| Channel Name | Description | Unit |
|---|---|---|
| Rangetg1-L1 | The lateral distance between theLine Reference PointonRemote Target 1toLine 1.This channel is measured perpendicularly to the surveyed line. | m |
| TTCtg1-L1 | TheTime To Crossof theLine Reference PointonRemote Target 1crossingLine 1given the vehicle's current lateral speed towards to the line. | s |
| LatSpdtg1-L1 | TheLateral Speedof theLine Reference PointonRemote Target 1towardsLine 1. | kmh |
| Angletg1-L1 | TheAnglebetween theLine Reference PointonRemote Target 1and the tangent ofLine 1. | ° |
| Rangetg1-L2 | The lateral distance between theLine Reference PointonRemote Target 1toLine 2.This channel is measured perpendicularly to the surveyed line. | m |
| TTCtg1-L2 | TheTime To Crossof theLine Reference PointonRemote Target 1crossingLine 2given the vehicle's current lateral speed towards to the line. | s |
| LatSpdtg1-L2 | TheLateral Speedof theLine Reference PointonRemote Target 1towardsLine 2. | kmh |
| Angletg1-L2 | TheAnglebetween theLine Reference PointonRemote Target 1and the tangent ofLine 2. | ° |
| Rangetg1-L3 | The lateral distance between theLine Reference PointonRemote Target 1toLine 3.This channel is measured perpendicularly to the surveyed line. | m |
| TTCtg1-L3 | TheTime To Crossof theLine Reference PointonRemote Target1crossingLine 3given the vehicle's current lateral speed towards to the line. | s |
| LatSpdtg1-L3 | TheLateral Speedof theLine Reference PointonRemote Target 1towardsLine 3. | kmh |
| Angletg1-L3 | TheAnglebetween theLine Reference PointonRemote Target 1and the tangent ofLine 3. | ° |
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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