Brigade Backsense BS-9100 Original operating instructions

Installation Guide 7059
BS-9100 / BS-9100T
Backsense®
CAN Radar Object Detection System
Installation & Operation Guide

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Table of Contents
1Introduction...................................................................................................................... 3
1.1 Detection Range..................................................................................................... 3
1.2 Object Detection Capability..................................................................................... 3
2Contents........................................................................................................................... 6
2.1 Standard System Contents ..................................................................................... 6
2.2 Optional items (not included)................................................................................... 6
3Object Detection............................................................................................................... 7
3.1 Separate Object Detection...................................................................................... 7
3.2 Detected Object Data.............................................................................................. 7
3.3 Detected Object Position Relative to Sensor........................................................... 8
4Hardware Installation........................................................................................................ 9
4.1 Recommended Network Layouts and Limitations.................................................... 9
4.2 Good Network Arrangement.................................................................................... 9
4.3 Bad Network Arrangement.................................................................................... 10
4.4 Test Site ............................................................................................................... 10
4.5 Sensor Mounting and Location.............................................................................. 11
4.6 Sensor Direction ................................................................................................... 12
4.7 Cable.................................................................................................................... 13
4.8 Electrical Connections........................................................................................... 13
4.9 Power Input........................................................................................................... 13
4.10 Recommended Fuse Values................................................................................. 14
5CAN Bus........................................................................................................................ 15
5.1 Network Parameters ............................................................................................. 15
5.2 Keep Alive Message ............................................................................................. 15
5.3 CANbus Base ID................................................................................................... 15
5.4 Base ID Configuration........................................................................................... 16
5.5 Configuration Message Structure and Examples................................................... 17
5.6 Addressing Strategy for Detected Object and Generated Messages..................... 17
5.7 Detection Message ............................................................................................... 18
5.8 Sensor Start-up Messages.................................................................................... 19
6System Host................................................................................................................... 20
6.1 Host Responsibilities............................................................................................. 20
7Brigade Backsense CAN Radar Test Tool...................................................................... 21
7.1 PC Interface for BS-9100 / BS-9100T ................................................................... 21
7.2 PC System Requirements..................................................................................... 21
7.3 CANpro –BS-9100 / BS-9100T Network connection cable ................................... 21
7.4 Software Installation.............................................................................................. 22
7.5 Backsense CAN Radar Test Tool.......................................................................... 25
7.6 Backsense Configuration Tool............................................................................... 27
7.7 Application Errors.................................................................................................. 36
7.8 System Errors....................................................................................................... 36
8Testing and Maintenance............................................................................................... 37
8.1 Operator Instructions............................................................................................. 37
8.2 Maintenance and Testing...................................................................................... 37
9Specifications................................................................................................................. 39
10 Mounting Dimensions..................................................................................................... 42
11 Disclaimer...................................................................................................................... 43

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1 Introduction
Brigade’s Backsense®uses FMCW (Frequency Modulated Continuous Wave) radar system
technology to detect people and objects in blind spots, significantly reducing collisions.
Backsense®detects both stationary and moving objects, providing the driver with in-cab visual
and audible warnings. Backsense®works effectively in harsh environments with poor visibility
including darkness, smoke, fog, and dust.
The Brigade BS-9100 / BS-9100T radar sensor features an internal CAN interface for network
connectivity, allowing the user to link up to 8 sensors and a network host on a single CAN bus,
enabling monitoring of multiple detection areas around the vehicle.
Each Backsense®BS-9100 / BS-9100T sensor is capable of detecting and reporting data for
up to 16 objects, enabling a fully featured system (consisting of 8 sensors) to detect and report
up to 128 separate objects.
It is imperative that any Brigade Backsense®system is fitted and commissioned by competent
and trained technicians. The installer is responsible for the fitness for purpose of the overall
system and must adhere to relevant regulations and legislation. Operators of the vehicle or
machine to which the Brigade Backsense®System is fitted must be made fully aware of how
to interpret the system so they will not be distracted by or rely completely on it. Distraction can
cause collisions.
The system is intended as an aid only. The operator must still concentrate on operating the
vehicle, obeying traffic and local regulations. Vehicle or machine operators must continue to
use their own training, senses, and other vehicle aids, such as mirrors, as if the system were
not in place. Nothing removes the responsibility of the operator to operate the vehicle in a
proper and lawful manner.
1.1 Detection Range
Model Name
Detection Length
Detection Width
Nominal Tolerance
[m]
[ft]
[m]
[ft]
[m]
[ft]
BS-9100
0 –60
0 –197
0 –16
0 –52
±0.25
±1
BS-9100T
0 –60
0 –197
0 –16
0 –52
±0.25
±1
1.2 Object Detection Capability
Warning
•There is no detection of objects or part of an object closer than approx. 0.3m to
the sensor.
•The Brigade Backsense®radar beam has a 140° horizontal angle out to the maximum
designated width. The vertical angle is 16°. Both angles are symmetrically perpendicular
to the sensor front surface.
•All dimensions for detection of objects are nominal and vary significantly depending on
many parameters. For more details, see section “1.2.2 Factors Influencing the Detection
of Objects”.

