M-system HDMS User manual

HDMS FMCW RADAR – USER MANUAL
RevisionNumber : 1.30
Date : October 01, 2021
Writer : Lee Je Woo
This document contains all the resources needed to set up the HDMS FMCW RADAR for performance evaluation.
User's Guide
HDMS – HDMS FMCW RADAR
 User's Guide

Aftermarket – HDMS FMCW RADAR
PAGE - 2 -
Revision history
Project Manager ----
Tec hn ol og y ----
Quality ----
Production ----
Date Description Name Note
21.10.01 최초작성 이제우 V1.00
21.11.15 IC, FCC, CE RED_EC 추가 이제우 V1.10
21.12.27 공급업체 관련 코멘트 추가 이제우 V1.20
22.01.03 동작전압, 주파수, RF Power 관련 내용 수정 이제우 V1.30

Aftermarket – HDMS FMCW RADAR
PAGE - 3 -
List
RADAR (Radio Detection and Ranging)? .................................................................................................... 4
1.1 Detailed Specifications ...................................................................................................................... 5
1.2 About RADAR antennamodule measurement ranges and beam patterns ........................................ 6
2 Components ............................................................................................................................................ 9
2.1 IP6K7 RADAR ................................................................................................................................... 9
2.2 RADAR Bracket ................................................................................................................................. 9
2.3 Connect cable .................................................................................................................................. 10
2.4 Power supply and PC connection. ................................................................................................... 15
3 Communication Protocol ....................................................................................................................... 16
4 RADAR Installation and Test Procedure ............................................................................................... 18
4.1 RADAR Test Compliance ................................................................................................................ 18
4.2 RADAR Installation Compliance ...................................................................................................... 18
4.3 RADAR Test Method (How to Use a Tripod) ................................................................................... 19
4.4 RADAR Test Method (How to Use in Vehicle) ................................................................................. 19
5. Appendix ................................................................................................................................................ 20
Interference Mitigation For IWR1443 RADAR Device ............................................................................... 20
1 Types of Interference in FMCW RADAR ............................................................................................... 20
2 Interference Avoidance .......................................................................................................................... 20

Aftermarket – HDMS FMCW RADAR
PAGE - 4 -
1 RADAR (Radio Detection and Ranging)?
- It is a device that measures the distance or shape
to an object by radiating strong electromagnetic
waves and measuring reflected waves reflected by
the object.
- Compared to other sensors, it has higher
permeability (lower impact on clouds and weather)
and can detect long distances.
- The Frequency Modulated Continuous Wave
(FMCW) method is mostly used, the hardware
configuration is easier than other modulation
methods, and it has high resolution and speed
resolution in terms of performance.
- HDMS FMCW RADAR is a RADAR with a 77 ~
81Ghz frequency band and is installed in heavy
equipment with stable and excellent performance
and is used to detect people.
- It is installed in heavy equipment and can be
expected to reduce injuries and accident rates due
to collision prevention and prevention with RADAR
and reduce the cost of human and material
resources due to accident prevention.
- RADAR data output information is as follows.
 Distance(X,Y Coordinates)
 Object Signal Power

Aftermarket – HDMS FMCW RADAR
PAGE - 5 -
1.1 Detailed Specifications

Aftermarket – HDMS FMCW RADAR
PAGE - 6 -
1.2 About RADAR antennamodule measurement ranges and beam patterns
- RADAR's beam pattern computer simulation image is as follows, and RADAR’s beam pattern is different
depending on the presence or absence of a cover of the case.
RADAR Antenna Module, Detecting Range, Azimuth Pattern

Aftermarket – HDMS FMCW RADAR
PAGE - 7 -
RADAR Antenna Module beam radiation pattern
(Left: Top case remove, Right: Top case)
> This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions: (1) This device may not cause harmful interference, and (2) this device must accept
any interference received, including interference that may cause undesired operation.
> This equipment has been tested and found to comply with the limits for a digital device, pursuant
to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against
harmful interference in a residential installation. This equipment generates, uses and can radiate
radio frequency energy and, if not installed and used in accordance with the instructions, may
cause harmful interference to radio communications. However, there is no guarantee that
interference will not occur in a particular installation. If this equipment does cause harmful
interference to radio or television reception, which can be determined by turning the equipment
off and on, the user is encouraged to try to correct the interference by one or more of the
following measures:
- Reorient or relocate the receiving antenna.
- Increase the separation between the equipment and receiver.
- Connect the equipment into an outlet on a circuit different from that to which the receiver
is connected.
- Consult the dealer or an experienced radio/TV technician for help
Changes or modifications not expressly approved by the party responsible for compliance
could void the user's authority to operate the equipment.

