Autel ATS100 User manual

I
ATS100 (with GPS)
Intelligent Turn Assistant
User Guide
Autel Intelligent Automobile Co., Ltd.

II
Trademark
Autel® , MaxiSys® , MaxiDAS® , MaxiScan® , MaxiTPMS® , MaxiVideo® , MaxiRecorder® and MaxiCheck® _ are trade-
marks of Autel Intelligent Technology Corp., Ltd., registered in China, the United States and other
countries.All other brands are trademarks or registered trademarks of their respective holders.
Copyright Information
No part of this manual may be reproduced without the prior written permission of Autel Intelligent
Automobile Co., Ltd. reproduced, stored in a retrieval system, or transmitted in any form or by any
means, electronic, mechanical, photocopied, recorded or otherwise.
Disclaimer of Warranties and Limitation of Liability
All information, specifications and illustrations in this manual are based on the latest information
available at the time of printing.
Autel IntelligentAutomobile Co.,Ltd. shall not be liable for any direct, special, incidental, indirect,
or consequential damages (including lost profits) as a result of using the product.
IMPORTANT
Before operating or servicing this equipment, please read this manual carefully, paying particular
attention to the safety warnings and precautions.
For Services and Support
Web: www.auteltech.cn
Mail: [e-mail]
Hotline: [phone] (Headquarters in China) / 1-855-AUTEL-US (288-3587) (North
America) / 0049 (0) 6103-2000520 (Europe) / +045 5948465 (APAC) / + 971 585 002709 (IME)
For technical support in all other markets please contact your local distributor.

III
Table of contents
1. ATS100 Turn Assistant Introduction .......................................................................... 4
1.1 ASR100 Radar Introduction .................................................................................... 4
1.2 Warning display ......................................................................................................... 6
1.3 GPS&IMU module .................................................................................................... 9
1.4 System connections and the cable harness .............................................................. 9
2. User Manual ................................................................................................................. 13
2.1 Radar installation .......................................................................................................... 13
2.2 Radar wiring .................................................................................................................. 17
2.3 Input signal for the system ............................................................................................ 18
2 .4 Power access .................................................................................................................. 19
2.5 Installation of GPS and IMU module .......................................................................... 20
2.6 Screen installation ......................................................................................................... 20
2.7 Generation of installation report ................................................................................. 22

4
1. ATS100 Turn Assistant Introduction
ATS100 is a turn assistant with precise target recognition and vehicle blind spot warn-
ings. The system components are as follows: a millimeter wave radar with an operating
frequency of 76-77 GHz and a maximum RF output power of 12 dBm, a spirit level, a
mounting bracket (optional), a warning screen, a GPS and IMU module, and the cable.
The millimeter wave radar can accurately measure object distance, speed, angle and
other information through the difference in echoes between the transmitting and receiv-
ing electromagnetic waves. It is an all-weather and all-dayturn assistant with a working
temperature of -40℃ - 85℃. The warning screen warns the driver of a dangerous object
in the blind spot and reminds the driver to make timely adjustments on the road to avoid
accidents.
The ATS100 turn assistant covers 180° on one side, no blind spots, with a target detec-
tion range of up to 80 x 4.5m. With a compact structure, it has collision prediction and
graduated alarm function, can be connected with external CAN (Controller Area Net-
work) and CAN FD (Flexible Data) interfaces can be integrated and supports 12 V or
24 V supply voltage.
Figure 1-1ASR100 radar coverage
The warning objects of theATS100 turning assistant include:
Dynamic vulnerable road users moving at speeds equal to or exceeding 5 km/h ,
including pedestrians, bicycles, electric bicycles, etc.
1.1 ASR100 Radar Introduction
The ASR100 77 GHz millimeter wave radar is a compact, rugged radar sensor designed
and manufactured by Autel Intelligence Vehicle® in China to warn heavy duty trucks/
buses etc. of side blind spots with IP69K protection housing, in line with the environ-
ment for commercial vehicle use .

5
Figure 1-2ASR100 dimensions
Performance parameters:
working frequency
76-77GHz
Maximum detection range
±80 m (vehicle)
±40 m (pedestrian/bicycle)
working mode
slow speed
High speed
minimum detection range
0.25m
0.9m
distance resolution
0.31 m
0.96 m
distance accuracy
±0.16m
±0.5m
speed range
±60km/h
±150km/h
speed accuracy
±0.43km/h
speed resolution
0.86km/h
horizontal angle
180°
angular accuracy
±0.8°
General parameters:

6
size
115mm x 95mm x 41mm
weight
2 30g
power consumption
6.5W
communication interface
CAN2.0, CAN_FD
operating voltage _
8V - 32V;
Passenger car 12V ，
Commercial vehicle 24V
operating temperature _
-40℃ ~ 85℃
storage temperature
-40℃~105℃
installation angle redundancy
-2°~2°
protection rating _
IP69K
operating cycle
60ms
1.2 Warning indicator
The ATS 100 turning assistance system uses a precision detection system to predict the
future probability of collision with the object and provides users with dynamic detection
and display-based intelligent alerts to remind drivers to take timely preventive measures
to reduce the possibility of accidents. The warning display screen supports adaptive
brightness control, allowing the screen brightness to adjust based on the brightness of
the surrounding environment to provide a reduction in driver's eye fatigue during the
night.

