- Type: CAN Standard
- ID: 0x1A0
- DLC: 8
- Tx method: cycle
- Cycle time: 20ms
| Signal | Start bit | Length | Order | Value type | Factor | Offset | Unit |
|---|---|---|---|---|---|---|---|
| V_VEH | 0 | 12 | Intel | Unsigned | 0.1 | 0 | km/h |
| ST_VEH_DVCO | 12 | 3 | Intel | Unsigned | 1 | 0 | |
| ACLH_VEH_LN_DSC | 16 | 12 | Intel | Signed | 0.025 | 0 | m/s² |
| ACLH_VEH_ACRO_DSC | 28 | 12 | Intel | Signed | 0.025 | 0 | m/s² |
| ANGV_YAW_DSC | 40 | 12 | Intel | Signed | 0.05 | 0 | °/s |
| ALIV_V | 52 | 4 | Intel | Unsigned | 1 | 0 | |
| CHKSM_V_V | 56 | 8 | Intel | Unsigned | 1 | 0 |
- ST_VEH_DVCO, status vehicle driver choice:
| Value | Description |
|---|---|
| 0x0 | vehicle standing |
| 0x1 | moves forward, FL/FR forward |
| 0x2 | moves backward, FL/FR backward |
| 0x2 | vehicle moves, direction detection not possible |
| 0x7 | signal invalid |
- ACLH_VEH_LN_DSC, horizontal longitudinal acceleration
- ACLH_VEH_ACRO_DSC, horizontal cross acceleration
- ANGV_YAW_DSC, yaw angle
Message example:
- 0x1A0 8 00 80 00 50 00 02 80 F4
- V_VEH: 0km/h
- ST_VEH_DVCO: 0
- ACLH_VEH_LN_DSC: 0
- ACLH_VEH_ACRO_DSC: 0.1250ms/s
- ANGV_YAW_DSC: 0.1 1/s
- CHKSM_V_V: F4