Aftermarket – HDMS FMCW RADAR
PAGE - 8 -
This device should be installed and operated with minimum 20 cm between the radiator and
your body.
Prohibited applications of RADAR equipment under this service rule include fixed RADAR use
outside of airport areas and airborne RADAR operations.
- This device can be operated in at least one Member State without infringing applicable
requirements on the use of radio spectrum.

Aftermarket – HDMS FMCW RADAR
PAGE - 9 -
2 Components
2.1 IP6K7 RADAR
- RADAR product is composed in detail as follows.
 Top C as e, B ot to m Ca se
 Connect Cables
 Interface board, RADAR Antenna module
IP6K7 RADAR(24RA-20000)
2.2 RADAR Bracket
RADAR Bracket, assembly screws
- Bracket is used to fix RADAR in a specific position.
- Four M8 screws are used to fix the bracket and RADAR.

Aftermarket – HDMS FMCW RADAR
PAGE - 10 -
2.3 Connect cable
- The basic configuration for RADAR and the connection cable is as follows.
- Refer to the table below and the image for the pin configuration of the connection cable TE 1-
1703506-1 of RADAR.
[커넥터 전면부] [커넥터 Pin 번호]
PIN Pin Description
1 Power(24V)
2 GND
3 CAN HIGH
4 CAN LOW
5 Reserved
6 Digital Input1
7 Digital Input2
8 Digital Input3
장착 위치 CAN ID
GPIO 입력 값(0:Low, 1:High)
PIN 6
(Radar ID 1)
PIN 7
(Radar ID 2)
PIN 8
(Radar ID 3)
Install_Position_0 0x18FF326C Open/GND Open/GND Open/GND
Install_Position_1 0x18FF326A Open/GND Open/GND 24v
Install_Position_2 0x18FF3268 Open/GND 24v Open/GND
Install_Position_3 0x18FF326B Open/GND 24v 24v
Install_Position_4 0x18FF3269 24v Open/GND Open/GND

Aftermarket – HDMS FMCW RADAR
PAGE - 11 -
Install_Position_5 0x18FF326D 24v Open/GND 24v
Install_Position_6 0x18FF32F1 24v 24v Open/GND
Install_Position_7 0x18FF32F2 24v 24v 24v

Aftermarket – HDMS FMCW RADAR
PAGE - 12 -
- 10m extension cable (ID 1~6): A cable that extends the distance according to the installation location
of the RADAR and distinguishes CAN IDs by location

Aftermarket – HDMS FMCW RADAR
PAGE - 13 -
10m Extension Cable
CAN ID 1 CAN ID 2
CAN ID 3 CAN ID 4
CAN ID 5 CAN ID 6
-

Aftermarket – HDMS FMCW RADAR
PAGE - 14 -
- Split cable : Split cables that allow you to connect up to 6 RADARs
- To connect the connecting cable, connect the parts that fit into the grooves as shown in the
figure below.

Aftermarket – HDMS FMCW RADAR
PAGE - 15 -
2.4 Power supply and PC connection.
- Apply 12/24V to the connection cable, connect PCAN to USB to CAN H/L, and check information on
the object detected from RADAR through PCAN View.
Check packet output status when connecting to PCAN

