in the 14C0038A user cable is replaced with a straight Ethernet patch cable and is connected directly to front panel of the RT2000 along with the 14C140A power cable A switch or trigger can be connected to J5 and used to trigger logging in the RT Range PC software If the Ethernet cable on the RT user cable is too short then it can be extended The RT XLAN is connected to the RT Range S Target using the Power over Ethernet PoE cable 110 00274 301 provided with the RT XLAN It 1s important that only this cable is used or there may be problems powering up the RT XLAN By using an RT XLAN Y cable converter kit available from OxTS it is possible to connect the RT XLAN directly to the RT in the target vehicle avoiding the use of the RT Range S Target unit where no other connectivity is required More information about this can be found in the RT XLAN manual Physical Installation The antennas for the radio RT GNSS and the RT XLAN or standard Wireless LAN mag mount antenna should be spaced out across the roof of the vehicle Putting all the antennas in one spot will cause interference and will reduce the performance of the system Ideally there should be at least a 1 m separation between each antenna In Ey Oxford Technical Solutions RT Range User Manual l XTS Inertial GPs addition the cables for the antennas should not be routed to
112. rt of the test Pretrgger duration 0 05 Test status Running D Cev ID 15 08 14 14et Using the controls on each tab it s possible to build very specific conditions under which the Data Logger will record files Logging can be started and stopped on the rising and or falling edges of a specified RT s trigger input or when an RT crosses a defined line To define a start finish line click the Edit button then Define Start Line dialog box will open as shown in Figure 60 To define a start line first enter a File name Selecting an existing line will overwrite it with the new line The button is used to select a directory where the line files will be kept Revision 151010 To use a line from an existing map select one from the dropdown list in the Get Position From box The button can be used to select a directory where the maps are kept The position and heading of an RT can be used to define a line In the Set start line at RT s position section set the length of the start line and then click the Fix here button It is also possible to enter the latitude and longitude for the left and right ends by directly entering the latitude and longitude in the relevant sections User defined conditions can also be created by selecting the Add new condition button and choosing a channel The condition will be triggered when the channel rises above or falls below the entered value or when it is over o
113. rvey on the accuracy have been used to set some rules of the Clean Up Line tool We would recommend using a point spacing of 1 m or 2 m but the Clean Up Line tool will accept points with a separation down to 0 5 m For straight lines the acceleration becomes unacceptably noisy when the angle between the points exceeds about 0 5 degrees However this is not acceptable as a limit since a 10 m radius bend with a point separation of 1 m has a 5 7 degree angle between the lines The limit therefore for the Clean Up Line tool has been set at 5 7 degrees Revision 151010 137 Mt Kertial GPS Line map and feature point file format descriptions The line map and feature point files are stored in text format It is possible to generate either file using different software A brief description of the file formats is provided here Line file format The line file store each point used to mark the straight line segments during the line survey The file is stored in CSV format and always uses the English number system full stop for the decimal separator and comma for the list separator Each line represents one point The fields in the file are listed in Table 60 Table 60 Line file format Field Name Description l Latitude Latitude of the point in decimal degrees 2 Longitude Longitude of the point in decimal degrees 3 Altitude Altitude of the point 4 Heading Heading of the line at this point gt North stdev Estimated accuracy
114. s Survey Trolley Assembly The Survey Trolley is shipped partially assembled Figure 12 is an exploded view showing how to assemble the survey trolley Table 3 lists the numbered parts Revision 151010 Ey Nu inertial GPS Figure 12 Survey Trolley assembly 11 8 7 10 146 B 2 Survey Trolley installation The survey trolley has been designed to carry the RT a battery and a laptop computer The GPS antenna on the survey trolley is sufficiently high so that there will be minimal interference from the operator The position measurements are displaced to the front Ey Oxford Technical Solutions RT Range User Manual y D T5 Inertial GPS right wheel so that this wheel can be pushed along the road markings The displacement will be accurate even when the survey trolley is at a significant angle e g on a road with a large camber The RT should be set up on the survey trolley facing the rear and clamped down securely so it cannot move The installation on the survey trolley is shown in Figure 13 Figure 13 Survey Trolley installation An iron plate is provided to hold the magnetic antenna for the radio modem The connections for the RT on the survey trolley are the same as those on a vehicle and are shown in Figure 14 If a trigger switch is being used then it should be connected to J5 of the RT A trigger event can be made by shorting the Event Input pin on J5 of
