| Channel Name | Description | Unit |
|---|---|---|
| RangeA-L1 | The lateral distance betweenLine Reference Point AtoLine 1.This channel is measured perpendicularly to the surveyed line. | m |
| TTCA-L1 | TheTime To CrossofLine Reference Point AcrossingLine 1given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvA-L1 | TheLateral SpeedofLine Reference Point AtowardsLine 1. | kmh |
| AnglesvA-L1 | TheAnglebetweenLine Reference Point Aand the tangent ofLine 1. | ° |
| Status-sv | TheDGPS Statusof the Subject Vehicle.0 = No Fix1 = GNSS Standalone3 = RTK Float4 = RTK Fix5 = ABD Pedestrian mode6 = IMU Coast | |
| CurvatureL1-A | TheCurvatureofLine 1at the point closest toLine Reference Point A. | 1/m |
| RangeA-L2 | The lateral distance betweenLine Reference Point AtoLine 2.This channel is measured perpendicularly to the surveyed line. | m |
| TTCA-L2 | TheTime To CrossofLine Reference Point AcrossingLine 2given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvA-L2 | TheLateral SpeedofLine Reference Point AtowardsLine 2. | kmh |
| AnglesvA-L2 | TheAnglebetweenLine Reference Point Aand the tangent ofLine 2. | ° |
| CurvatureL2-A | TheCurvatureofLine 2at the point closest toLine Reference Point A. | 1/m |
| RangeA-L3 | The lateral distance betweenLine Reference Point AtoLine 3.This channel is measured perpendicularly to the surveyed line. | m |
| TTCA-L3 | TheTime To CrossofLine Reference Point AcrossingLine 3given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvA-L3 | TheLateral SpeedofLine Reference Point AtowardsLine 3. | kmh |
| AnglesvA-L3 | TheAnglebetween theLine Reference Point Aand the tangent ofLine 3. | ° |
| Curvature3-A | TheCurvatureofLine 3at the point closest toLine Reference Point A. | 1/m |
When testing around a curved lane, the VBOX firmware takes measurements from the corner position to the nearest perpendicular tangent line to the curved lane edge, as shown below.