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•The minimum number of packets transmitted by any sensor in each ~50 millisecond
period will be 1. The maximum number of packets will be 16, depending in the number
of objects detected by the sensor.
•After turning on power the system takes around 1 second to be active. There is no
standby mode.
Notes:
•For distances below 1.3m (detection with relative speed only) or below 0.3m (no
detection) the space covered in general by radar systems is very small. In this scenario,
Backsense®may not be the most suitable solution and therefore Brigade recommends
adding an additional or alternative detection system depending on the vehicle’s
application. For example, Brigade Backscan®based on ultrasonic sensing technology,
offers superior detection at close ranges.
•Brigade Backsense®systems remain unaffected even when multiple sensors are
operating in the same area or on the same vehicle. Proximity and overlapping detection
areas cause no adverse effect on Backsense’s detection properties.
Tip: Brigade Backsense®detection is generally better when there is relative speed between
the sensor and the objects and when the direction of approach is perpendicular to the
sensor front face.
1.2.1 Detection Pattern
1.2.1.1 Horizontal Detection Area

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1.2.1.2 Vertical Detection Area
1.2.2 Factors Influencing the Detection of Objects
Brigade Backsense®shares in principle the advantages and limitations of all radar-based
systems when compared to other sensing technologies. In general, it can reliably detect most
objects in most environmental conditions such as dirt, dust, rain, snow, sun, fog, darkness,
acoustic noise, mechanical vibration, electromagnetic noise, or similar.
However, there are some occasions when an object could stay undetected. Radar works on
the principle of line of sight and relies on some of the electromagnetic energy transmitted by
the sensor being reflected from the object to the sensor. If an object does not reflect enough
electromagnetic energy back to the sensor it will not be detected.
In the case where there are multiple objects in the detection area at various distances and/or
angles, the sensor will detect up to 16 of the closest objects (based on radius), which are the
most important for collision avoidance.
The object properties, location and direction are key influences in determining if an object is
detected or not. The influencing factors are listed below.
•Size: Larger surfaces are detected better than smaller surfaces. If there are small and large
objects in the detection area, the smaller object might only register in Detection Zones closer
to the sensor.
•Material: Metal is detected better than non-metal materials, e.g., wood, plastic.
•Surface: A smooth and solid surface is detected better than rough, uneven, porous,
fragmented, or liquid surfaces, e.g., bushes, brick work, gravel, water.
•Shape: A flat object is better detected than a complex shape. Variation in relative location
and direction can influence detection significantly.
•Angle: An object facing directly towards the sensor (perpendicular, orientation head on to
the sensor) is detected better than an object that is located towards the edges of the
detection area or at an angle.
•Distance: An object closer to the sensor is better detected than one that it is further away.
•Relative speed to sensor: Detection is better if there is a relative speed between object
and sensor.
•Ground condition: Objects on flat, mineral material ground are better detected than on
rough or metal surfaces.
•Environmental conditions: Dense dust or very heavy rain or snowfall will reduce the
detection capability.