115. s bobgriDocuments OXAT oad Real Time Use this option to configure and e Display download maps to RT Range and see Spray Real Time results 7 Post Use this option to reprocess the NCOM I 3 files from Hunter or Target to extract the Processing Range or Lane measurements RTCommunicationPC dll Version 15 06 26 0 14bb PostProcessing dll Version 15 09 19 0 14bg Please click here to start the Line Survey Wizard 151001 14bd Lane Survey The Lane Survey Wizard is used to survey the lane markings on the road Several lines are used to generate a map Each line file has an RTRL extension and consist of GPS information such as latitude longitude altitude number of satellites and measurement accuracy The main window of the Lane Survey Wizard will show Ey Oxford Technical Solutions RT Range User Manual XTS Inertial GPS the position and orientation of added points It also updates the current position and orientation in real time using the measurements from the RT Map Creation The Map Creation Wizard creates maps using the line files that have been recorded using the Lane Survey Wizard This wizard gives the flexibility of adding new points to a line deleting points from a line or changing the position of the point on the map using the mouse Lines added to the map can be deleted from the map and the order of points in the line can be reversed so that surveys conducted in reverse make sense A map file may contai
116. s curvature of Point A Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 30 Lines1To4Curvature curvature of Lines 1 to 4 Identifier 7A Ah 1962 Description 0 16 S 1 m 0 0001 0 LinelCurvature Curvature of Line 1 16 16 S 1 m 0 0001 0 Line2Curvature Curvature of Line 2 32 16 S 1 m 0 0001 0 Line3Curvature Curvature of Line 3 48 16 S 1 m 0 0001 0 Line4Curvature Curvature of Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative 116 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 31 Lines5To8Curvature curvature of lines 5 to 8 identifier 7A Bh 1963 Description 0 16 S 1 m 0 0001 0 Line5Curvature Curvature of Line 5 16 16 S 1 m 0 0001 0 Line6Curvature Curvature of Line 6 32 16 S 1 m 0 0001 0 Line7Curvature Curvature of Line 7 48 16 S 1 m 0 0001 0 Line8 Curvature Curvature of Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 32 Lines1T04PosLateralB lines 1 to 4 to Point B identifier 7A Ch 1964 Description 0 16 S m 0 001 0 LinelPosLateralB Distance from Point B to Line 1 16 16 S m 0 001 0 Line2PosLateralB Distance from Point B to Line 2 32 16 S m 0 001 0 Line3PosLateralB Distance from Point B to Line 3 48 16 S m 0 001 0 Line4PosLater
117. s distance Consider the Line in Figure 97 In this example the vehicle is driving on the outside of the bend There are sections that the vehicle has to travel but there is no distance moved along the bend This leads to jumps in the distance output Figure 97 Discontinuous distance at the points 22m Line an Hunter Path o D 21m a a nee na aS a l NO MN M MN MN M Q _ on 3 2 3 In normal circumstances this is not a problem Distance is normally only used as an indication of track position and it is not normally critical to the plotting of the graph Also the jumps are much smaller than the ones shown here The lateral distance from the line is also discontinuous for the same reason It should be noted that the jumps increase as you get tighter bends and as you get further away from the reference line Line 1 Co ordinates for measurements with respect to the Lines There are two co ordinate frames that are possible for the distance to the line measurement One is perpendicular to the hunter vehicle and the other is perpendicular to the line The RT Range measures the distance that is perpendicular to the line as shown in Figure 98 134 Oxford Technical Solutions RT Range User Manual SIXT S Inertial GPs Figure 98 Co ordinate system for the line measurements Vf Velocity along the Line Acceleration on curves There are two terms for the acceleration of th
118. s output on the CAN bus and can be viewed in the Real time Display The ID should be unique in the file but it does not need to be sequential It is an integer number from 1 to 65530 Latitude This is the WGS84 latitude of the feature point in decimal degrees It will need at least 7 decimal places approximately 1 cm in order to be accurate enough This is the WGS84 longitude of the feature point in decimal degrees It will need at least 7 decimal places approximately 1 cm in order to be accurate enough Longitude Altitude This is the altitude of the feature point in metres It is measured in the same reference system as the RT either geoidal or ellipsoidal Heading This is the heading of the feature point which is currently not used This is a category of the feature point that allows the user to identify what the feature point is For example a 50 km h speed limit sign could be assigned a type of 4 making it easier to identify when this type of sign is in view OxTS does not have a classification of feature points and it is up to each application to categorise them This field is an integer number from 1 to 250 Type Reserved This field is reserved and it should be set to 0 This is a text description of the feature point It is not used by the software and it is provided for the user s benefit It can contain any valid alpha numeric characters including spaces but it cannot contain a comma Description
119. sEyeLeverArm Lever arm from the RT to the bulls eye point identifiers 5B4h 1460 5C4h 1476 5D4h 1492 SE4h 1508 Description 0 16 I m 0 001 0 RangeBullsEyeLeverArmX Lever arm from the RT to the bulls eye point in the x direction 16 16 I m 0 001 0 RangeBullsEyeLeverArmY Lever arm from the RT to the bulls eye point in the y direction 32 16 I m 0 001 0 RangeBullsEyeLeverArmZ Lever arm from the RT to the bulls eye point in the z direction Table 54 RangeVehicle User parameters about the target vehicle identifiers SB5h 1461 5C5h 1477 5D5h 1493 5E5h 1509 Description 0 16 U m 0 001 0 RangeTargetVehicleLength User entered vehicle length 16 16 U m 0 001 0 RangeTargetVehicleWidth User entered vehicle width 32 16 U RangeTargetPolygonNumber User entered polygon number Revision 151010 125 Ww Rertial GPS Table 55 RangePosStdev Standard deviation of the range measurements identifiers 5B6h 1462 5C6h 1478 5D6h 1494 5E6h 1510 Description 0 16 U m 0 001 0 RangePosForwardStdev Standard deviation of the range in the longitudinal direction 16 16 U m 0 001 0 RangePosLateralStdev Standard deviation of the range in the lateral direction 32 16 U m 0 001 0 RangePosDownStdev Standard deviation of the range in the vertical direction 48 16 U m 0 001 0 RangePosMagStdev This is the standard deviation of the resultant range measurement It may be less
