{
  "radarFrames": [
    {
      "timestamp": "Number",
      "frameIdx": "Number",
      "motionState": "Number",
      "egoVelocity": ["Number (Vx)","Number (Vy)"],
      "canVehSpeed_kmph": "Number",
      "correctedEgoSpeed_mps": "Number",
      "shaftTorque_Nm": "Number",
      "engagedGear": "Number",
      "estimatedAcceleration_mps2": "Number",
      "iirFilteredVx_ransac": "Number",
      "iirFilteredVy_ransac": "Number",
      "filtered_barrier_x": ["Number (min)","Number (max)"],
      "clusters": [
        {
          "id": "Number",
          "x": "Number",
          "y": "Number",
          "radialSpeed": "Number",
          "vx": "Number",
          "vy": "Number",
          "azimuth": "Number",
          "isOutlier": "Boolean",
          "isStationaryInBox": "Boolean"
        }
      ],
      "pointCloud": [
        {
          "x": "Number",
          "y": "Number",
          "velocity": "Number",
          "snr": "Number",
          "clusterNumber": "Number",
          "isOutlier": "Boolean"
        }
      ]
    }
  ],
  "tracks": [
    {
      "id": "Number",
      "historyLog": [
        {
          "frameIdx": "Number",
          "state": "Number",
          "predictedPosition": ["Number (x)", "Number (y)"],
          "predictedVelocity": ["Number (vx)", "Number (vy)"],
          "correctedPosition": ["Number (x)", "Number (y)"],
          "ttc": "Number",
          "risk": "Number",
          "tti": "Number",
          "accel": ["Number (ax)", "Number (ay)"],
          "omega": "Number",
          "modelProbabilities": ["Number", "Number", "Number"],
          "isStationary": "Boolean",
          "covarianceP": [["Number", "Number", "Number", "Number", "Number", "Number", "Number"]],
          "ellipseRadii": ["Number", "Number"],
          "ellipseAngle": "Number",
          "objectExtentRadii": ["Number", "Number"],
          "objectExtentAngle": "Number"
        }
      ]
    }
  ]
}