| Channel Name | Description | Unit |
|---|---|---|
| RangeC-L1 | The lateral distance betweenLine Reference Point CtoLine 1.This channel is measured perpendicularly to the surveyed line. | m |
| TTCC-L1 | TheTime To CrossofLine Reference Point CcrossingLine 1given the vehicle's current lateral speed towards to the line. | s |
| LatSpdsvC-L1 | TheLateral SpeedofLine Reference Point CtowardsLine 1. | kmh |
| AnglesvC-L1 | TheAnglebetween theLine Reference Point Cand 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-C | TheCurvatureofLine 1at the point closest toLine Reference Point C. | 1/m |
| RangeC-L2 | The lateral distance betweenLine Reference Point CtoLine 2.This channel is measured perpendicularly to the surveyed line. | m |
| TTCC-L2 | TheTime To CrossofLine Reference Point CcrossingLine 2given the vehicle's current lateral speed towards to the line. | s |
| LatSpdsvC-L2 | TheLateral SpeedofLine Reference Point CtowardsLine 2. | kmh |
| AnglesvC-L2 | TheAnglebetweenLine Reference Point Cand the tangent ofLine 2. | ° |
| CurvatureL2-C | TheCurvatureofLine 2at the point closest toLine Reference Point C. | 1/m |
| RangeC-L3 | The lateral distance betweenLine Reference Point CtoLine 3.This channel is measured perpendicularly to the surveyed line. | m |
| TTCC-L3 | TheTime To CrosswhenLine Reference Point CcrossesLine 3given the vehicle's current lateral speed towards to the line. | s |
| LatSpdsvC-L3 | TheLateral SpeedofLine Reference Point CtowardsLine 3. | kmh |
| AnglesvC-L3 | TheAnglebetweenLine Reference Point Cand the tangent ofLine 3. | ° |
| Curvature3-C | TheCurvatureofLine 3at the point closest toLine Reference Point C. | 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.
Image missing