120. same IP address The RT Range can then configure each of the targets separately even though they are using the information from the same RT Lane Measurements The RT Range calculates lane position measurements from three different locations on the vehicle These locations are configured relative to the RT output Figure 63 shows the typical positions on the vehicle where the lane position measurements are made cs Oxford Technical Solutions RT Range User Manual 4 D TS Inertial GPS Figure 63 Typical positions for points ABC on a vehicle Lane measurement points A B and C are defined relative to RT Point A is used to determine using Car Lane Measurement N which lane the vehicle is in Configuration Page B RT3002 a ie Ye Se T is ri a a eo i z Lane measurement amp Ly eer Figure 64 shows the page in the RT Range Configuration Wizard that configures points A B and C Revision 151010 EJ lt u Inertial GPS Figure 64 Car Lane Measurements in the RT Range Configuration Wizard RT Range Configuration Wizard O x Car Lane Measurements Set measurements of hunter car points A B and C Point A middle Forward v 10 RT Range Read Configuration Hunter Targets Setup Range Measurements Options Commit Save Finish The measurements are from th
121. se options behave in the same way as the RT Range Configuration wizard The Advanced option can be used to manually enter commands to configure RT Range Post Processing Contact OxTS for further information Select Fields The fields in the CSV file can be selected individually If only some fields are needed then this can significantly reduce the size of the CSV file To select which fields should be output check or uncheck the fields as shown in Figure 87 104 Oxford Technical Solutions RT Range User Manual d MXTS Figure 87 Select Fields in the RT Range Post Processing Wizard G RT Range Post Processing Wizard RT Range Select Data Source Read Configuration Lane Tracking Mode Target Files Setup Lane Measurements Range Measurements Options Output Config Output Files Finish Page Confidenthy Accurately Output Config Set Fields Choose the fields you want to output file RT Range Hunter Target Target Target Target4 General Lane Rangel Range2 Range3 Ranged Date Time Time From Start HunterPosLocal X Y HunterAngle Heading HunterfaPSPosMode HunterVel Forward Lateral Clear All 151007 14bd The Output Config page of the RT Range Post Process Wizard allows you to set the conditions for writing the output file and some of the units for the measurements Figure 88 shows the Output Configuration page Revision 151010 105 W Fertial Ges Figure 88 Output Config options
122. sed to show where more information continues There would be six lines in this file only two are shown here Header fields The fields in the header are shown in Table 61 Table 61 Map file header fields Field Description Map number This is the map number that will be transmitted over the CAN bus and on RCOM It is an integer number from 0 to 255 Origin The origin is used by the Map Creation wizard for plotting the points It is a value of latitude longitude and altitude near the lines Start line This field describes the start line points The sub fields are Left point latitude in decimal degrees Left point longitude in decimal degrees Right point latitude in decimal degrees Right point longitude in decimal degrees Filename of the line file that contains the centre of the start line Point number of the point in the line file that is the centre of the start line Width of the start line in metres Note that the start line is directional and the RT Range will only start line tracking if the vehicle crosses the start line in the correct direction Number of lines Tells the software how many lines are included in this file Revision 151010 139 Ww Rertial GPS Line fields Each line in the map file has its own header This holds the line number the filename used to create the line and the number of points in the line This is followed by the line data points Table 62 shows the fields for the line in the map f
123. set option in which case the original local co ordinates will be restored when the RT Range is reset To change the configuration choose the Commit this setting to the RT Range so it remembers after next reset option in which case the new local co ordinates will be saved and the old ones will be overwritten cE Oxford Technical Solutions RT Range User Manual XTS Inertial GPS Using RT Range Quick Config you can transfer the local co ordinate settings of any RT on the network to the RT Range This synchronises the local co ordinates used by that RT and the RT Range In the dropdown list select the RT whose local co ordinates you want to copy and click Copy this will copy them from the RT to the group box below If you know the local co ordinates already you can type them in to the edit boxes directly If the copy button is disabled then there is no data from the selected RT or the local co ordinates are not enabled on that RT Press Apply or OK to send the local co ordinates to the RT Range Advanced The Advanced window is used to send commands to the RT Range It is used for testing the RT Range or when you have been specially directed to use it You can reset the RT Range through this window File Selection menu The map file define the positions of the lanes for the lane position measurements The RT Range hardware will save and use the last map file that was downloaded even after power up Download Map F
