OCULII – EAGLE CAN FD USER MANUAL EDITION 0.6.1 September 2021 Oculii Corporation Copyright © 2021. All rights reserved 829 Space Drive, Beavercreek, Oh 45434, USA Phone: 937-829-0383 Email: info@oculii.com Website: www.oculii.com Table of Contents 1. Overview ..................................................................................................................................................
. Radar Technical Specs ........................................................................................................................... 5 3. Product ..................................................................................................................................................... 6 3.1 Version ....................................................................................................................................... 6 3.2 Field of View ..............................
8.1 Note and Scope of Responsibility ............................................................................................ 39 8.2 Operating Risk ......................................................................................................................... 39 8.3 Service .....................................................................................................................................
1. OVERVIEW Powered by Virtual Aperture Imaging, Oculii's EAGLE 77GHz Point Cloud Radars can deliver thousands of points per second, capturing all relevant environmental information. Oculii's radar point clouds perform in all weather conditions, and each point directly measures highly accurate doppler information, enabling immediate separation and efficient tracking of any moving targets. Virtual Aperture Imaging (VAI) is an array multiplier technique that can be used on any transceiver architecture.
Range Resolution 0.86m Range Accuracy 0.86m Azimuth Angle Range -900 to +900 Azimuth Angle Resolution 10 Azimuth Angle Accuracy 0.700 Elevation Angle Range -22.50 to 22.50 Elevation Angle Resolution 10 Elevation Angle Accuracy 0.1750 Max Speed Range -86.8m/s to +86.8m/s Speed Resolution 0.27 m/s Speed Accuracy 0.
3.2 Field of View 3.3 Application Examples The EAGLE is equipped both with a point cloud capable of outputting thousands of points per second, as well as an embedded tracker capable of simultaneously tracking up to 100 objects. This allows the EAGLE to be used for several applications, some of which are listed below: - Level 1-5 autonomous driving applications. Simultaneous Localization and Mapping (SLAM). Intelligent Transportation Systems (ITS).
3.4 What is in the Box? Eagle Sensor Power Source – 12V, 0.5/1.
3.5 Connection - Connection Instructions o Connect the Wiring harness to the Eagle sensor. o Connect the power source to the wiring harness. o Connect the CAN to USB converter to the wiring harness. o Connect the USB to a PC to read/visualize data.
- Pinout o The 10 pins connector is used to supply power (+12V, GND, PWR_EN) and communicate with the sensor using CAN (CAN_H, CAN_L, GND_CAN) and UART (UART_TX, UART_RX) interfaces. It is also enabled with a trigger (SYNC_IN) to support an external trigger functionality for the sensor as well as a Flash control pin (FLASH_CTL) which is used during firmware flashing.
3.6 Connection + Software Dependency Note: To run Oculii’s software with the Eagle Mini the user will be required to purchase a PCAN-USB CAN-FD interface (IPEH-002021). Oculii’s software has been developed with Peak System’s drivers. The drivers can be downloaded from the Peak Systems website. Link: https://www.peaksystem.com/PCAN-USB-FD.365.0.html?&L=1 For Multiple Sensor connection (up to 6 units) Oculii recommends purchasing a PCAN-USB X6 Hub (IPEH-004062) that can be found here: https://www.
3.7 Multiple Sensor Connection When more than one sensor is used (n sensors) in the installation the connection can be made as shown in the figure below which shows the connection for n=5. Instead of connecting the USB port of the sensor to the PC, it can be connected to a CAN bus hub, with one USB from the hub connected to the PC.
4. MECHANICAL DIMENSIONS & MOUNTING 4.1 Mechanical Dimension 4.2 Sensor Coordinate System The sensor coordinate system is defined in the image below. The sensor orientation is with a quarter inch screw hole in the bottom and the ethernet connector on the right-hand side of the sensor (seen from front). All the angular measurements input to the system should be between 0° and 360° 4.
The location mounting example includes a description for the horizontal and vertical position of the sensor location. i) At 0-degree vertical angular rotation (no upward or downward tilt) Horizontal Translation: Restriction is dependent on length of CAN cable. Note that the sensor data will be with respect to the sensor and not the vehicle center. Horizontal Rotation: Should be rotated less than 30 degrees in either direction from the intended location of maximum power. Vertical Translation: 0.3m - 3.
In the figure above the sensor is placed at a height and is tilted down in order to see a specified region (an over bridge traffic monitoring example). Similarly, by adjusting the height and the tilt angle, the EAGLE could be oriented for different applications requiring different intended regions of interest (examples include a small tilt upwards from the bumper to eliminate ground reflection, or a small tilt down when mounted on top of trucks to see objects close to the bus) .
