ibeo Lux Fusion

  • Interface Name

    ibeo-fusion-ecu

  • Supported Since

    V2.0.0-b.1

  • Sensor Communication Protocol

    Ethernet, CAN

  • PolySync Sensor Type

    160

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.7//articles/add-a-sensor-node/) in the SDF Configurator
    * Determine the IP address of the sensor, and copy the values into the nodes IO parameters section in the SDF Configurator
    * [Locate the CAN hardware and circuit identifiers](https://help.polysync.io/releases/2.0.7//articles/parse-can-hardware-and-circuit-identifiers), and copy the values into the nodes IO parameters section in the SDF Configurator (required)
    * [Run the Dynamic Driver interface](https://help.polysync.io/releases/2.0.7//articles/manually-starting-nodes/)

  • 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)

  • Input Message Types

    Input Message Type Input Message Note
    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 Message Type Output Message Note
    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

    Flag Description
    -h Show this help message [optional]
    -o Enable output of log messages to stdout (in addition to syslog) [optional]
    -w Disable the hardware interface(s), allowing the node to run without hardware connected [optional]
    -r SDF runtime configuration key that specifies the domain to operated under, the default domain is used otherwise [optional]
    -n SDF node configuration key for the node [required]
    -i Use provided PAL interface file instead of what is stored in the SDF [optional]
    -e Export a JSON support string describing the interface, used by the SDF configuration tool [optional]
    -t Perform a validation test on the Ibeo LUX Fusion ECU interface [optional]
  • Sensor Configuration Parameters

    Parameter ID Description Value Type Values Notes
    N/A N/A N/A N/A

    N/A

  • IO Configuration Parameters

    Parameter ID Description Value Type Values Notes
    501 Socket 0 Address 4 NULL
    500 Socket 0 Port Number 1 12002
    400 CAN Channel 0 Hardware Identifier 1 0
    401 CAN Channel 0 Circuit Identifier 1 0
  • Node Configuration Parameters

    Parameter ID Description Value Type Values Notes
    800 Active Coordinate Frame Identifier 1 4
    42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_ibeo_fusion_ecu_interface.so
    40 Executable File Path 4 /usr/local/polysync/bin/polysync-dynamic-driver