124. setLateral Value added to the lateral range before it is output Note The range offsets are used to make minor adjustments to the range measurements Table 50 RangeFixedPointLL Latitude and longitude of fixed points identifiers SB1h 1457 5C1h 1473 5D1h 1489 SEth 1505 Description 0 32 I degrees le 7 0 RangeFixedPointLat Latitude of the fixed point a2 a2 I degrees le 7 0 RangeFixedPointLon Longitude of the fixed point Note These outputs have a resolution of about 1 cm which may not be precise enough for all applications Internally the RT Range has more resolution Table 51 RangeFixedPointHH Altitude and heading of fixed points identifiers 5B2h 1458 5C2h 1474 5D2h 1490 SE2h 1506 Description 0 32 I m 0 001 0 RangeFixedPointAlt Altitude of the fixed point 32 16 U degrees 0 01 0 RangeFixedPointHea Heading of the fixed point 124 Oxford Technical Solutions RT Range User Manual Inertial GPS Table 52 RangeSensorLeverArm Lever arm from the RT to the sensor point identifiers 5B3h 1459 5C3h 1475 5SD3h 1491 SE3h 1507 Description 0 16 I m 0 001 0 RangeSensorLeverArmX Lever arm from the RT to the sensor point in the x direction 16 16 I m 0 001 0 RangeSensorLeverArmY Lever arm from the RT to the sensor point in the y direction 32 16 I m 0 001 0 RangeSensorLeverArmZ Lever arm from the RT to the sensor point in the z direction Table 53 RangeBull
125. stance measurements which is useful for repeatability in Adaptive Cruise Control ACC tests Other Advanced Driver Assistance System ADAS tests also benefit from having the ABD robot triggered by distance measurements The ABD robot software can also acquire measurements from the RT Range and merge it with robot data RT Backpack for pedestrians The RT Backpack is designed to work with the RT Range It is a target system in a backpack that can be carried by a pedestrian The RT Backpack transmits all the signals to the hunter vehicle in the same way as vehicle based mobile target The RT Backpack is designed to be used with the RT2000 RT3000 or RT4000 products which are fitted in to the RT Backpack Outputs The RT Range outputs its data over Ethernet and over CAN bus in real time The Ethernet values can be picked up by the RT Range software and displayed on a PC 10 Oxford Technical Solutions RT Range User Manual MIXTS Inertial GPS Target CAN The navigation CAN messages from target vehicles are output by the RT Range Hunter This allows the acquisition system in the hunter vehicle to collect all of the measurements from the hunter vehicle and the target vehicles together Note that the CAN bus will be overloaded if all the messages from all of the vehicles are put on the CAN bus at one time The RT Range software can select the CAN messages and the data rates for all the messages that are put on to the bus R
126. t have been added On the right is the spreadsheet viewer showing numerical values for the points in the lines that have been added Each line is shown in a tab The tab contains a spreadsheet view of the line s measurements such as latitude longitude altitude and heading Figure 31 Main screen of the Map Creation Wizard GG FT Rarge Map Creion Wand Einn Maplin g Oe eT Peer re ind Lise el iss real ina el LAT LON ALT 2 Cy pee DOIM eet Soi I oor n5 GANIAETT 0 MA TSAT Ji mk SMO le KiNG SuoIS4E LAGE LLL ete ee eee SARA JJA L ILHAME HAR Guh SLA QMIS OLEA PIPARI AMAA p ILHA LR GLH SMD Lai i TILAAN JII LF IHE Ep ge eer Lay ag IH JAA LA Anki LERT OLH DLHE MEIEL ILE LHRH Ley LOL TIAI JAREN Gi aed MRAP idi i a PAA dda 1a ae bda A i ALHArHSI 1 igi TPE JMA SLI 124e LARS PES Ha Giaa ALHS Lih OU TLL JMEN eo LM ae LiL LS LE iLi THIN ABH OL PLADI JMP LE ALHSLTH Lae ee FLD Hai Gii TEAINEM JJA TF ee iuh ALH HH LTTE Les TT Lae La TIARI STL PR Ty ALH HAJI loi TMG 1NSGITE KLIF SoM e Mihi CPR Me eee re SLHMM qH eA TG MS GIF Sue LHR k SS LSS SL SL JHJ JA p a e oO JT LD Sunde ib ae ee METS LN Te ILIES HGA TR lat DA ALHAJI LHT ET Janno VNI E d TSIS hii ei Revision 151010 ar W Rertial GPS Add Line Options The Add Line Options menu allows the user to add additional line files to the map Figure 32 shows the A
127. t vehicle can be reliably detected Occlusion of the target vehicle for example by pedestrians and the like can be reliably detected and displayed Introduction to the Ibeo Feature Fusion System The Ibeo Feature Fusion is a Lidar based system It fuses between 2 and 6 sensors mounted on the vehicle With 6 sensors a 360 degree view around the vehicle is possible The Feature Fusion System provides data such as e Raw distance data for each scan point containing o position of the scan point o width i e duration of the echo pulse o scan layer and echo number multi target capability e Objects o position of the object o object tracking o size and orientation o velocity o Classification car bike truck pedestrian unknown big unknown small Benefits of adding the Ibeo Feature Fusion System to the RT Range system The key features of adding the Ibeo Feature Fusion System are Revision 151010 143 Mt Kertial GPS 1 Ibeo with RT Range integration permits visualization of RT Range data with Ibeo Laser View ILV a very sophisticated visualization and playback tool ILV is described in greater detail in the next section 2 Providing information about the environment and all other vehicles This allows data recording on public roads not only empty test tracks 3 Automatic calculation of visibility and occlusion of all target vehicles from the point of view of both the laser scanners and a configurable D
