Radar Payload¶
Doppler radar payloads
Overview¶
The Doppler radar enables speed and direction measurement to be collected and added to events.
Hardware¶
Info
See Radar for more information on selecting a radar unit.
The OPS243-A radar from OmniPreSense:
OmniPreSense’s OPS243 is complete short-range radar (SRR) solution providing motion detection, speed, direction, and range reporting. All radar signal processing is done on board and a simple API reports the processed data.
Software¶
The OPS243 radar sensors include an easy-to-use API interface for returning a variety of radar readings and calculated values in JSON format. By default, we capture all of these values in separate tables:
- DetectedObjectVelocity (command
ON). - radar_dov table
- Sensor determines if an object is present by looking for 2 consecutive speed reports. If met, the max speed detected is reported. If a faster speed is detected, additional speeds are reported. This lowers the number of speed reports for a given detected object. Use On to turn the mode off.
- TimedSpeedCounts (command @O).
- radar_timed_speed_counts table.
- Sensor counts and reports the cumulative number of objects (defined by DetectedObjectVelocity) that have gone by in a given period. Default TM setting is reporting every 300-seconds.
- Raw Speed Magnitude (command
OS). - radar_raw_speed_magnitude table and radar_raw_speed_magnitude_single table
- Reports magnitude and associated speed of each reading. The magnitude is a measure of the size, distance, and reflectivity of the object detected. By default, TM captures the 3-burst speed/magnitude pairs and the single strongest magnitude and associated speed in separate tables for deep dive and easier analysis, respectively.
- Vehicle Length (command
OC). - Note: Requires Firmware OPS9243.
- radar_oc_payload table
- From the docs: Provides several parameters which can help identify the vehicle type and/or lane in which the vehicle is located. This includes start/end time, frames, min/max MPH, magnitude, and length calculations.
Radar Database¶
The following attributes are captured, by default, into tmdb.events.sqlite:
radar_dov table¶
| Attribute | Description | SQLite data type | Valid values |
|---|---|---|---|
| time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| unit | Unit of measure for velocity/speed set on radar (configurable) | TEXT | "mph" |
| direction | Object moving direction relative to radar placement; i.e. "outbound" is moving away from radar. | TEXT | "outbound" or "inbound" |
| velocity | Maximum speed/velocity calculated for all measurements object was detected in the radar zone. |
REAL | Integer, Positive, Negative corresponding to inbound and outbound direction, respectively |
| radarName | Radar sensor that captured the data. This field is used to associate with cameras and other radars. | TEXT | |
| deployment_id | Each ID represents a unique deployment configuration and/or location for the device. This acts a foreign key link to the `deployment` table, `id` column. | TEXT, FOREIGN KEY | `deployment`.`id` foreign key, may be null |
radar_timed_speed_counts table¶
| Attribute | Description | SQLite data type | Valid values |
|---|---|---|---|
| time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| direction | Object moving direction relative to radar placement; i.e. "outbound" is moving away from radar. | TEXT | "outbound" or "inbound" |
| units | Unit of measure for velocity/speed set on radar (configurable) | TEXT | "mph" |
| count | Number of object detection (DOV) measurements; should correspond to number of objects/vehicles that passed through radar zone | INTEGER | Integer, positive |
| average | Average speed/velocity across all object detections (count) during measurement interval; defined by `units` attribute | REAL | Integer, Positive, Negative corresponding to inbound and outbound direction, respectively |
| radarName | Radar sensor that captured the data. This field is used to associate with cameras and other radars. | TEXT | |
| deployment_id | Each ID represents a unique deployment configuration and/or location for the device. This acts a foreign key link to the `deployment` table, `id` column. | TEXT, FOREIGN KEY | `deployment`.`id` foreign key, may be null |
radar_raw_speed_magnitude table¶
| Attribute | Description | SQLite data type | Valid values |
|---|---|---|---|
| time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| unit | Unit of measure for velocity/speed set on radar (configurable) | TEXT | "mph" |
| magnitude | Array of individual magnitude measurements for the sampling time depending on K+ setting; e.g. one speed represents \~50-ms at 20k samples. Corresponds to speed's array location in descending order of speed (configurable). | TEXT | Positive |