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2 Contents
2.1 Standard System Contents
Sensor
BS-9100-S
or
BS-9100T-S (Terminated Option)
4x
Sensor Fixing Kit
BS-FIX-02
2.2 Optional items (not included)
Extension Cables 2m, (6ft) 5m (16ft), 9m
(29ft) or 25m (82ft)
BS-02DCX BS-05DCX or BS-09DCX
BS-25DCSX
Network Y Cable
BS-00NYC
Network Power Input Cable
BS-02PIC
Adjustable Sensor Bracket
BKT-023
120Ω Network Terminator
BS-00NT

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3 Object Detection
3.1 Separate Object Detection
Each Backsense®BS-9100 / BS-9100T sensor is capable of detecting and reporting data for
up to 16 objects, within the limitations detailed in section 1.2 if there are more than 16 objects
within the detection area of a particular sensor, only the closest 16 detections will be reported
based on object radius from sensor.
3.2 Detected Object Data
The BS-9100 / BS-9100T will transmit data for each detected object in separate CAN
messages. The following detection data will be reported:
Data Definition
Minimum
Value
Maximum
Value
Description
Polar Radius
0.25m
60m
Line of sight distance between object
and sensor front face.
Polar Angle
-70⁰(Left)
+70⁰(Right)
Angle between object and sensor front
face. Position perpendicular to the
sensor represents 0⁰.
Co-ordinates X
0.25m
+60m
Object distance forward from front face
of sensor.
Co-ordinates Y
-8m (left)
+8m (Right)
Object distance left or right of sensor
position.
Relative Speed
-64KPH
+63.5KPH
Speed difference between sensor and
object. Negative value indicates object
approaching the sensor. Positive value
indicates object leaving the sensor.
Reflected Signal
Level
0dB
127dB
Power of reflected radar signal from
object.
Object ID
0
15
Object identity. 0 represents closest
object to sensor.
Object Appearance
Status
0
1
Logic ‘1’ indicates detection of new
object. Logic ‘0’ indicates detection of
existing object.
Trigger Event
0
4
This parameter identifies the reason
for message transmission. 0 = Keep
Alive, 1 = Object detection, 2 =
Unprogrammed Sensor, 3 = Future
use.
Detection Flag
0
1
Logic ‘0’ indicates object detection.
Logic ‘1’ indicates no object detection.
Sensor Errors
Refer to section 5.7 for details.
Further technical details of detection data are available in section 0.

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3.3 Detected Object Position Relative to Sensor
The image below illustrates the relative position of detected objects with respect to the
sensor’s front face.

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4 Hardware Installation
4.1 Recommended Network Layouts and Limitations
Any installation of a Backsense®BS-9100 / BS-9100T System must adhere to a strict network
topology to ensure reliable communications between all sensors and the host.
The network topology must be of a bus configuration featuring 120Ω termination at both ends.
Sensors must be connected to the bus via Network Y-Cables only. The user must not install
any extension cable between the non-terminated sensor and the Y-Cable. Examples for good
and bad network arrangements are show below:
4.2 Good Network Arrangement
The features of a good network topology include:
•120Ω Termination at both ends, either via Network Terminator Cable or Terminated
Radar Sensor
•Bus length limited to 30m between terminations.
•Power input position balanced depending on the sensor’s physical distribution on
the bus. This should be optimised to minimise voltage drop over the cable for each
sensor.
•No extension cables installed between the sensor and the Y-Cable. Only sensor tail
cable to Y-Cable is allowed.
Example 1: Good network topology with host connection at end of bus
Example 2: Good network topology using terminated sensors with host connection at end of
bus

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Example 3: Good network topology using two terminated sensors with host connection in
middle of bus
4.3 Bad Network Arrangement
The features of a bad network topology, to be avoided, include but are not limited to:
•Long bus length (>30m).
•Non-bus configuration (e.g., star, mesh etc.).
•Power at one end only (resulting in possible voltage drop in cable).
•Termination missing at both ends of network.
•Omission of Network Terminator cable or terminated sensor.
•Extension cables used between non-terminated sensor and Y-Cable.
•Connection to more than 8 sensors on single bus (not shown).
•Connection to other CAN nodes apart from system host (not shown).
Example 4: Bad network topology, with host connection at the end of bus.
4.4 Test Site
The system test site must be larger than the detection range of each sensor in the intended
Backsense®system network and should be relatively flat without excessive deviation. This will
allow for basic setup, configuration, and testing of the Backsense®system.