128. than the other three accuracies particularly when the target is offset by a 45 degree angle EE Note these accuracy estimates use the accuracy estimates of the RT and take into account the position and orientation effects Table 56 RangeFeatPointLL Latitude and longitude of feature points identifiers 5B7h 1463 5C7h 1479 5D7h 1495 SE7h 1511 Description 0 32 I degrees le 7 0 RangeFeatPointLat Latitude of the feature point 32 32 I degrees le 7 0 RangeFeatPointLon Longitude of the feature point Note These outputs have a resolution of about 1 cm which may not be precise enough for all applications Internally the RT Range has more resolution Table 57 RangeFeatPointHH Altitude and heading of feature points identifiers SB8h 1464 5C8h 1480 5D8h 1496 SE8h 1512 Description 0 32 I m 0 001 0 RangeFeatPointAlt Altitude of the feature point 32 16 U degrees 0 01 0 RangeFeatPointHea Heading of the feature point 126 Oxford Technical Solutions RT Range User Manual MOXTS Inertial GPS Calculation details Although in an overview the problem of computing the range or tracking the line seems trivial there are some aspects of the physics that require some explanation There are different interpretations on range 2D or 3D for example This can lead to differences in the measurements between the RT Range and the outputs of other sensors These are not necessarily errors they are diff
129. the 14C0038A User Cable to ground The trigger event can be used to place a point in the line file for the map A switch is provided with the survey trolley with a pre wired connector that fits on J5 Revision 151010 ER Ww nertial GPS Figure 14 Connection diagram for the RT on the Survey Trolley tO JS ae to switch Ethernet z to PC z e 14C0038A Ce 1 tO TAN F ee ee Note The connection is shown here with the SATEL radio option The Freewave and other radio options are similar The RT will need to be configured correctly for use on the Survey Trolley Table 11 lists the critical configuration parameters that should be used with the Survey Trolley Other parameters can be left at the default values Table 11 RT Configuration on the Survey Trolley Parameter Setting Orientation Default settings y axis right z axis down Primary Antenna Behind 0 230 left 0 075 above 1 520 overall accuracy 0 01 Dual Antenna No Initialisation Speed 1 m s Displace Output Ahead 0 125 right 0 105 below 0 095 This configuration sets the measurement point for the survey at the centre of the wheel contact patch for the front right wheel of the survey trolley It 1s normally easier to survey using a wheel as a marker rather than a point on the survey trolley A suitable configuration for the Survey Trolley is installed in the folder C Program Files x86
130. the RT Range Post Processing wizard Revision 151010 107 inertial GPs Figure 90 Finish Page in the RT Range Post Processing Wizard RT Range Post Processing Wizard Finish Tae Range Launch Windows Explorer Select Data Source Read Configuration You have successtully processed Lane Tracking Mode Target Files Setup Lane Measurements Range Measurements _ Launch explorer on completion k7 Open CSV file Options Select Fields Output Config Output Files Confidenthy Accurately 151007 14bd 108 Oxford Technical Solutions RT Range User Manual l XTS Inertial GPs Outputs The RT Range outputs its data over Ethernet and over CAN The Ethernet output is proprietary and is not described here contact OxTS for more information The CAN bus output is described in this section of the manual A CAN DBC file is generated by the RT Range Configuration wizard in the CAN page This DBC file reflects the configuration of the CAN bus that the user chooses The CAN bus output does not include a termination resistor It is essential to include a 120 Q resistor at each end of your CAN bus between CAN High and CAN Low You should also connect the ground of your CAN bus Table 17 shows the pin connections for the Hunter CAN connector Table 17 Hunter CAN connector pin assignments Signal CAN 2 CAN ground 3 CAN ground 6 CAN 7 Other pins not connected internally CAN bus messages
131. the target is configured as a bulls eye then range measurements are calculated from a single vertex on the hunter s polygon or a linear point between two vertices and the target s bulls eye If the hunter and target are both configured as polygons then range measurements reflect the shortest distance between each polygon perimeter If one of the targets has been setup as a feature point an additional tool allows a field of view to be setup Feature points become active only when they fall within the defined field of view This does not affect how feature point measurements are made it only affects when they are made Revision 151010 a lt u Inertial GPS Figure 66 Range Measurements Hunter tab RT Range Configuration Wizard O x Car Range Measurements Set measurements of Range Sensor S inertial GPS arter PRE RSNET EE Use Polygon 0 Configure RT Ra nge RT to sensor position Forward v Right v Read Configuration Up v Hunter Targets Setup Lane Measurements Options Commit SavefFinish Note the number of Target tabs reflects the number of targets that have been defined on the Hunter Targets Setup page Figure 66 shows the Hunter configuration tab including the Field of view By default the hunter is defined as a sensor The position of that sensor relative to the RT in the hunter is defined using the controls in the RT
