Valeo MBHL User manual

Radar based Blind Spot Information System
MBHL TypA Operating & Integration Manual
Remarks:
Certification Documentation
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Date:
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It cannot be communicated or divulged to anybody without a previous written authorization.
Radar based Blind Spot Information System
MBHL TypA Operating & Integration Manual
Document number: 121112
Revision number: 2.1
Revision date: December 12, 2011
Contact: [email protected]
Valeo Radar Systems, Inc. Valeo Radar Systems, Inc.
150 Stephenson Highway Laiernstr. 12
Troy, MI 48083 USA 74321 Bietigheim-Bissingen
Tel:[phone] GERMANY
Tel: [phone]

Radar based Blind Spot Information System
MBHL TypA Operating & Integration Manual
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Certification Documentation
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This document is the exclusive property of Valeo-Raytheon System, Inc.
It cannot be communicated or divulged to anybody without a previous written authorization.
Document purpose
This document provides the specifications to operate and integrate the Blind Spot
Detection (BSD) MBHL TypA Sensors in a car
Revision record
Revision Date Remarks Author
1.0 10/10/2011 Creation E.Amiot
2.0 12/12/2011 Updated version H Mkinsi
2.1 09/07/2012 Manual requirements see §7 E.Amiot

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Acronyms
BLIS Blind Spot Information System
bps Bits per Second
BSD Blind Spot Detection System
BSM Blind Spot Monitoring
BSZ Blind Spot Zone
CAN Controller Area Network
CTS Component Technical Specification
ECU Electronic Control Unit
EIRP Effective Isotropic Radiate Power
EMC Electromagnetic Compatibility
EMI Electromagnetic Interference
f
c
Center frequency of the intentional emission
FoV Field of View
HMI Human machine interface
IPM Instrument Pack Module or Driver Information Center
LED Electroluminescent icons
MBHL TypA Multi Beam Radar
n.a. Not applicable
OEM Original Equipment Manufacturer
PWM Pulse Wawe Modulation
RF Radio frequency
rBLIS Radar based Blind Spot Information System
SOD Side Obstacle Detection
VRS Valeo-Radar Systems, Inc.

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MBHL TypA Operating & Integration Manual
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Definitions
BSD Sensor: MBHL TypA Sensor
Host vehicle: the vehicle fitted with the BSD.
Object vehicle: the vehicle the BSD is searching to.
Vehicle right side: the side to the right of the driver.
Vehicle left side: the left of the driver.
Blind spot zone: a defined area close to the host vehicle where the presence of an
object vehicle that meets certain defined criteria causes the BSD to
generate a warning.
Human machine interface: the manner in which the sensor is able to provide information to the
driver as well as the means for the driver to send information (or
commands) to the sensors.
Field of view: the area located in front of the sensor that the radar is able to
monitor (this area may be much larger than the area that the radar
is required to be able to see in order to provide alerts).
Inside alert zone: an object of interest is considered “inside” the alert zone if any part
of it is within the inner tolerance lines.
Outside alert zone: an object of interest is considered “outside” the alert zone if it is
entirely outside the outer tolerance lines.
System latency: the time delay between an event taking place to the time the
response output to the event is seen, heard or felt by the driver.
Update time: the time between two consecutives measurements of the whole
FoV.
Relative speed: the differential speed between the host and object vehicles.

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Part I Document scope
1. Radar sensor principle
The Multi Beam Radar MBHL TypA is a radar sensor module used to monitor the
alert zone (or blind area) of a vehicle, i.e. by sensing the back sides of the vehicle
and by reporting to the driver if an object of interest meeting certain criteria in that
area is present, or not. A message is transmitted on the CAN bus within the
vehicle to indicate detection of an object of interest within the alert zone.
Automotive manufacturers use different terms to describe this function, e.g. Blind
Spot Detection System (BSD), Blind Spot Monitoring (BSM), Side Obstacle
Detection (SOD), or Blind Spot Information System (BLIS).
Figure 1 shows how the sensors are placed on the vehicle and how the beams
cover the alert zones on each side.
1.1. System operation
The Multi Beam Radar Sensor modules are to be mounted on each side of a
vehicle near the back, behind the left and right hand side of the bumper with their
radar beams radiating towards the side of the vehicle. Each radar sensor is
operating in a narrow band frequency around of 24.15GHz. Under normal driving
conditions, the sensors receive multiple beams of radar data oriented in a fan
shaped pattern in order to cover the alert zone as shown in figure 1.
Each sensor is able to search its own field of view (FoV) to determine whether an
object of interest (a “licensable vehicle”) is present within the alert zone and
determine whether that object should be reported to the driver. If an object of
interest is present within the alert zone which needs to be reported, an appropriate
message is transmitted over the CAN bus. A notification to the driver will be done
with illuminated amber icons or pictograms on the exterior rear view mirrors or on
the A-pillar.
This continuous scanning of the traffic on the left and right adjacent lanes is the
same for all passenger vehicles, but the shape and size of the blind spot zone