- Low di-electric loss (for reduced transition damping of signal) Roughness less than lambda/10 (~400um) Below is a table of commonly used secondary surface materials Material Di-electric constant (ℇr) at 77Ghz Polypropylene 2.35 Polyamide 2.75 Polycarbonate 2.80 PC-PBT (Polycarbonate Type) 2.90 ABS (Acrylnitril-Butadien-Styrol) 3.12 PMMA (Poly Methyl Methacrylate) 3.40 ASA (Acrylonitrile Styrene Acrylate) 3.80 Note: Di-electric constant (permittivity) of materials differ among manufacturers.
iii) 2.75 1.18 Polycarbonate 2.80 1.17 PC-PBT (Polycarbonate Type) 2.90 1.15 ABS (Acrylnitril-ButadienStyrol) PMMA (Poly Methyl Methacrylate) ASA (Acrylonitrile Styrene Acrylate) 3.12 1.10 3.40 1.06 3.80 1.00 Distance - iv) Polyamide The distance between the radar sensor and the RADOME needs to be an integer multiple of lambda/2 which is ~1.95mm, thus n*1.95mm is acceptable. The distance should be large enough to avoid mechanical vibrations, mechanical interference, and mechanical stress.
Further, for metallic paint, more considerations will need to take place. The percentage of metal in the paint, the size of the metal particles in the paint and the thickness of the different layers of paint can all influence the attenuation of the radar and will need to be studied and kept within spec of the radar.
When mounting multiple sensors note that each sensor behaves like an individual unit with the data output with respect to the center of the sensor. Multiple orientations are possible if the above consideration is followed. Note the rotation and translation of the physical mounted sensors and adjust the radar data to the center of the vehicle as required. The figure below shows one installation scenario.
Track information. The Header is 48 Bytes and contains the Frame Number, Version Number, Number of Detection, Number of Tracks, Host Speed, Host Angle, and the accuracy values for Range, Doppler, Alpha and Beta. It also contains a few reserved fields for future use. Each detection information is packaged into 8 Bytes and each track is packaged into 32 Bytes. The footer is 32 bytes.
First Frame + Frame ID and Remaining Data Length are in the little-endian format and the remaining length means the data length remaining in one frame packet. The data is dynamic and thus the length needs to be read in between frames. Since the data packet is truncated in chunks of 64 bytes, a calculation would need to be done to determine the number of 64 chunks as well as the length of the last chunk of data.
Header Detection Tracks Footer : 384 bits (48 Bytes) : 64 bits (8 Bytes) * N : 256 bits (32 Bytes) * Nt : (32 Bytes) 21
5.3 Header and Footer Structure Magic Header Frame Number Version number NumDetections NumTracks Host Speed : 8 Bytes, [2 1 4 3 6 5 8 7] : 4 Bytes, uint32_t, frame number : 4 Bytes, uint32_t, Version number, uint32_t format: MMddhhmm : 2 Bytes, uint16_t, Number of Detection in the frame : 2 Bytes, uint16_t, Number of Tracks in the frame : 2 Bytes, int16_t, divide by 100 to get ego speed in m/s (e.g. 6453 = 64.53 m/s, e.g. -2456 = -24.
Doppler Accuracy Idx0 Azimuth Accuracy Idx0 Elevation Accuracy Idx0 DSP workload ARM workload Reserved : 2 Bytes, uint16_t, divide by 10000 to get value in m/s : 2 Bytes, uint16_t, divide by 10000 to get value in degree : 2 Bytes, uint16_t, divide by 10000 to get value in degree : 1 Byte, double : 1 Byte, double : 6 Bytes, variable data type.
degree. - Power: 16 bits, 2 bytes, uint16_t, 0 to 65535, Power value is in dB scale and represents the signal to noise ratio of the detection. Divide by 100 to decode power. (e.g. 208 = 2.08dB) - Flag: 1 bit, used for decoding. Source code provided in the SDK. If bit is 0: Use Index 0 accuracy values from the header to obtain range, doppler, alpha and beta. If bit is 1: Use Index 1 accuracy values from the header to obtain range, doppler, alpha and beta. - Reserved*: 7 bits.
5.5 Tracker Structure: - Track ID: 32 bits, 4 bytes, uint32_t, 0 to 4294967296 Track ID - Track XPos: 16 bits, 2 bytes, int16_t, -32768 to 32767, divide by 100 to get x in m (e.g. 6453 = 64.53 m, e.g.: -2456 = -24.56 m) - Track YPos: 16 bits, 2 bytes, int16_t, -32768 to 32767, divide by 100 to get y in m (e.g. 6453 = 64.53 m, e.g. -2456 = -24.56 m) - Track ZPos; 16 bits, 2 bytes, int16_t, -32768 to 32767, divide by 100 to get z in m (e.g. 12654 = 126.
o o o o o o - 0: Unknown Class 1: Pedestrian 2: Motorcycle/Bike 3: Vehicle and SUV 4: Bus and Truck 5: Background Track Class Confidence Score: 16 bits, 2 bytes, unit16_t, 80-99, assigns a confidence score for the classification made in Track Class – higher score corresponds to higher confidence 5.6: Radar Coordinate System Below is a diagram showing the radar coordinate system used in the Eagle CAN sensors.
