nanoradar MR76 User manual

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
1
MR76 77GHz MMW Radar
User Manual
湖南纳雷科技有限公司
Hunan Nanoradar Science and Technology Co.,Ltd.

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
2
Disclaimers
Thanks to purchase this product. There is web pages about M R 7 6 radar sensor 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.

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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Version history
Date
Version
Version description
2018-11-20
1.0
The 1st version of user manual on MR76
2020-3-10
1.1
Content add and revise

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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CONTENT
1. Introduction..............................................................................................................................................................................5
1.1 Features....................................................................................................................................................................................5
1.2 Application examples.............................................................................................................................................................. 5
1.3 Radar principle.........................................................................................................................................................................6
1.4 Radar FOV...............................................................................................................................................................................6
1.5 Technical Parameter................................................................................................................................................................ 7
2. Radar Connection....................................................................................................................................................................8
2.3.1 Mounting on Vehicle............................................................................................................................................................ 8
a. Thickness：............................................................................................................................................................................. 12
b. Spraying................................................................................................................................................................................... 12
c. Alignment................................................................................................................................................................................ 13
3. Electrical Conditions............................................................................................................................................................. 13
3.1 Cable Connection...................................................................................................................................................................13
3.2 CAN Interface........................................................................................................................................................................14
3.3 Test and Use.......................................................................................................................................................................... 14
4. Influence on Human Health..................................................................................................................................................16
5. Technical Parameter............................................................................................................................................................. 18
5.1 The Field of View (FoV)....................................................................................................................................................... 18
5.2 Cable Connection...................................................................................................................................................................19
6. Interfaces................................................................................................................................................................................ 20
6.1 CAN interface........................................................................................................................................................................20
6.2 Input Signals- Possible Dynamic Parameters........................................................................................................................ 21
7. Device Dimensions................................................................................................................................................................. 21
7.1 Dimensions......................................................................................................................................................................... 21
8. Notes on Safety and Risks..................................................................................................................................................... 21
8.1 Areas of responsibility........................................................................................................................................................... 22
9. Common faults and solutions............................................................................................................................................... 22

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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1. Introduction
1.1 Features
The MR76 77GHz millimeter-wave radar provides short--range and medium-range dual-beam scanning
coverage for obstacles up to 170 meters.
It supports the following features:
A. Simultaneous detection of stationary and moving objects with relative speeds from -200km/h to
300km/h.
a) Information on the distance, velocity and angle of the object.
b) Classification of moving objects such as trucks, cars and pedestrians.
B. Dual scan provides detections in far range (up to 170 m) and extended field of view (FoV) in short
range up to 90°(-16dB)
C. Up to 64 tracking targets can be output via the CAN interface.
D. Support the integration of radar with other devices (such as cameras), which needs to be developed
by customers.
1.2 Application examples
The MR76 77GHz millimeter wave radar is suitable for applications such as special vehicles collision
avoidance and automotive forward collision avoidance. Other atypical applications are as follows:
A. Distance Monitoring/Warning: Distance monitoring with warning message if the distance to the
preceding object is too close.
B. Detection and tracking of people, vehicles, animals and equipment for collision avoidance in
industrial, construction, agricultural and mining applications.
C. Monitoring of automated manufacturing processes.
D. Condition monitoring of industrial plants.
E. Traffic monitoring for traffic management and safety applications with ability to distinguish objects
on different lanes
F. Monitoring and protection of vehicle and pedestrians on railway and passenger crossing
The High Sensitivity and High Resolution of the sensor ensures a safe detection of preceding vehicles
and also allows detection of targets in front of the preceding vehicle (by underbody reflections) even if
the line of sight is covered.

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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1.3 Radar principle
The MR76 adopts the modulation method of FMCW (Frequency Modulated Continuous Wave). The
basic principle is that the transmitted wave is a high-frequency continuous wave, and its frequency
changes with the sawtooth wave rules by time. The changing rules of echo frequency received by the
FMCW is the same as the transmitted frequency, which is sawtooth wave rules. However, there is a time
difference. The target distance can be calculated by using thisl time difference.
Figure1 FMCW radar block diagram
Taking the sawtooth frequency modulated continuous wave as an example to briefly introduce the radar's
ranging/velocity measurement principle. As shown in Figure 1.1, blue is the transmitting signal
frequency, yellow is the receiving signal frequency, the sweep period is T, the sweep bandwidth is B, the
transmitted signal is transmitted through the target, and the echo signal has a delay, in the sawtooth
frequency change rules, the distance measurement can be performed on both the rising edge and the
falling edge.
1.4 Radar FOV
The MR76 77GHz millimeter wave radar is a mid-range radar. It can detect target distance, velocity and
position information by receiving radar reflections. Its FoV can reach ±45° in the close range and ±9° in
the medium range.

