nanoradar CAR28T User manual

CAR28T Millimeter Wave Radar
User manual

Hunan Nanoradar Science and Technology Co., Ltd.
Disclaimers
Thanks to purchase this product. There is web pages about NRA24 altimeter in our
official website (www.nanoradar.cn).You can find the latest product information and
user manual on the pages. The user manual is subject to change without notice.
Please read this manual carefully before using this product. 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 manual shall not be pursued liability for
the patent.
Version history
Date
Version
Version description
2017-05-05
1.0
the 1st version of CAR28T user manual

Contents
1 Brief introduction of CAR28T................................................................................ 4
2 Matters needing attention in use............................................................................. 4
3 Shipping list......................................................................................................... 5
3 Quick-to-use steps...................................................................................................5
4.1 Cables installation............................................................................................ 5
4.2 The installation and coordinate system of CAR28T........................................ 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

WP015(v1.0)2017-05-05
1 Brief introduction of CAR28T
CAR28T is a lightweight 24GHz car millimeter-wave radar sensor in the industry. It can
accurately detect the distance, speed, angle and other information of the target using of radio
waves and echo.
CAR28T compacts 96 × 57 × 20mm, detection range is 50 meters. With 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 detection area, and should
not to be covered by any metal objects;
(2) Must carry out the test in open space outdoors.

WP015(v1.0)2017-05-05
Any problem in installation, please feel free to contact Nanoradar
3 Shipping list
The shipping list includes：CAR28T sensor 1x，as in figure2，cable 1x，as in figure3.
Fig2.CAR28T sensor Fig3.CAR28T cables
Note:
CAR28T can be fixed with 4 M2.5 screws or magic stickers.
3 Quick-to-use steps
4.1 Cables installation
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 to the ground for CAR28T, and a 25 ° angle between the radar antenna surface
and the car body. The installation diagram is as follows:

WP015(v1.0)2017-05-05
Fig4. Module backward installation diagram
The installation parameters are as follows：
Table 2 Module installation parameters
Note:
In forward applications, the coverage width of the blind area on both sides is higher. It 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 angle direction is
specified as negative(+)

WP015(v1.0)2017-05-05
Note:
CAR28T uses Cartesian Coordinates. When installed, the antenna face (convex face) of
CAR28T is facing the target direction, and the CAN port is facing the right direction (+) as
shown in the left figure (recommended mounting direction), while CAN port is facing the left
direction (-) as shown in the right figure.
As shown in the left figure, the dotted line indicates the origin of the target angle, and the
distance from the dotted line to the left border is 26 mm. The target angle of CAR28T test is the
azimuth distance from the radial distance (linear distance). The speed is positive when the target
is near the radar sensor, and the speed is negative when the target is far from the sensor.
4.3 Test and use
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 configure the PC test software.
Note:
"MMW Radar General Management Tool" utilizes the USB2CAN adapter shown in Figure 8
to communicate with the CAR28T. Other types of USB2CAN adapters are not supported at this
time. The shipping list does not include USB2CAN adapters by default. Customers can get to
Nanoradar's customer service to obtain CAN adapter link address to buy it. Or Nanoradar can
also help customers purchase it.
Fig7. CAN box for test
Test procedures are as follows：
1) Test tools and software are as the following table：

WP015(v1.0)2017-05-05
Table 3 Product test and use tools
No.
Device name
Qty
1
CAR28T
1
2
PC
1
3
Cables
2
4
12V DC power supply
1
5
PC test software
1
6
USBCAN box
1
2) Connect the PC and CAR28T radar sensor via USBCAN adapter, and the connection
diagram is as follows:
Fig8. CANBUS connection and test diagram
Note:
When the connection is correct and CAR28T is started for the first time, CAR28T will give a
1-second "beep" tone. When CAR28T is connected to the 12VDC power supply, the green light
(POWER) in the USBCAN will continue to light, and yellow light will continue to flash when
the CAR28T is operating normally.
3) 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 to save settings. Then click the button "Connect to Device" on the right. When
exiting the test, click the right "stop device "button.
In Figure 10, this interface shows there are two moving targets detected by the radar. A
represents the azimuth of angle, and R represents the radial distance of the target.
Note:
CAR28T is required for the radar type in the millimeter-wave radar general management tool
when testing CAR28T.

WP015(v1.0)2017-05-05
Fig9. CAR28T test interface
In Figure 9 at this point, the interface shows that the radar detects two moving targets, where the
parameter A represents the target angle, R represents the radial distance of the target (the
distance from the target to the radar)
Note:
Check "save data" in the page to the local check box, and the target data captured by radar will
be stored in text format under the Data folder in the millimeter-wave radar general management
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 customer service or Nanoradar's official
website to obtain Nanoradar's millimeter wave radar upgrade tool and upgrade program. The
upgrade tool interface is as shown below. And the use method of PC software please refers to
the user manual of Nanordar's Radar Upgrade Tool.

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