Microbrain Intelligent Technology CAR-F02 User manual

CAR-F02
User manual of CAR-F02 Forward Collision Warning Radar
2019.07.30
长沙莫之比智能科技有限公司
Microbrain Intelligent Technology Co., Ltd.

1.Introduction
CAR-F02 is a millimeter wave radar system used for Forward Collision
Warning. It is capable of detecting the vehicles in the front of current heading
lane and warning the carrier if there is any vehicle to prevent potential
accidental collision. It could recognise different type of targets such as
longitudinal static objects, longitudinal moving vehicles or pedestrians, lateral
objects, curve lateral objects, adjacent area interference objects .
The Highlights of CAR-F02 Forward Collision Warning millimeter wave
radar:
1. Objects such as vecicles or pedetrians whose range is up to 80 meters
could be easily detected by CAR-F02 radar.
2. The Warning signal could be either CAN communication or IO level output.
3. Car CAN signal could be integrated for comprehensive analysis and
processing, and finally output an alarm signal;
4. The style of alarm signals could be devided into Level One alarm and Level
Two alarm accroding to their different ranges or threat levels.
Product Performance Specification
Items
Parameter name
Specification
System Properties
Voltage
8-36V
Operating Temperature
-40℃~85℃
Power
< 2W
Water Resistence Level
IP67
Frequency Band
77-81G
Interface
CAN
Size
66*66*22.9mm

Weight
132.4g
Azimuth Beam Scope
±60°
Detection
Performance
Range Resolution
0.36m
Range Accuracy
<0.18m
Maximum Range
80m
Interface
Input
CAN
Output
Two channels signal;
IO level/CAN
2.Product Highlights
CAN interface: CAN bus communication network conforms to ISO1188-2
standard. The default frame type is standard frame and the default Baud
rate is 500K.
Switch of alarm mode: CAR-F02 alarm mode is divided into two types:
one is the warning light and buzzer and the other one is CAN information
alarm.
Set the starting speed of the radar: CAR-F02 radar needs to be
connected to the vehicle CAN bus to obtain the vehicle speed. When the
vehicle speed is greater than the radar starting speed, the radar starts to
work. For the convenience of customer testing, the starting speed of the
radar is set to 0 by default.
Radar calibration: due to the different installation positions and methods
by different customers, it is necessary to calibrate the radar after
installation to ensure the accuracy and sensitivity of the radar.
Power on self-test: The radar will conduct self-test after power on. If the
radar output mode is IO port output mode, the buzzer and the warning light
will work simultaneously after power on.If the output model for radar is
CAN output mode, the boot CAN bus will receive messages from ID 0x201,

message content contains 0x11, 0x01, 0x33, 0x44, 0x44, 0x55.
Please refer to the configuration instructions for how to use the appeal action.
3.Installation Instructions
Installation Orientation:
The antenna surface of the radar module (flat surface) is facing to the
detection area, with the heat sink facing up, and the angle could be slightly
adjust vertically and horizontally. And the connector should go out to the right.
Figure 1. Schematic diagram of radar installation direction
Installation Location:
It is recommended to install the radar the downside of the front bumper bar
and keep it from 0.5 meter to 1.0 meter above the ground. If the available
installation height is less than 0.5 meter, the installation pitch angle should be
adjusted appropriately. The installation position is near the mark position in
front of the vehicle. Customers could reserve the installation hole position or
make the installation bracket for different models.

Figure 2. Demonstration of the installation position
Note:
Looking forward from the rear part of the car, the left side of the radar is the
negative axis of X-axis, the right side is the positive axis of X-axis;The front
side of the radar is the positive axis of Y-axis, and the far away from the radar
is the positive velocity, while close to the radar is the negative velocity.
4. Description Of Interface Cable
The CAR-F02 radar adopts 6PIN connector. The shape and structure are
shown in the figure 3.
Figure 3 Connector structure drawing
Stitch definitions are shown in the Table 5.
Table 5 Stitch definitions of CAR-F02
pin
Cable identification
Cable color
description
1
VCC
black
positive pole of Power
2
CAN-H
red
CAN-H
0.5~1.0m

3
IO level output 1
green
warning light
4
IO level output 2
yellow
buzzer
5
GND
white
negative pole of Power
6
CAN-L
blue
CAN-L
5.Configuration Description
1.CAN interface Protocol
(1) The frame type is standard frame format shown in Table 6.
(2) The Baud rate is 500K.
(3) Radar configuration ID = 0x201, radar recovery ID = 0x202
2. Access the speed of the vehicle
The format of the protocol is shown in Table 6.
Table 6 The frame format of the communication protocol
Frame ID
0x201
frame type
Standard frame
Baud rate
500K
data protocol
8C
AA
header
V=0xAA*0.1
Unit km/h
If you send text ‘8C BE’
and the starting speed will be set to 19km/h
3. Set warning mode
The warning output mode of radar CAN be set through CAN bus, and CAN
output mode or IO port output mode could be set. The default radar warning
mode is IO port output mode.
Table 7 the frame formt of warning mode
Frame ID
0x201
Frame type
Standard frame
Baud rate
500K
Settings item
Data format
Data parsing
Return when
Setting Success
Return when
Setting failure
Output mode
88 A
A=0x00 IO output
A=0x01 CAN output
88 A
08 A

6.Calibration
(1) Install the radar correctly according to the installation instructions in
subsection 2.
(2) Open the debug software on the host computerand select CAN device as
USBCAN_2E_U with baud rate of 500K as shown in figure 4.
Figure 4 Upper computer software setting
(3) Place the corner reflector at 6 meters (±0.3) in front of the radar, and the left
and right offset is less than 0.2
(4) Click measurement button. If the radar feedback position is placed
successfully within the scope of the second complement, the calibration can
start. Otherwise, the corner reflector or the installation position of the radar
should be reset.

Figure 5 Measuring failure demo
Figure6 Measure success demo
(5) 点击校准后，等待校准结果，如果校准成功，则偏移为 0m，否则校准失败
需重新测量校准。
Figure 7 Successful calibration

7.Attention
Please read the instructions carefully before use
1. Make sure the power supply is stable to get best radar detection
performance.
2. Don’t impact or drop the radar to the groud in case of product damage.
3. The radar antenna is integrated inside. If there is any attachments on
surface of the radar such as water droplets, rain, snow, dust, etc., it should be
cleaned in time.
4. the USBCAN box which supports USBCAN(Canalyst-II) and the driver
should be prepared for the radar debug and online testing. The CAN box as
shown in the figure 25 should be used to communicate with the CAR-B51.The
shipping list does not contain USBCAN boxes by default, customers could find
the CAN box link address from Customer Service of Micro Brain Intelligent
Technology Co. Ltd. to purchase the device online.
Figure8 USBCAN box
5. Failed to receive data during testing? Just following the below diagnose
steps:
Check whether the USBCAN box is suitable.

Check whether the power supply is connected correctly (12V).
Check whether the terminal resistance switch of the USBCAN box is
on.