| speed | Array of individual Speed/velocity for the sampling time depending on K+ setting; e.g. one speed represents \~50-ms at 20k samples. Corresponds to magnitude's array location in descending order of speed (configurable). | REAL | Positive, Negative corresponding to inbound and outbound direction, respectively |
| radarName | Radar sensor that captured the data. This field is used to associate with cameras and other radars. | TEXT | |
| deployment_id | Each ID represents a unique deployment configuration and/or location for the device. This acts a foreign key link to the `deployment` table, `id` column. | TEXT, FOREIGN KEY | `deployment`.`id` foreign key, may be null |
radar_raw_speed_magnitude_single table¶
| Attribute | Description | SQLite data type | Valid values |
|---|---|---|---|
| time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| unit | Unit of measure for velocity/speed set on radar (configurable) | TEXT | "mph" |
| magnitude | Array of individual magnitude measurements for the sampling time depending on K+ setting; e.g. one speed represents \~50-ms at 20k samples. Corresponds to speed's array index==0 in descending order of speed (configurable). | REAL | Positive |
| speed | Array of individual Speed/velocity for the sampling time depending on K+ setting; e.g. one speed represents \~50-ms at 20k samples. Corresponds to magnitude's array index==0 in descending order of speed (configurable). | REAL | Positive, Negative corresponding to inbound and outbound direction, respectively |
| radarName | Radar sensor that captured the data. This field is used to associate with cameras and other radars. | TEXT | |
| deployment_id | Each ID represents a unique deployment configuration and/or location for the device. This acts a foreign key link to the `deployment` table, `id` column. | TEXT, FOREIGN KEY | `deployment`.`id` foreign key, may be null |
radar_oc_payload table¶
| Attribute | Description | SQLite data type | Valid values |
|---|---|---|---|
| start_time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| end_time | Unix timestamp directly from radar | REAL | Unix timestamp in Seconds |
| delta_time_msec | Different in end and start times in milliseconds, representing the amount of time the object was in the radar zone: i.e. `end_time` minus `start_time` * 1000 | REAL | |
| direction | Object moving direction relative to radar placement; i.e. "outbound" is moving away from radar. | TEXT | inbound, outbound |
| frames_count | Number of frames, defined by doppler pings (equivalent to OS) for an object through the field of view (FOV) | INTEGER | |
| velocity_max | Maximum velocity/speed of object through field of view (FOV) | REAL | |
| velocity_min | Minimum velocity/speed of object through field of view (FOV) | REAL | |
| magnitude_max | Maximium magnitude of doppler radar response of object through field of view (FOV) | REAL | |
| magnitude_mean | Average / mean magnitude of doppler radar response of object through field of view (FOV) | REAL | |
| velocity_change | Delta max_speed – min_speed. This can help with indication of the lane a vehicle is in. A vehicle farther to the edge of the FoV will have a higher cosine error change and therefore delta speed. This should be normalized to speed so offline we’ve used (max_speed – min_speed)/max_speed. A lower number tends to show a vehicle in the farther lane over. | REAL | |
| frames_per_velocity | Number of frames captured per unit of velocity. This acts as the inverse to speed in order to calculate length of object. Calculated as `frames_count / velocity_max` | REAL | |
| object_length | Estimted length of object, calculated by taking speed and time through field of view. | REAL | |
| units | Velocity unit of measurement. Will also match length units, relatively. | TEXT | mph, mps - for Miles Per Hour (imperial) and Meters Per Second (metric), respectively |
| object_label | RESERVE FOR FUTURE USE. Radar-based classification for the type of object that moved through the field of view. This is estimated from common roadway-based objects. Payload is a JSON object containing key:value of the top -calculated labels and respective likelihood score. | TEXT, JSON | JSON object with key:value pairs; e.g. |
| radarName | Radar sensor that captured the data. This field is used to associate with cameras and other radars. | TEXT | |
| deployment_id | Each ID represents a unique deployment configuration and/or location for the device. This acts a foreign key link to the `deployment` table, `id` column. | TEXT, FOREIGN KEY | `deployment`.`id` foreign key, may be null |