{
  "radarFrames": [
    {
      "timestamp": "Number (Timestamp in seconds or ms)",
      "frameIdx": "Number (Index of the frame)",
      "motionState": "Number (Enum/State identifier)",
      "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 (Left)", "Number (Right)"],
      "clusters": [
        {
          "id": "Number (Original Cluster ID)",
          "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 (Track ID)",
      "isConfirmed": "Boolean",
      "historyLog": [
        {
          "frameIdx": "Number",
          "predictedPosition": ["Number (X)", "Number (Y)"],
          "predictedVelocity": ["Number (Vx)", "Number (Vy)"],
          "correctedPosition": ["Number (X)", "Number (Y)"],
          "ttc": "Number (Time To Collision)",
          "isStationary": "Boolean",
          "covarianceP": [
            ["Number", "Number"],
            ["Number", "Number"]
          ],
          "ellipseRadii": ["Number (Major)", "Number (Minor)"],
          "ellipseAngle": "Number (Orientation)"
        }
      ],
      "ttcCategoryTimeline": [
        {
          "frameIdx": "Number",
          "ttcCategory": "String or Number (Category identifier)"
        }
      ]
    }
  ]
}