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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Figure2 MR76 FoV
1.5 Technical Parameter
Table 1 MR76 Technical Parameter
Measuring performance to natural targets (non-reflector targets)
Modulation
FMCW
Distance Range
0.20~170m@±4°，0.20~120m@±9°(Mid range mode)
0.20~70m@±9°，0.20 - 40m@45° (short range mode)
Distance Resolution
spot target, none tracking
0.68m，ability to separate targets and objects 1.5…2 x resolution
Distance Accuracy
spot target, none tracking
±0.30m
FOV
±45°@-16dB
Angle Resolution
spot target, none tracking
±0.1°(middle mode), ±0.3°@0°、±1°@±45°(short mode)
Velocity Range
-200km/h...+300km/h (-leaving object，+approximation)
Velocity Resolution
spot target, none tracking
±1.23km/h
Velocity Accuracy
spot target, none tracking
±0.5km/h
Antenna Channels
2TX/4RX=8 channels
Cycle Time
60ms
Elevation beam
-6dB
14°
Azimuth beam
-6dB
18°

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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2. Radar Connection
2.1 Interface Connection
MR76 support CAN bus Connection
2.2 Configuration and Startup/Shutdown/Failure Behavior
When the MR76 is connected to the bus or PC through the CAN protocol or serial port, please refer to
the "MR76 77GHz Millimeter Wave Radar Protocol Manual" for related protocols.
The MR76 radar does not support hot swapping. If the internal detection of the system finds an error, it
may cause the radar to malfunction or even cause the radar to restart.
3. Installation and Mounting Specification
3.1 Mounting on Vehicle
Radar Mounting
For front/rear detection and related applications, the MR76 is mounted at a height of 0.4 to 1.5 m from
the ground, and the radar antenna faces directly in front. The installation specification is shown in
MR76 Dual beams (mid-range and short-range) work simultaneously and can not be switched. The detected targets are output in
order of distance or RCS. By default, they are output by distance from near to far.
Operation Condition
Transmit frequency
ETSI&FCC
76…77GHz
Transmit capacity
average/peak EIRP
29.8dBm
Power
+8.0V~32VDC
Consumption
2.5W
Working Temp
-40℃…+85℃
Storage Temp
-40℃…+90℃
Protection class
IP67
Interface
Interface
1xCAN- High speed 500kbit/s
Cover
Dimension
W*L*H
140*70*35mm
Weight
200g
Material
front/back
PBT+GF30 for front shell，Die-cast aluminum sump for back shell.

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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Figure 3 and Figure 4.
Figure 3 Radar vertical installation instruction
Figure 4 Radar horizontal installation instruction
3.2 Radar direction description
The beam width of the MR76 antenna is horizontal 90° (short distance), 8° (middle distance), and
elevation angle 14°. The direction is as follows:

MR76 77GHz MMW Radar User Manual
MR76(v1.1)2020-3-10 Hunan Nanoradar Science and Technology Co., Ltd
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Figure 5 Radar direction description
3.3 Radar sensor installation principles:
a. Keep as far as possible from the vehicle signal antenna
b. Keep away from the frequent starting position of large power equipment
c. Keep away from car motor actuators and drivers.
It is not recommended to install the radar in the bumper. Like the radome, the bumper material has a
great influence on the performance of the radar. In theory, there are three factors in the bumper that will
affect the performance of the radar. The first is that the radar wave cannot completely penetrate the
radome due to the reflection loss and the loss of the medium will reduce the power of the radar
signal.The second is that the distortion of the antenna beam causes the radar detection area to change,
which may cause the radar to be interfered by the backward target. The third is that the radome will
deteriorate the standing wave of the radar. Radar radomes reduce radar detection sensitivity and
detection range. If you must install the radar in the bumper,please adhere to the following principles:
a. Select smooth surface;
b. Avoid areas with corners or thickness changes;
c. Avoid chrome plating or any other additional "special decorative shape design" area;
d. It is forbidden to glue on the radar antenna surface.
Radial direction
Lateral direction