132. then the field will be FFh Table 27 Lines1To4VelLateralA lines 1 to 4 to Point A velocity identifier 7A7h 1959 Description 0 16 S m s 0 01 0 LinelVelLateralA Velocity from Point A to Line 1 16 16 S m s 0 01 0 Line2VelLateralA Velocity from Point A to Line 2 32 16 S m s 0 01 0 Line3VelLateralA Velocity from Point A to Line 3 48 16 S m s 0 01 0 Line4VelLateralA Velocity from Point A to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Revision 151010 ns Ww Rertial GPS Table 28 LinesSTo8VelLateralA lines 5 to 8 to Point A velocity identifier 7A8h 1960 Description 0 16 S m s 0 01 0 LineSVelLateralA Velocity from Point A to Line 5 16 16 S m s 0 01 0 Line6VelLateralA Velocity from Point A to Line 6 32 16 S m s 0 01 0 Line7VelLateralA Velocity from Point A to Line 7 48 16 S m s 0 01 0 Line8VelLateralA Velocity from Point A to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 29 TrajectoryOfA heading of A relative to surrounding lines and curvature of A Identifiers 7A9h 1961 Description 0 16 S degrees 0 01 0 LeftLineHeadingOfA Heading with respect to the line to the left of Point A 16 16 S degrees 0 01 0 RightLineHeadingOfA Heading with respect to the line to the right of Point A 32 16 S 1 m 0 0001 0 CurvatureOfA Instantaneou
133. time of nsing edge Camera output nano time Latitude Longitude Description Time of last tigger 1 falling edge Time of last trigger 1 rising edge Camera output distance output time Time of last trigger 2 falling edge NAW only Time of last trigger 2 rising edge cNAV only Camera 2 output time NAV only Update count of tigger 1 falling edge Update count of tigger 1 rising edge Update count of tigger 1 transition Camera output distance output update count Update count of tigger 2 falling edge NAV onb Update count of tigger 2 ising edge NAV anh Update count of tigger 2 transition amp NAV only Camera output update count amp NAV orby Curent UTC offset Level after trigger 1 transition Level after trigger 2 transition amp MAV only Local time yyyy mmdd hhomm ss 000 Time of last trigger 1 falling edge nano Time of last tigger 1 rising edge nano Camera output distance output nano time Time of last trigger 2 falling edge nano NAW only Time of last trigger 2 ising edge nano amp NAV only Camera output nano time NAW only To select each measurement click the check box to mark it ready for adding to the Configure Display window To find a measurement enter your search phrase in the Find text box at the top of the dialog box window As you enter the search phrase the Add measurements tool will automatically search through all the available measurements by measurement and description The s
134. tion can be used to save the correct DBC file for this configuration this applies to both when the normal or advanced settings are used When advanced settings are selected the Range Lane and Target pages are accessible as shown in Figure 71 These pages control how the Range Lane and Target CAN messages are output The identifiers and data rates can be controlled If fewer targets are configured on the Hunter Target Setup page then fewer Range and Target pages will be visible It is very easy to overload the CAN bus using the RT Range The CAN bus is not fast enough to communicate all the range lane and target messages The number of messages that have been configured is shown on the General tab An advisory limit for the current CAN bus is also shown however the limit may be far less than this if there Revision 151010 er lt u Inertial GPS are many other sensors on the CAN bus Typically ADAS testing has many other sensors so take care not to overload the bus Figure 71 Range Messages 3 CAN Message Configuration L es General Rangel Rangel Status Range Range Status Range3 Range Status Ranged Range Messages Identifier Data Rate Range Lat 0 B1h 1Q0Hz Range Resultant nable 07B2h 100Hz RangeHunterFosLocal nable 07B3h 100Hz Range TargetFosLocal nable 07B 4h 100Hz Range Status able 07B5h 100Hz Range limetap Disable 07B6h 100Hz RangeLocal Disable 07B7h 100Hz Range Folygon Disable 07B8h 100Hz RangeFea
135. tion can lead to small errors during acceleration transients jerks The prediction has no error when the acceleration is constant Revision 151010 oo To avoid or reduce the problems of jerk the range output of the RT Range can be delayed This delay allows the communication link s to transmit the data and therefore no prediction is required The delay is constant and is chosen by the user If the communication link s still have not transmitted the data when the output is scheduled then the target vehicle s measurements will be predicted though by a smaller amount than a zero latency system would use The delay in the outputs is set using the Range Latency option This setting has no effect on the lane position measurement The lane position measurements will always be output in real time with no delay ABD Robot Setup If the RT Range is being used to output data to an ABD steering robot then it will need to be configured so that the correct information is sent to the robot Figure 76 shows the ABD Robot Setup dialog box Figure 76 ABD Robot Setup dialog box ABD Robot Setup _ Enable output to ABD robot IP address of robot controller Select target RT unit IP Address The standard IP address for the ABD steering robot is 195 0 0 100 The robot is able to trigger tests based on one target For example it can trigger a test when target 3 is within 30 m of the hunter vehicle Choose which target measurements should b
136. tion is running and has the port open then the error message in Figure 16 will be shown For the RT Range software to operate correctly the other application will have to be closed OxTS has a utility that can be installed on a computer so that the data from each RT can be shared Contact OxTS support in order to use this utility Revision 151010 EJ W ertial Ges Figure 16 Connection error message Connection Error NAVconfig is running Could not open the port for RT Range Please close the application NAVconfig before running Line Survey Wizard Anti virus software Many anti virus or firewall programs will block the ports and they give no indication that they are blocking the ports If you are not receiving data from the RT or RT Range systems then the most likely problem is any anti virus software In large companies the anti virus software is hidden and the users do not even know it is there It is very hard to debug such systems The first time some OxTS applications are run a firewall warning message similar to that shown in Figure 17 may be triggered This is because the program is attempting to listen for and communicate with OxTS devices on the network The firewall must be configured to allow each program to talk on the network or programs will not work as intended 36 Oxford Technical Solutions RT Range User Manual AOXTS Inertial 6P5 Figure 17 Windows Firewall warning message iP Wind