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(BSZ) will be different from vehicle to vehicle, i.e. it depends of the vehicle style,
body shape and vehicle structure.
Area 1
Area 1
Area 2
Area 3
Area 4
Area 5
Area 6
Area 7
Area 2
Area 3
Area 4
Area 5
Area 6
Area 7
8
6
4
2
0
-6
-4
-2
2
4
8
6
4
2
0
-6
-
4
-2
2
4
Left MBR
Right MBR
Alert Zone
Alert Zone
Meters
0
Figure 1: Illustration of the covering area with 7 beams activation.
1.2. System architecture
1.2.1. BSD system overview

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Figure 2: Block diagram based on two LEDs implemented in side mirrors
For the connector, several interfaces/bumber of pins are available.

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2. Applicable documents and specifications
2.1. Government regulations and standards
2.1.1. United States of America
•Federal Communications Commission - Code of Federal Regulations - Title
47 / Part 15 – Radio Frequency Devices.
•Federal Communications Commission - Code of Federal Regulations - Title
47 / Part 18 – Industrial, Scientific and Medical (ISM) Equipment.
•Federal Communications Commission FCC/OET TP-3 / FCC Procedure for
Measurement of Intentional Radiators (Except for Periodic and Spread
Spectrum Devices and Devices Operating Below 30MHz).
•Federal Communications Commission Bulletin FCC OST 55 /
Characteristics of Open Field Test Sites.
2.1.2. Canada
•RSS-310 Radio Standards Specification 310 / Issue 1 – September 2005 /
Low Power Licence – exempt Radio Communication Devices Category II
Equipment.
•RSP-100 Radio Standards Procedure 100 / Issue 8 – Radio Equipment
Certification Procedure.
2.1.3. Europe (CEPT countries)
•ERC Recommendation 70-03 relating to the use of short range devices
(SRD).
•ETSI EN 300 440-1 & 440 -2 Electromagnetic compatibility and radio
spectrum Matters (ERM).

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2.2. Restricted countries
2.2.1. Frequency regulation
The frequency regulation status must be reviewed for each project with Valeo
Raytheon Systems, to define the countries where the sales are allowed, and to
define markings and information required in the End User Manual
2.2.2. USA export restrictions
The US export restriction law applies to this sensor.
2.5. Other documents - only for reference
ISO/TC204/WG14/N40.24
Lane Change Decision Aid Systems (Standard working draft).

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Part II Functional description
3. System characterization
3.1. Appearance
The Sensors will be invisible und must be mounted behind the non-conductive
fascia material. This portion of the rear bumper can be painted. The use of exotic
metallic painting shall be used in accordance with VRS.
Appropriated brackets must be designed and realized in such way to avoid any
trying of disassembling or any undesirable intrusion from outside of the vehicle,
unless the bumper and/or fascia are removed.
3.2. Deliverables
3.2.1. Physical content
Tables 1 provides an overview of the physical modules and their software
elements.
The electrical and mechanical implementation from both left and right BSD
Sensors are identical, but the software resident into them is different. Delivered
BSD Sensors are able to operate properly as either a left or a right sensor,
depending of its location on the vehicle.

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Table 1: Deliverable BSD contents
Part
Part numbers
Description
Left Right
BSD sensor left X - Left side BSD Sensor module
BSD sensor right - X Right side BSD Sensor module
Software strategy X X BSD Sensor module application
software (DSP download image)
Primary boot loader X Flash resident software for
reprogramming
Signal configuration X X Description of CAN signals processed
by the unit
Calibration data X X tbd
Secondary boot loader X X Temporary software downloaded into
RAM during reprogramming process
ECU configuration X X tbd

