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nanoradar CAR28T Скачать руководство пользователя страница 10

WP015(v1.0)2017-05-05

Fig10. CAR28T radar upgrade tool interface

5. Data parsing for CAN interface

CAR28T radar supports CAN interface. The communication network of CAN Bus complies

with ISO11898-2 standard, with the transmission rate of 500bit/s. CAR28T transmits radar

signals to the surroundings and processes the received signals in multiple steps, to collect the

targets groups and target tracks. The relative velocity and position of targets could be

transmitted via CAN interface.

The CAN message of CAR28T is defined as follows.

Table 4 Definition of frame message

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Содержание CAR28T

Страница 1: ...CAR28T Millimeter Wave Radar User manual ...

Страница 2: ...roduct Once used it is deemed to have recognized and accepted the content of this manual Please strictly follow the manual to install and use the product Any improper use may cause damage or injury and Nanoradar would not bear the corresponding loss and liability Product copyright is retained by Nanoradar Reproduction in any form shall not be done without permission The use of this product and man...

Страница 3: ... 5 4 3 Test and use 7 4 4 Online upgrade for product firmware 9 5 Data parsing for CAN interface 10 5 1 CAR28T configuration Sensor Configuration 11 5 2 Radar back Sensor Feedback 15 5 3 Radar status Radar Status 16 5 5 Target output information Target Info 18 6 Data parsing examples 19 7 Installation and notes for risks 20 7 1Installation principles 20 7 2Notes for risks in use 21 9 References 22...

Страница 4: ...h its leading performance cost effective feature integrated peripheral interface CAN interface BSD FCTA RCTA EAF and other functions car28T can meet the rapid growth of the automotive industry safety support driving demand Fig1 CAR28T outlook Note CAN wiring is the 4 core RVV line with 4 meters long 2 Matters needing attention in use 1 The module antenna surface convex surface should face the dete...

Страница 5: ...ion The definition for CAR28T sensor interface pins are as shown in table1 Table 1 The definition for CAR28T pin interface No Definition Range Cable colors 1 CAN_H 58 58V DC yellow 2 CAN_L 58 58V DC blue 3 GND black 4 POWER IN 5 32V DC red 4 2 The installation and coordinate system of CAR28T In the blind spot detection and related applications there should be an installation height of 500 1200mm t...

Страница 6: ... will be recommended to adjust the installation azimuth to 45 However in backward applications it has a higher requirement for the longitudinal coverage in the BSD LCA and others And the recommended installation angle and the body angle azimuth is typically 25 Radar directions are specified as shown in the following figure Fig5 The sign of angle direction is specified as positive Fig6 The sign of ...

Страница 7: ...se CAR28T sensor data can be acquired and parsed by the MMW Radar general Management Tool testing software which is used to visually display the observation results The tool is helpful in the use of CAR28T sensor First of all the millimeter wave radar general management tool PC test software user manual Micro USB drive shall be provided by Nanoradar According to the user manual install and configu...

Страница 8: ...Start to test USBCAN adapter connects to PC and radar antenna surface convex surface faces to the target with CAN port to the right Then Open the host computer software first select the radar model select and set the CAN connection type as shown in the red part of figure 10 while the blue part is the adjusted coordinate range according to the test distance After setting clicking save on the bottom...

Страница 9: ...gement tool installation path folder The suggested test sites CAR28T should be tested in open areas outdoors due to that there are many interference for the indoor test which will lead to the discontinuous target track 4 4 Online upgrade for product firmware CAR28T support online upgrade After customers purchase products if the product program needs to be upgraded you can turn to Nanoradar s custo...

Страница 10: ...th ISO11898 2 standard with the transmission rate of 500bit s CAR28T transmits radar signals to the surroundings and processes the received signals in multiple steps to collect the targets groups and target tracks The relative velocity and position of targets could be transmitted via CAN interface The CAN message of CAR28T is defined as follows Table 4 Definition of frame message ...

Страница 11: ...8TB and 0x28TC If the radar ID is configured as 1 then its Message ID is 0x210 0x410 0x61A 0x71B 0x71C and so on 5 1 CAR28T configuration Sensor Configuration CAR28T radar is configured through 0x200 messages And the structure of radar configuration message is as the following table Table 5 the structure of radar configuration message The description for each field in the structure of radar config...

Страница 12: ...ion of Parameter is different for different DataType The definition is as follows 1 Configuration of radar ID The format of radar ID configuration is as follows Table 7 The format of radar ID configuration When reading Radar ID R W is 0 and the ID_Number value is invalid when writing Radar ID R W is 1 and ID_Number is the ID number of radar 2 Obtain radar version The frame format for obtaining rad...

Страница 13: ...n information will fill up the fields in the reply message of 0x400 3 Start stop the output of target information Format for start stop target information data output is as follows Table 9 Format for start stop target information data output 4 Distance filtering Reserve 5 Mode configuration CAR28T can switch between different modes to meet the requirements of different scenarios The mode configura...

Страница 14: ...data for example output the target data within the set distance range or directly output the original target data all the target data in the detection range And the current default output is the original target data The format of target output option is shown in the following table Table 12 Format of target output option 8 For internal test Reserve 9 Save parameters To save the configured paramete...

Страница 15: ...y only Bit7 is different Bit7 in RadarConfiguration is defined as R W and RadarFeedback is defined as the result of the configured execution The Parameter field RadarConfiguration is used to write the parameter which is used in the RadarFeedback to return the current value of the parameter Table 14 the structure of radar back message The definition for the description of each field in radar reply ...

Страница 16: ... includes radar status message And the structure of radar configuration message is as follows Table 16 the structure of radar status message 0x60A The description for each filed in radar status message is as follows Table 17 the description for radar status message 0x60A ...

Страница 17: ...essive cycles of 0 1 2 3 0 1 2 3 When the host computer or an external MCU cannot process the output data of CAR28T sensor in time it will cause the received RollCount value to be discontinuous At this time you should find a faster moving and handling method to solve this problem Table 18 target status 0x28TB The description for each field in target status is as follows Table 19 the description fo...

Страница 18: ... target is detected the target output state message appears after the CAR 28T system status message and finally there will be the target output information message The description of each field in the target message is described in the following table Table 21 the description for target information 0x28TC Note The value of each field in the table is not the true value of the target information The...

Страница 19: ...e radar sensor the target speed value Verl is negative when the target is far away from the radar sensor the target speed value Verl is a positive number 6 Data parsing examples Take Message ID as the target output information Target Info as an example there is a frame of the Target Info data message as follows Message ID 0x28TC Data Payload 0x01 0xC8 0x07 0xD0 0x32 0x02 0xEE 0x96 Interpretation M...

Страница 20: ...n of the vehicle bumper Same as the radome the bumper material will also have a greater impact on radar performance In essence there are three aspects of impact on radar performance Firstly radar cannot penetrate completely through the radome which will reduce the effective radiated radar power including reflection loss and dielectric loss Secondly the distortion of radar antenna beam causes the c...

Страница 21: ...fore the IDs of radars on the same car are not the same but the ID of radar in the same installation position is the same for different vehicles And the ID of radar can be configured by program 2 Q CAR28T supply voltage range CAR28T power supply voltage range is 5 32V DC The power loss gets greater as the voltage gets bigger If only the voltage meets the conditions during the operation insufficien...

Страница 22: ...WP015 v1 0 2017 05 05 9 References 1 White paper on CAR28T millimeter wave radar 2 User manual for the general management system of Nanoradar mmw radar 3 User manual for Nanoradar s radar upgrading tool ...

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