7
Figure 1-3 Display size
The warning function is divided into three levels as follows:（Note: Conditions for
activating the warning function: The vehicle speed is less than or equal to 30km/h.）
Level 1 warning : The steering wheel angle is less than 30° and the object enters
the warning area, then a section of warning light LEDs will light up, as shown in
Figure 1-4.
Level 2 Warning : The vehicle is turning right, the steering wheel angle is more
than 30°, or the turn signal is turned on (if the turn signal is connected), and the
vehicle and the object are expected to collide within a certain time, then a section
of warning light LEDs will start flashing.
Level 3 Warning : The vehicle turns right, the steering wheel angle is greater than
30°, or the turn signal is turned on (if the turn signal is connected), and the vehicle
and the object are about to collide, then the warning light starts to flash and also an
acoustic warning tone is triggered.
The driver can get the approximate location of the object based on the section of warn-
ing light LEDs that are on or flashing.
The detailed description of each warning light on the display is as follows:

8
Figure 1-4 Warning light description
①Warning module operation and status indicator: Lights up when the status of the
warning module is normal.
②Brake Indicator: This light flashes when braking is active. (Currently this function
is not available.)
③GPS error indicator: lights up when the GPS sensor has no signal (temporarily),
flashes when the GPS sensor has an permanent error signal.
④Warning light: Provides early warning of dangerous objects. The warning area is
divided into three different priorities: upper zone (2-5 m in front of the vehicle front),
middle zone (2 m in front of the vehicle front - 7 m behind the vehicle front), and lower
zone (7-30 m behind the vehicle front). If several objects are in the upper, middle or
lower zone at the same time, give priority to the middle, then the lower, then the upper
zone.
⑤Vehicle model: for reference; is in a steady light state after switching on.
⑥Radar Status Indicator: Steady light indicates temporary radar failure, usually
caused by factors such as blocked radar or poor weather conditions; Blinking indicates
permanent radar failure that requires professional repair.
⑦System malfunction indicator : The indicator light flashes when there is a malfunc-
tion in the entire system.

9
Troubleshooting:
Table 1-1 Error description and troubleshooting
status symbol
Error Descrip-
tion
repair manual
Warning mod-
ule operation
and status dis-
play
does not light up
after switching
on
Hardware failure and needs to be replaced
Radar Status
Indicator
The error lamp
is always on
possible reason:
1. Obstructed by objects such as snow, mud, etc.
2. Extreme weather, heavy rain and snow, etc.
3. The installation angle is greater than 5°
Radar Status
Indicator
Fault light
flashes
Hardware failure and needs to be replaced
system error
display
Fault light
flashes
Hardware failure and needs to be replaced
GPS error dis-
play
Fault light
flashes
Restart after power off, if the error persists, you
need to replace the hardware
1.3 GPS&IMU module
This module integrates a high-precision gyroscope, an accelerometer and a GPS mod-
ule. With this module, no input signal such as speed, acceleration or yaw rate from
vehicle is needed.
1.4 System connections and the wiring harness
Connect each connector of the radar, display, GPS and IMU module harness as shown
below.

10
Figure 1-5 System Connections Schematic
Description of the radar wiring harness
In the figure below, connector P1 is connected to the radar. It has 8 pins and the pin
order is shown below. The pin number in the figure corresponds to the pin definition in
Table 1-2. The P2 connector is connected to the GPS&IMU module; it has 8 pins, and
the pin number of P2 in the figure corresponds to the pin definition in Table 1-3. The
P3 connector is connected to the vehicle and the power supply, it has 6 pins, and the pin
number of P3 in the figure corresponds to the pin definition in Table 1-4. The end of
each cable has a printed label. Please check this carefully during installation. Do not
turn on the device if the connectors are not properly connected.
Figure 1-6 Radar Wiring Harness Diagram
Radar interface P1 definition table:
Table 1-2 Definition of radar interface P1
Pin No.
definition
Area
cable color
1
VCC
8~32V DC
Red
2
NC
empty
Orange
3
SWITCH
Input : 1 2/2 4V DC
Output : 0VDC _
Blue
4
Dimensions
0 V DC voltage
Black

