| Channel Name | Description | Unit |
|---|---|---|
| RangeB-L1 | The lateral distance betweenLine Reference Point BtoLine 1.This channel is measured perpendicularly to the surveyed line. | m |
| TTCB-L1 | TheTime To CrossofLine Reference Point BcrossingLine 1given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvB-L1 | TheLateral SpeedofLine Reference Point BtowardsLine 1. | kmh |
| AnglesvB-L1 | TheAnglebetweenLine Reference Point Band 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-B | TheCurvatureofLine 1at the point closest toLine Reference Point B. | 1/m |
| RangeB-L2 | The lateral distance betweenLine Reference Point BtoLine 2.This channel is measured perpendicularly to the surveyed line. | m |
| TTCB-L2 | TheTime To CrossofLine Reference Point BcrossingLine 2given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvB-L2 | TheLateral SpeedofLine Reference Point AtowardsLine 2. | kmh |
| AnglesvB-L2 | TheAnglebetweenLine Reference Point Band the tangent ofLine 2. | ° |
| CurvatureL2-B | TheCurvatureofLine 2at the point closest toLine Reference Point B. | 1/m |
| RangeB-L3 | The lateral distance betweenLine Reference Point BtoLine 3.This channel is measured perpendicularly to the surveyed line. | m |
| TTCB-L3 | TheTime To CrossofLine Reference Point BcrossingLine 3given the vehicle's current lateral speed towards the line. | s |
| LatSpdsvB-L3 | TheLateral SpeedofLine Reference Point BtowardsLine 3. | kmh |
| AnglesvB-L3 | TheAnglebetweenLine Reference Point Band the tangent ofLine 3. | ° |
| Curvature3-B | TheCurvatureofLine 3at the point closest toLine Reference Point B. | 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.
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