137. tions RT Range User Manual MIX TS WW RHertial GPS Figure 7 Wiring diagram for RT Range S Hunter vehicle RT Range S Hunter RT XLAN 2 ha E 110 00274 301 Vom eAT RANGE 5 a lt N oO S PoE Ethernet x and M12 power O i gt p J4 CAN Power in J6 Ethernet shel CAN HEMIJA Hower M12 connection Where an RT2500 or RT2002 is used the wiring is the same as above except that the J6 Ethernet in the 14C0038A user cable is replaced with a straight Ethernet patch cable and is connected directly to front panel of the RT2000 along with the 14C140A power cable A switch or trigger can be connected to J5 and used to trigger logging in the RT Range PC software If the Ethernet cable on the RT user cable is too short then it can be extended The RT XLAN is connected to the RT Range S Hunter using the Power over Ethernet PoE cable 110 00274 301 provided with the RT XLAN It is important that only this cable is used or there may be problems powering up the RT XLAN Target vehicle wiring The wiring diagram for the target vehicle is shown in Figure 8 Revision 151010 EJ W Rertial GPS Figure 8 Wiring diagram for RT Range S Target vehicle RT Range S Target gt lt RT3000 z nt z S s 3 Le a co lt L gt PoE Ethernet a S and M12 power D J5 N 9 J2 t gt J4 CAN Power in J6 Ethernet Ethernet to 14C140A Power TC re PC Display Whe
138. tlnfo Disable 0 B9Sh 100Hz Select All Save DBC File On the Range tab all the settings for the range output messages are listed The message can be enabled or disabled the identifier can be changed and the data rate can be set To adjust the options double click on the message that you want to change Figure 72 shows the Edit Message dialog box Figure 72 Edit Message Edit Message RangeForward Check Enable in Identifier in Hex 0780h Data Rate 100 Hz Identifier in Decimal lt lt Previous Msg Next Msg gt gt L_ Copy Previous le l a a a a Note please exercise caution when using the Copy Previous function If each message is copied incorrectly it may the stop CAN output from working correctly Oxford Technical Solutions RT Range User Manual Inertial GPS Using the Edit Message dialog box you can advance through the messages in the list quickly by clicking on lt lt Previous Msg or Next Msg gt gt If you wish to copy the previous or next message from the list into the currently selected field you must first select the Copy Previous box you can then advance through the list changing each message previous or next as you go This is a quick way to edit all the messages in sequence but care must be taken to do so accurately Figure 73 shows the target navigation messages which can be configured in the same way as the range messages Figure 74 shows th
139. umn Revision 151010 EJ Mm ertial ces Figure 69 Options in the RT Range Configuration Wizard RT Range Configuration Wizard Options A Options to improve performance S a Options Inertial GPS CAN RT Ra n g a Local Co ordinates Range latency ABD Robot output Read Configuration Range acceleration filter Hunter Targets Setup Longitudinal Range Offset of Target1 Lane Measurements Lateral Range Offset of Target Range Measurements Longitudinal Range Offset of Target2 Commit Lateral Range Offset of Target2 Save Finish Pease CAN The CAN option sets the CAN baud rate for the RT Range or disables the CAN bus output The CAN setting must match the CAN setting for the bus that you are connecting to 86 Oxford Technical Solutions RT Range User Manual d IX TS Inertial GPSs Figure 70 CAN Message Configuration E CAN Message Configuration L ei General Rangel Rangel Status Range Range Status Range3 Range3 Status Range CAN Baud Rate 500 KBaud Use advanced settings Analysis of CAN bus loading Number of CAN messages per seconds Suggested maximum messages per seconds Save DBC File When advanced settings are not used the CAN bus will output a default set of CAN identifiers As there are now so many potential CAN messages it is almost always essential to use advanced settings and choose the messages that are needed The Save DBC File op
140. ure yr Points hunter rcom hunter csv RT Range Post process Used to combine ncom files map files and fixed point files Once all the NCOM files are available the RT Range Post Process software can be used to combine them together The settings can be changed one of the target vehicles can be used as the hunter so that measurements in the reference frame of the target vehicle can be obtained different maps and fixed points can be selected The RT Range Post process software outputs an RCOM file just like the file logged by the Real time Display It can export this RCOM file to CSV format so that it can be loaded in to Excel Matlab or other software packages The RT Range Post Processing wizard can also be used to convert captured RCOM files and turn them in to CSV format When an RCOM file is selected then the wizard will jump directly to the Select Fields page Select Data Source To reprocess the data using RT Range Post process it is essential to have an NCOM file from the hunter vehicle Figure 82 shows the screen for selecting the NCOM file from the hunter vehicle If an RCOM file is available then it can be exported to CSV format but the parameters used for processing the data cannot be changed Revision 151010 Ey mi Fertial GPs Figure 82 Hunter NCOM file selection in the RT Range Post Processing Wizard G RT Range Post Processing Wizard Select Data Source Tae Range Select NCOM file from Hunt