11
5
CAN2.0_H
-58~58VDC
Green
6
CAN2.0_L
-58~58VDC
Yellow
7
CAN _FD _H
-58~58VDC
White
8th
CAN_FD_L
-58~58VDC
Violet
GPS interface P2 definition table:
Table 1-3 Definition of the GPS interface P2
Pin No.
definition
Area
cable color
1
CAN_FD_H
-58~58VDC
White
2
CAN_FD_L
-58~58VDC
Violet
3
VCC_SCREEN
8~32VDC
Red
4
GND_SCREEN
0 V DC voltage
Black
Vehicle power interface P3 definition table:
Table 1-4 Definition of Vehicle power interface P3
Pin No.
definition
Area
cable color
1
VCC
8~32V DC
Red
2
NC
empty
Orange
3
SWITCH
Input : 1 2/2 4V DC
Output : 0VDC _
Blue
4
Dimensions
0 V DC voltage
Black
5
CAN2.0_H
-58~58VDC
Green
6
CAN2.0_L
-58~58VDC
Yellow
Show description of wire harness
In the image below, the left P4 connector of the display harness is connected to the GPS
module. It has 8 pins and the pin order is shown below. The pin number in the figure
corresponds to the pin definition in Table 1-5.

12
Figure 1-7 Display Wiring Harness Diagram
GPS interface P4 definition table:
Table 1-5 Definition of the GPS interface P4
Pin No.
definition
Area
cable color
1
CAN_FD_H
-58~58VDC
White
2
CAN_FD_L
-58~58VDC
Violet
3
VCC
8~32VDC
Red
4
Dimensions
0 V DC voltage
Black
5
GPS_1 Rx
0 ~5VDC
blue_ _
6
GPS_2 Tx
0 ~5VDC
Orange
7
VCC_GPS_ _
5 V DC voltage
Green
8th
GND_GPS
0 V DC voltage
Yellow

13
2. User Guide
2.1 Radar installation
Notes on installation
The radar should be mounted on a low-vibration component. Strong vibrations
will affect the detection function.
The radar should be installed on the most protruding level on the side of the truck
to prevent it from being blocked by other parts and affecting its detection perfor-
mance.
Installation position: The radar must be installed on the right side of the truck. The
radar must always be attached to the vehicle in front of the first rear axle! We recom-
mend mounting on the side protection plate, side protection rail or similar installation
locations on the vehicle.
Figure 2-1 Radar installation location diagram
Installation area:
When the radar is used, the reference coordinate origin is the center of the rear axle of
the vehicle. The standard installation position parameters of the radar are shown in Ta-
ble 2-1, which are only suitable for vehicles with a wheelbase of approx. 3.5-5 m and
the installation position (plug and play variant) as shown in Figure 2-3.
Table 2-1 Radar default installation parameters
installation location
right side
Left side
Lateral distance X (m)
2.85
2.85
Longitudinal distance Y (m)
-1.25
1.25
Installation angle （°）
90
-90
Warn_dx (m)
6.15
6.15
Lateral distance X: the longitudinal distance of the radar installation position relative
to the center of the rear axle of the vehicle;
Longitudinal distance Y: The lateral distance of the radar mounting position relative to
the center of the rear axle of the vehicle;

14
Mounting angle: the angle of rotation of the radar mounting position relative to the
center of the rear axle of the vehicle;
Warn_dx: the distance from the center of the rear axle to the front edge of the vehicle.
Figure 2-2 Diagram of calibration parameters for radar installation site
The recommended or preconfigured sensor location is shown in Figure 2-3 below. The
radar can be installed at a distance of 230-430 cm backwards from the front edge of
the vehicle and at a height of 30-120 cm from the ground. As long as the sensor stays
within this installation area, no parameterization is required after installation. It is the
plug and play built-in version of the system.
Figure 2-3 Recommended or Plug and Play installation position diagram
If the wheelbase of 3.5-5 meters or the installation position is out of the plug and play
installation range, the installer needs to re-enter the installation position of the sensor.
At this time, the installer needs to measure the distance between the actual installation
position of the radar and the center of the rear axle of the vehicle to renew the installa-
tion position of the radar.
Trailer length