Aftermarket – HDMS FMCW RADAR
PAGE - 16 -
3 Communication Protocol
- RADAR basic communication uses CAN 2.0B and the communication speed is 500kBit/s.
- Refer to Table 1 below for the packet structure of RADAR. (The CAN ID of RADAR varies depending on the
cable being connected.)
Table 1 RADAR CAN Protocol(Total 8Byte)
Start
bit Length Signal Name Factor Offset Range Unit Description
min max
0 4 RADAR Detect Packet Number 1 0 0 15 - 0 : NOT USED / Error
1 ~ 5 : RADAR Packet Number
4 4 Install Position 1 0 0 15 -
0 : RR_BR -
Rear RADAR, Backward, Rearward-looking
1 : SR_RR -
Side RADAR, Right-hand side, Rearward-looking
2 : SR_LR - Side RADAR, Left-hand side, Rearward-looking
3 : SR_RF - Side RADAR, Right-hand side, Forward-looking
4 : SR_LF - Side RADAR, Left-hand side, Forward-looking
8 2 RADAR Status 1 0 0 3 - 0 : Normal, 1 : Swing, 2 : Moving
10 2 Reserved 1 0 0 3 - Reserved
12 8 RADAR SW version 1 0 0 255 - RADAR Software version(ex, 0x10 = ver 1.0)
20 10 n-th Target X data 1 0 0 1023 cm
n : packet number
0 : 0 cm
1~511 : +(X_Distance ) cm
512 ~ 1023 : -((1024-X_Distance) ) cm
30 10 n-th Target Y data 1 0 0 1023 cm
n : packet number
0 : 0 cm
1~1023 : +(Y_Distance ) cm
40 10 n-th Target Power data 1 0 0 1023 dB n : packet number
0~1023 : Power dBm
50 10 Reserved 1 0 0 1023 Reserved
60 4 Fault Code 1 0 0 15 -
Fault Code
0x0 : Normal
0x1 : RADAR Interface board Error
0x2 : RADAR Module board Error
0x3 : Position Pin Error (Not connect)
0x4 : Position Pin Error (Redundant connect)

Aftermarket – HDMS FMCW RADAR
PAGE - 17 -

Aftermarket – HDMS FMCW RADAR
PAGE - 18 -
4 RADAR Installation and Test Procedure
4.1 RADAR Test Compliance
- The installation location and installation method of RADAR are based on “Appendix C. Test
Procedure for RADAR Sensors in ISO 16001 2017 documents”.
- RADAR's test object should be a human body part protruding to the sensing area. For testing, a real
person with the height of an intermediate pilot must use it in accordance with ISO 3411.
- The surrounding environment for the test should be an open space of flat terrain based on dry sand,
dry gravel, or a combination of dry sand and dry gravel. Everyone except the person performing the
test should be in an area not detected by RADAR
(excerpt from part of the C.3 test area of ISO 16001 2017).
4.2 RADAR Installation Compliance
- This RADAR is permanently attached or fixed to the vehicle. (If the RADAR is shaken by surrounding
environment or vibration, the basic sensing performance may be degraded.)
- Using RADAR's bracket or self-made bracket, it can be well fixed to the position where the RADAR is
mounted.
- The recommended installation height of RADAR is 1.4-1.6m, and the angle of RADAR can be adjusted
according to the installation environment. (As the angle of RADAR faces downward, the detection
range decreases, and ground effect may occur due to the ground.)

Aftermarket – HDMS FMCW RADAR
PAGE - 19 -
Detection range according to RADAR installation angle
4.3 RADAR Test Method (How to Use a Tripod)
- Fix the RADAR using a tripod, adjust the height of 1.4-1.6m, and adjust the angle of the RADAR
according to the environment to check the detection result of humans to adjust the installation height
and angle.
- If the environment is complex, there is a possibility of misunderstanding. Therefore, it is
recommended to perform the RADAR test in an open space with a left and right width of 10 meters or
more.
4.4 RADAR Test Method (How to Use in Vehicle)
- In the picture below, the test was conducted by mounting it on the actual excavator equipment, and
the test was conducted by mounting it using a bracket at a height of 1.5m for each equipment. The
test was conducted by mounting a RADAR at a location of 1.5 meters for each equipment.

Aftermarket – HDMS FMCW RADAR
PAGE - 20 -
Mount on an excavator(For Example)
5. Appendix
Interference Mitigation For IWR1443 RADAR Device
- References : swra662_Interference Mitigation For AWRIWR Devices
http://www.ti.com/lit/an/swra662/swra662.pdf
1 Types of Interference in FMCW RADAR
- Crossing Interference
- Parallel Interference
- Between Crossing and Parallel Interference
2 Interference Avoidance
NO Technique Method Implementable in
TI device.
Usefulness and
simplicity
1
CFAR –based
mitigation
Increase the CFAR thresholds
accounting for the interference.
This decreases the detection
sensitivity but avoids spurious
sidelobes.
Yes. The detection
threshold is user
programmable.
Debatable usefulness.
Very simple to
implement.
2
Dithering in
time domain.
Dithering the idle time (time
between chirps) or the interframe
time (time between frames). Since
this dither is different for the
Yes. A near infinite
variation is possible on
the ‘idle time’. Frames
can be generated with
Very Useful. specially in
a parallel interferer
scenario. Simple to
implement