141. ve lane marking The error gets larger as the points get further apart and as the curve gets tighter The small angle approximation for the maximum error is 8 R where d is the distance between the points and R is the radius of the curve Table 59 shows the error for a 1 m distance between survey points on curves with different radii Table 59 Curve fitting error for 1 m point separation Curvature Maximum Error 10m 1 25 cm 50 m 0 25 cm 100 m 0 125 cm Unless your survey includes some curves that are tighter than 10 m radius then there is little point in surveying points with a separation less than 1 m 136 Oxford Technical Solutions RT Range User Manual l XTS Inertial GPS The noise on the curvature depends on speed The faster you travel the noisier the acceleration becomes The instantaneous error in acceleration is BeN 2 d where e is the survey error V is the velocity of the hunter vehicle and d is the distance between the survey points For a 1 cm survey error on a vehicle travelling at 20 m s 72 km h and a distance between survey points of 1 m the instantaneous error in acceleration is 8 m s To make the acceleration acceptable a considerable amount of filtering will be required the survey will need to be more accurate than 1 cm or the separation will need to be more than 1 m Rules for the Clean Up Line tool in the Map Creation Wizard The points above relating to the effects of the su
142. ve to the new name Connection configuration using the NAVconnect window The RT Range software can connect display and log data from one RT Range system and multiple RT systems along with their associated CAN data where the CAN acquisition feature is enabled in the RT The RT Range RT and CAN display configuration can be changed at any time by double clicking the connection icon shown as a plug in Figure 52 at the bottom right corner of the Real Time display This will bring up the NAVconnect window and show a list of the RT Range and RT systems currently found on the network This 1s shown in Figure 53 Figure 52 Connection icon 151001 1 gt d ge Figure 53 Select IP real time addresses assign Tag id and Association tag 3 NAVconnect 0 x Enabled Tag id Association tag Address Product name Fimware id Serial number Connection lag Bytes receiv v Blue car Hunter1 192 168 1 50 RT Range 140501PP 29943924 iv White car Target1 w 10 106 1 6 RT2002 140801qp 1560 3205008 The Tag id and Association tag can be renamed to pass through a personalised name to the display To change which RT Range or which RTs the software 1s connected to and displaying they must first be enabled by checking the Enabled box alongside each device required in the list Associations and tags The Association tag and Tag id is used to pass identifiable information about the vehicle against the vehicle type hunter
143. will automatically increment the number when you come to survey the next line Connecting to the RT The Lane Survey Wizard will accept data from any RT system on the network The Lane Survey Wizard will work with multiple RTs on the network as long as the user applies the filter by selecting the relevant RT in the software This is done using the NAVconnect window Ey Oxford Technical Solutions RT Range User Manual d MOXTS Wt Fertial GPSs The NAVconnect window allows you to connect the relevant RT to the real time display It also has the ability to pass personalised Association tag and Tag id data onto the real time display item for personalised reference against each device The NAVconnect window is described in the Connection configuration using the NAVconnect window and Associations and tags section of this manual If you are using the hunter vehicle for a quick survey then you may have more than one RT on the network at a time To choose which RT is used for the line survey click on the connection icon in bottom right corner as shown in Figure 19 this will open the NAVconnect window Figure 19 Connection icon in the RT Range Line Survey status bar od e In the NAVconnect window Enable the RT that you want to use by identifying the device against the IP address then click Enabled as shown in Figure 20 Figure 20 IP addresses RT Range NAVconnect window 3 NAVconnect O x Enabled Tagid Ass
144. y added 40 Oxford Technical Solutions RT Range User Manual OxTs Inertial GPs Adjust Auto Add The Adjust Auto Add menu allows you to add points without interacting with the laptop This can be easier to use on a trolley in bright sunlight than the laptop mouse Figure 23 shows the options for the Auto Add Trigger Figure 23 Adjust trigger options of the Lane Survey Wizard Adjust Auto Add Trigger Setup C Add Point On Trigger Add Point Every m C Add Point Every 5 L Play Sound On Trigger OK Add Point On Trigger When this option is selected the Lane Survey Wizard will add a point when a trigger is sensed on the RT s Event Input Add Point Every distance When this option is selected the Lane Survey Wizard will add a point after the specified distance is travelled by the RT This is the most common option Add Point Every time When this option is selected the Lane Survey Wizard will add a point periodically such as once per second Play Sound On Trigger When this option is selected the Lane Survey Wizard will play a sound to indicate that a new point has been added This is useful since it is often hard to look at the computer while concentrating on the path of the trolley A dropdown list is provided so that the Auto Add Trigger can be turned on or off quickly When the option is Off then the Auto Add Trigger is disabled and points are not added automatically Finish option menu T

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