6. WINDOWS VISUALIZER 6.1 Getting Started To run the Windows Visualizer, follow the steps below: Step 1: Plug the Flash Drive into your computer and copy the Oculii folder to your PC’s C drive. Step 2: Follow the path C:\Oculii\Visualizer under which you will find the OculiiWinView application file. Run the application file.
Step 4iii) Check all the Application programs OculiiWinView.exe in the list showing in the figure below. Step 5: Select “CAN-FD” on the Application menu. Step 6: Press the ‘Start Receive’ button after which you will be directed to sensor Mounting information pop-up window. Input the correct mounting information, if you want to run the enhanced point cloud, followed by ‘Ok’ button. ‘Cancel’ this step if you want to run the baseline point cloud.
Step 7: You should receive data which can be seen on the right-hand side of the visualizer. Note: Anytime the user wants to go back from Enhanced Point cloud to Baseline the user should press the ‘Skip’ button on the Config tab. Anytime the user wants to run Enhanced Point cloud from the Baseline mode the user should press the ‘Set’ button on the Config tab. Step 8: To change visualization scale - change the scale values under the SplitView section and then press “Load Scale”.
6.
i) Mounting Angle and Mounting Distance (deg): For multiple sensors connected please note the physical length (z), width (x) and height (y) from the user defined center. In the above diagram the center is defined to be at the same level of installation as the five sensors and at the center of the car. The coordinate axis to be used is defined in the figure as well.
visualizer, clockwise rotation is positive from 0 to 360 degrees. Note that these measurements should be with respect to the center that the user has fixed. The sensors individually always report data to the center of the sensor. In the figure above the sensors are installed at ground level and are perpendicular to the ground. The first sensor is at the center and the rest are at 45 degrees from the plane of the vehicle front and back. Thus, the pitch and roll would be 0.
(b) Show Tracks: iii) Checked: Tracker data is visualized. Unchecked: Tracker data is hidden. (c) Data Save: Checked: Data is saved while visualizer is running. Unchecked: Data is not saved while visualizer is running to preserve disc space. 3D View: Under the Feature section there is an option to view the data as a 3D point cloud. Check the box “3D” to proceed. The view on the right-hand side of the visualizer will change to 3D. Here is a list of commands that control the viewing of the 3D viewer.
iv) Heatmap Scale View: This field is for controlling the scale in the Data View. We have three parameters to control it. v) (a) SplitViewL Scale: This scale controls the left bitmap display. (b) SplitViewR Scale: This scale controls the right bitmap display. (c) Show Tracks: This button click allows for tracks to be displayed in their respective bitmaps.
(i) Peak Power: The Peak power varies from 0 to 100. It can be controlled to show the higher peak points on the display in Data View. There is a color pattern for each peak power range where colors on the red spectrum represent higher power, and on the violet spectrum represent lower power. This field depends on the power threshold filter entered below. (ii) Power Threshold Filter: The Power Threshold filter varies from 0 to 10. This filters below the specific threshold in dB entered in the textbox.
6.3 Saved Results Oculii saves the following results for the user. i) Binary Point Cloud Data when the visualizer was running. ii) Saved Point Cloud Video from the visualizer. The data will be saved under C:\Oculii\Saved Results. A folder will be created with the date the visualizer was run under the [YYYY-MM-DD] format followed by another folder under the [YYYYMM-DD-HH-MM-SS] format. 6.4 Binary to CSV file Converter The binary file saved by the visualizer can be converted to CSV to read the data.
6. The following pop-up will appear. Select sensor type (Eagle CANFD) and then click the Update button. Note: Please do not close the window before the update completes. Please close the window “Firmware_Update” after update finishes and it is recommended to close the window and click the update button for every update. If the update is not successful after approx. 3 minutes, please close the entire application and power cycle the sensor before attempting a new update.
7. Once the update is complete, the pop-up displays that the update succeeded as below and the data will be visible on the client. The data and new version appears after appox. 10 seconds.
8. SAFETY AND RISK 8.1 Note and Scope of Responsibility This section specifies practices the user should adhere to and the risks operators should recognize when operating the Oculii Eagle sensor. This device should only be handled by technical operators with basic technical knowledge. The owner of the sensor module is responsible for the device and understands and observes the safety notes.
8.3 FCC Warning FCC ID: 2AXVNEAGLE Model: EAGLE This device complies with Part 15 of FCC Rules. Operation is subject to the following two conditions: 1. This device may not cause harmful interference 2. This device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by OCULII LLC could void the user’s authority to operate the equipment.
