Dear Customers,

The PolySync Support Center is now just for submitting tickets to our support team. All articles and tutorials have been moved to the new PolySync Help Center and the content below will be removed shortly.

Thank you,
The PolySync Team

ibeo Lux Fusion

General

Interface name
  • ibeo-fusion-ecu
Interface file
  • libps_ibeo_fusion_ecu_interface.so
Supported Since
  • V2.0.0-b.1
OEM Hardware/Software/Firmware Version
  • 6.5.X (see attached CANParser.xml configuration file)
    • V6.5.7
    • V6.5.12
    • V6.5.15
Sensor Communication Protocol  
PolySync Sensor Type
  • 160
Driver Notes
  • A physical CAN interface is required to send motion data from PolySync to the Fusion ECU
  • Each Lux sensor needs to be manually configured with mount position and scanning frequency, see the Ibeo ILV User Manual
  • Ibeo Fusion ECU CANConfig.xml configuration file must be updated to properly receive CAN data from PolySync node
  • The Ibeo Fusion ECU provides a web interface to configure the system and view error/debug messages - you can access the web interface by entering the IP address of the ECU (default: 10.152.36.100)

(OEM) Sensor Description

  • Ability to fuse up to 6 sensors
  • Long detection range up to 200m/ 650ft
  • Multiple echo detection for excellent performance under all weather conditions
  • Embedded data (pre-)processing (ground and clutter classifications) 
  • Multiple layers for pitching compensation
  • Embedded object classification and tracking

Please read more here: http://www.autonomoustuff.com/ibeo-lux-fusion-system.html

PolySync Configuration

To fully configure the device we must enter the CAN hardware and circuit identifiers in the PolySync SDF.

Interface Requirements

Input Message Types

Input Msg Type
Notes
Native byte stream stored as ps_byte_stream_msg

Ethernet - TCP socket

Default IP: 10.152.36.100

Default port: 12002

Subscribes to 'ps_platform_motion_msg' when configured to provide sensor with platform motion data

When enabled:

  • provides sensor with valid vehicle speed
  • provides sensor with valid vehicle yaw-rate
  • provides sensor with SDF mount yaw angle
  • provides sensor with SDF mount Y offset (lateral offset)

Output Message Types

Output Msg Type
Notes
ps_lidar_point_msg Lidar points from all Lux devices configured on the ECU
ps_object_msg Device detected objects from all Lux devices configured on the ECU

Command Line Arguments

  1. -h show this help message [optional]
  2. -o enable output of log messages to stdout (in addition to syslog) [optional]
  3. -w disable the hardware interface(s), allowing the node to run without hardware connected [optional]
  4. -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
  5. -n SDF node configuration key for the node [required]
  6. -i use provided PAL interface file instead of what is stored in the SDF [optional]
  7. -e export a JSON support string describing the interface, used by the SDF configuration tool [optional]
  8. -t perform a validation test on the Ibeo LUX Fusion ECU interface [optional]

Events

Event ID
Event Description
Implemented (y/n)
Active When
Notes
N/A N/A

Parameters

Parameter ID
Description
Notes
800 Active Coordinate Frame Identifier  
810 Output Field of View Range  
501 Socket 0 Address  
500 Socket 0 Port Number  
400 CAN Channel 0 Hardware Identifier  
401 CAN Channel 0 Circuit Identifier  

Other resources

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