15
To parameterize the radar installation position, please use a Windows PC with the CAN
box we have provided and our AutelRadarCfgTools software. First connect the CAN
box with radar sensor via CAN 2.0 interface, see Table 1-2. The working steps are
shown in Figure 2-4 below:
(1) Click the Open button to open the CAN device
(2) Click the Close button to close the CAN device
(3) Select the baud rate of channel 2, the current default is 250K
(4) Click Start button to open Channel 2
(5) Click stop button to close channel 2
(6) Choose whether the installation position faces the left or right side of the vehicle
front
(7) Enter the values dx , dy, theta and warn_dx
(8) With Write you write the values in the radar sensor, with Read you can read out the
values in the radar sensor again
(9) You can also use the Report button to print out an installation report. A detailed
description can be found in Chapter 2.7
dx: Longitudinal distance from the installation position of the radar to the center of
the rear axle of the vehicle. unit: meters
dy: The lateral distance from the radar installation location to the center of the vehi-
cle's rear axle, typically 1.25 m
Installation Angle: The left side is -90°, the right side is 90°
Warn_dx: the distance from the center of the rear axle to the front edge of the vehicle.
Unit: meter

16
Figure 2-4AutelRadarCfgTools interface icon
Maximum installation area: The maximum installation area is shown in Figure 2-
4.1. The sensor may be installed with software parameterization from the front of the
vehicle up to a maximum of 700 cm to the rear. At the same time, the sensor must not
be installed behind the first rear axle. The installation height is the same as the Plug
and Play installation variant and remains unchanged at 30cm - 120cm.
Figure 2-4.1 Maximum installation area
Installation Deviation: In order to ensure detection accuracy, the horizontal angle error
of the radar installation should be within ±1° at best. The vertical angle error when
installing is best within 2°.
Figure 2-5 Radar Installation Deviation Chart
Installation example
Installation Vertical Angle
30-120cm

17
To control installation variations, an optional additional mounting bracket can be used
to adjust direction and angle during installation.
1. With the front of the radar (the side with the plastic case) facing the detection area,
attach the radar to the mounting bracket with the screws.
2. Place the bubble level in the center of the top tier of the radar and adjust the mounting
position adjustment screw until the bubble overlaps the ring in the center.
3. Secure the mounting position adjustment screw, and then connect the cable.
Figure 2-6 Radar installation and calibration diagram
2.2 Radar Wiring
After the radar cable is connected to the radar, it should be routed into the cabin along
with the chassis cable as shown in the figure below.
The entry for the chassis cable into the cab is on the underside of the cab. Therefore
you need to lift the cabin during wiring as shown in the picture below.

18
In front of the passenger seat (where the main fuse and main ECU are located), connect
the power supply, screen and other parts of this product as shown in the figure below.
2.3 Input signal for the system
The system has two feed options for the input signals.
Feeding in with the supplied GPS/IMU module
Feeding in without the supplied GPS/IMU module, directly with the vehicle CAN
signals
The supplied GPS/IMU module provides the required input signals for the system. If
the supplied GPS/IMU module is not used. Alternatively, the system can also be used
if the input signals are provided via vehicle CAN Bus. The Autel ATS100 requires the
5 CAN signals shown below for its normal operation. By default, the radar automati-
cally reads theseCAN J1939 signals. This means only vehicles with standardized J1939
signals are supported by the system. If the vehicle does not provide standardized J1939
signals, we recommend using the supplied GPS/IMU module. The baud rate for vehicle
communication is 250 KB:
1. vehicle speed
2. steering wheel angle
3. yaw rate
4. longitudinal acceleration
5. lateral acceleration

19
identifier
min
Tmax
message type
bytes or
0xCFE6CEE
50ms
50ms
cyclic
intel
signal _
byte
start
bit
length
resolution
offset
minimum
Maximum
Unit
vehicle speed
6
48
16
0.00390625
0
0
250,996
km/h
identifier
min
Tmax
message type
bytes or
0xCF0090B
20ms
20ms
cyclic
intel
signal _
byte
start
bit
lengt
h
resolution
offset
mini-
mum
Maximum
Unit
steering
wheel angle
0
0
16
0.055952
-
1797.
6
-1797.6
1797.6
Degree
yaw rate
3
24
16
0.00699088
-224.6
-224.6
224.6
degrees/sec-
ond
lateral acceleration
5
40
16
0.00048827
3
-
15,68
7
-15,687
15,687
m/(s*s)
longitudinal accel-
eration
7
56
8th
0.1
-12.5
-12.5
12.5
m/(s*s)
2 .4 PowerAccess
The radar must be supplied via KL15 or terminal 15 (12V or 24V). We recommend you
find KL15 on the main fuse board and connect the radar to it.

20
2.5 Installation of GPS and IMU module
The GPS/IMU module can be placed anywhere in the driver's cabin, the preferred po-
sition is behind the windscreen and somewhere in the middle of the cockpit.
a. Place the GPS&IMU module horizontally, noting that the X-axis direction is the same
as the vehicle's forward direction.
b. The module can be fixed with screws or double-sided tape.
c. Connect the two harnesses at the end of the GPS&IMU module to the radar and the
display respectively.
Note: Installation angle tolerance of the GPS and IMU module<30°
2.6 Screen Installation