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The concept and functionality of the HMI depends on each OEM, as examples:
•HMI in form of telltales on both exterior rear view mirrors: amber for ALERT
and red for STATUS .
•HMI only to indicate the ALERT function: a telltale shall be incorporated into
the driver information system.
•Activation of ALERT and STATUS signals coming from the CAN. HMI telltales
shall be located in the A-pillar on each side.
The functionality of such telltales, when activated directly by the sensors, shall be
designed by each OEM according to the data output of each BSD Sensor.
3.2.2. Functional content
3.2.2.1. Vehicle packaging
The BSD Sensor bracket and electrical harness must provide the following
functions:
•Connect to vehicle electrical system;
•Allow for removal and replacement of sensor;
•Identify sensor as left side or right side;
•Prevent squeak and rattle;
•Fit to fascia or car body;
•Define module position with regard to fascia, car body and car axis;
•If possible, take up harness connector when BSD system is not fitted;
•Prevent contamination and mud build-up, protect against “stone throw” from
tires.
3.2.2.2. BSD Sensor module
The BSD Sensor module shall provide the following functions:

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•Determine sensor location on vehicle by detecting resistor connected to
ground (left side & right side);
•Determine operating states;
•Perform diagnostics functions;
•Perform communication to the vehicle using the CAN network;
•Detect and report objects of interest in alert zone;
•Transmit / receive 24GHz RF through fascia.
3.3. Environmental conditions
3.3.1. General requirements
The BSD Sensor module assembly shall meet the environmental and durability
requirements as defined by the OEM.
3.3.2. Weather conditions
BSD sensors should be able to operate in rain, snow conditions but will have
limitations like all sensors in certain conditions. Limitations depend on the
integration specific to each car and have to be tested.
In extreme conditions the sensors are blocked.
3.3.4. EMC & EMI
The BSD Sensor shall meet the requirements specified by the OEM and the
regulations applying.
3.3.5. Painting influence
The BSD Sensor shall operate to requirements when mounted behind a non
conductive fascia material that has been painted with metallic or non metallic
paint. The bumper used material as well as the used paints have to be measured

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for transmissibility and agreed with VRS before acceptance of BSD on any target
program.
3.4. Electrical interfaces
3.4.1. External-to-vehicle to BSD
3.4.1.1. Road environment to BSD subsystem
Each BSD Sensor transmits and receives energy reflected from objects within the
defined field of view. The table 5 provides an overview with the most important
transmission and emission parameters and their typical values. Appendix C shows
a graphic outline of the detection zone with its constraints. Section 4. addresses
details about possible object vehicles and a geometrical description of the
adjacent traffic lanes, where objects of interest are supposed to be detected.
Table 5: BSD Sensor emissions
Parameter Min Typ Max Unit Comment
Radiated peak power @ f
c
20.00 dBm Max average 13 dBm
Center frequency f
c
24.15 GHz Frequency locked
Occupied bandwidth 190 200 MHz Frequency locked
3.4.1.2. Electrical connections to rBLIS subsystem
Each rBLIS Sensor shall to be able to interface with different external devices.
Table 6 summarizes into 3 groups the communication capabilities of rBLIS
Sensors in different environments: development based testing tools, vehicle
manufacturing, and service diagnostic within dealerships.

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Table 6: External electrical connections to BSD
Item Description Requirement
A Plant Diagnostic
Tool
The BSD module shall provide the capability to communicate with
the communication tool used to perform diagnostics at the vehicle
assembly plant during installation and programming (may be also
used to reflash and calibrate modules at the plant)
B Service
Diagnostics Tool
The BSD module shall provide the capability to communicate with
the communication tool used to perform diagnostics within different
dealerships
C
Development
Tools
The BSD module shall provide the capability to communicate over
CAN with the tools used for debugging and testing activities
3.4.2. Internal-to-vehicle to BSD
3.4.2.1. BSD Sensor to rear fascia
The BSD Sensors must be mounted behind the left and right hand side of the rear
bumper. The appropriated mechanical positioning shall to be decided by the OEM,
and can be realized directly in the car body or by using a bracket. In both
situations the mechanical interface has to satisfy the requirements for a properly
detection and reporting of objects of interest within the azimuth and elevation
detection zone.
The sensor placement must be symmetrical for both sides of the vehicle. Appendix
A provides an installation guide line showing the positioning and orientation for the
most types of passenger vehicles.

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3.4.2.2. CAN interface
The BSD Sensors shall to interface with the vehicle dual wire CAN bus.
3.4.2.3. CAN communication
The BSD Sensor shall to be conform with the bus communication specification and
messages database as specified in the customer requirements.
3.4.2.4. HMI interface
The BSD Sensors interface with a HMI module in the form of telltales. Each of the
left and right BSD Sensor hardware shall be capable of driving the LED arrays
independent of state of each other. The BSD Sensors shall provide a positive
supply voltage to illuminate the LED array and high impedance when the LED is
not illuminated.

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Figure 5: Simplified block diagram of the HMI driver circuitry
3.4.2.5. User interface to component
Each BSD Sensor shall provide signals to control an “indicator” and the “driver
information system” provided for the driver. The “indicator” is a visual alert
indication to warn the driver that there is an object of interest in the alert zone.
Another signal allows the appearance of a status message into the “driver
information system”, which shows if the BSD system is not available due one of
the following reasons:
•it is broken, or faulty;
•it is not receiving the necessary information from the rest of the vehicle;
•it has become blocked;
•it is in park or reverse;
•it is disabled by the driver;
•it is disabled when a trailer is attached.

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3.5. Usage definition
3.5.1. System intend usage
The BSD system is designed to alert the driver with a visual indication, to the
presence of objects of interest that may be difficult to see using the inside and/or
outside rear view mirrors. This system is not designed as a substitute for the driver
to look to the side and rear of the vehicle to observe these objects. Its function is
limited to supplemental use only.
According to the section 6.1. of ISO draft norm ISO/TC204/WG14/N40.24
(Standard working draft “Lane Change Decision Aid Systems”) the rBLIS system if
from type 1, i.e.:
Type I systems provide the Blind Spot Warning function only. These systems are
intended to warn the subject vehicle driver of target vehicles in the adjacent zones.
These systems are not required to provide warnings of target vehicles which are
approaching the subject vehicle from the rear. The subject vehicle driver shall be
made aware of the limitations of this type of system, at least in the owner’s
manual. In particular, the owner’s manual shall include the following statement:
“This system provides support only within a limited area beside the vehicle. The
system may not provide adequate warning for vehicles approaching from the rear.”
3.5.2. Operating with a trailer
Because of possible field of view obstruction (tight curves or wide trailer), the BSD
system may not operate correctly. The vehicle’s owner’s manual must include a
notice stating that the system might not operate correctly when towing a trailer
which is of a type not approved by the OEM.
In addition, a trailer effectively increases the length of the host vehicle, and this
length is not supported by the BSD Sensor. If the Sensor receives a CAN
message indicating a trailer is in tow, the system shall be disabled and the BSD
status signal indicates that it is temporally off. If the trailer is a type approved by
the OEM, BSD will be disabled when the trailer is attached correctly.

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4. Product design
4.1. System performance
4.1.1. Determine location (LH/RH) function
The BSD Sensor shall determine by the address input pin whether it is mounted
on the left side or right side of the vehicle.
The BSD Sensor shall be reprogrammable to be able to be used on the side on
which it is mounted (based on the address pin).
4.1.2. Detect objects function
4.1.2.1. Initialization
The “detect objects” function shall be operational within a few seconds after power
supply is stable. Diagnostics will have been performed within this time frame.
4.1.2.2. Objects of interest
Any licensable vehicle (the smallest licensable vehicle is defined as a 125cc
motorcycle with rider) with dimensions that meet or exceed the following criteria is
considered an object of interest:
•length: 2.0m
•width at its widest point: 0.8m
•height: 1.1m
4.1.2.3. Alert zone definition
Alert zone could differ due to significant differences in the mounting position. The
recommended mounting position is shown in Appendix A. The alert zone is
defined as illustrated in figure 6. The alert zone dimensions are shown in table 8.
Table 8: Alert zone dimensions

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Parameter Value Comment
d
min
0.5m ± 0.3m
Width 3.0m ± 0.3m
Length 5.0m ± 0.5m Applies to BSD scenarios (low relative speed)
The possible shape, width and length of the alert zone depend on the mounting
constraints of the sensor and can also be modified by software. The alert zone
illustrated in figure 6 is approximated by proper setting of the start and stop ranges
for detection in the seven beams and is therefore not as rectangular as drawn.
Figure 6: Alert zone definition
4.1.2.4. Alert conditions
The system responses to specific scenarios which are defined by OEM (spec. title
from OEMs). False alerts and missed detections for each scenario need to be
evaluated, agreed between VRS and OEM, and documented.