CAR70 millimeter wave radar

User manual

Hunan Nanoradar Science and Technology Co., Ltd.

Disclaimers
Thanks to purchase this product. There is web pages about CAR70 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, 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
nd
2017-02-24 2.0 The 2 version of user manual on CAR70
 Contents
1 Brief introduction of CAR70 ................................................................................................................ 1

2 Matters needing attention in use ........................................................................................................... 1

3 Shipping list .......................................................................................................................................... 2

4 Quick-to-use steps................................................................................................................................. 2

4.1 Cables installation ...................................................................................................................... 2

4.2 The installation and coordinate system of CAR70 ..................................................................... 3

4.3 Test and use ................................................................................................................................ 4

4.4 Online upgrade for product firmware......................................................................................... 7

5. Data parsing for CAN interface ............................................................................................................ 8

5.1 CAR70 configuration (Sensor Configuration) ........................................................................... 9

5.2 Radar back (Sensor Feedback) ................................................................................................. 13

5.3 Radar status (Radar Status) ...................................................................................................... 14

5.4 Target output status (Target Status) .......................................................................................... 15

5.5 Target output information (Target Info) ................................................................................... 16

5.6 Carrier speed (Speed Information) ........................................................................................... 17

5.7 Carrier gear (Gear Information) ............................................................................................... 18

5.8 Steering angular speed of carrier (Yaw Rate Information) ...................................................... 19

6. Data parsing examples ........................................................................................................................ 21

7 Installation and notes for risks ............................................................................................................ 22

7.1 Installation principles ............................................................................................................... 22

7.2 Notes for risks in use ................................................................................................................ 22

8 Frequently asked questions (FAQ) ..................................................................................................... 23

9 References ........................................................................................................................................... 23

I
1 Brief introduction of CAR70
CAR70 is a 24GHz medium-range radar sensor developed by Hunan Nanoradar Science and
Technology Co., Ltd., aimed at the advanced driver assistant system (ADAS). It adopts
reliable solid-state technology, with the advantages of accurate speed-measurement, high
sensitivity, easy integration and high performance. It is widely applied in blind spot detection
(BSD), lane change assistant (LCA), rear cross traffic alert (RCTA), exit assistance function
(EAF) and forward cross traffic alert (FCTA).

Dimensions：137×70×26(mm)
Weight：<195g

Figure 1 CAR70 outlook

Note:
CAN wiring is the 4-core RVV line, with 4 meters long.

2 Matters needing attention in use

Much attention should be paid to the "matters needing attention ".

(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.

Any problem in installation, please feel free to contact Nanoradar.

1
3 Shipping list
The shipping list includes：CAR70 sensor 1x，as in figure 2，cable 1x，as in figure 3.

Figure 2 CAR70 sensor Figure 3 CAR70 cables

4 Quick-to-use steps

4.1 Cables installation

The definition for CAR70 sensor interface pins are as shown in table1：

Table 1 The definition for CAR70 pin interface

No. Definition Range Cable colors
1 POWER IN 9~16V DC Brown
2 / /
3 CAN_H -58~58V DC Yellow
4 / /
5 / /
6 CAN_L -58~58V DC Blue
7 / /
8 GND / Black

CAR70 module uses 8PINs vehicle connector (TYCO: 1-1534229-1), and the interface
connection structure is as follows:

2
 3 CAN_H 7

6 CAN_L 2

CAN GATEWAY

1 12V
8 GND

Figure 4 quick wiring connection diagram for CAR70

For on-board integration, the connection can be made by using a matching female connector
(TYCO: 1-967658-1).

The CAR70 can be secured with four M5 screws.

4.2 The installation and coordinate system of CAR70

In the blind spot detection and related applications, there should be an installation height of
500 ~ 1200mm to the ground for CAR70, and a 25 °angle between the radar antenna surface
and the car body. The installation diagram is as follows:

Figure 5 Module backward installation diagram

The installation parameters are as follows：

3
 Table 2 Module installation parameters
Minimum value Typical value Maximum value Parameter definition
α 20° 25° 30° Azimuth angle
β -1° 0° 1° Pitch angle
Distance from the rear
Δx 100mm 300mm 500mm
vehicle
Distance from the side
Δy 50mm 100mm 150mm
of vehicle
H_z 500mm 600mm 1200mm Height from the ground

To ensure that the module can be installed in the above areas of the vehicle, and ensure that
there is sufficient space in the rear bumper.

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.

Figure 6 the sign of angle direction is specified as Figure 7 the sign of angle direction is specified as
positive(+) negative(+)

Note:

CAR70 uses Cartesian Coordinates. When installed, the antenna face (convex face) of CAR70
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.

4.3 Test and use

CAR70 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 CAR70 sensor.

First of all, the "millimeter-wave radar general management tool" (PC test software), user

4
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 CAR70. 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.

Figure 8 CAN box for test

Test procedures are as follows：

1) Test tools and software are as the following table：

Table 3 Product test and use tools
No. Device name Qty
1 CAR70 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 CAR70 radar sensor via USBCAN adapter, and the connection
diagram is as follows:

5
 POWER
DC12V
GND

H
CAN_H CAR70
G
USB
L

CAN_L
USBCAN

Figure 9 CANBUS connection and test diagram

Note:

When the connection is correct and CAR70 is started for the first time, CAR70 will give a
1-second "beep" tone. When CAR70 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 CAR70 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.

6
 Figure 10 CAR70 test interface

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：

CAR70 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

CAR70 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.

7
 Figure 11 CAR70 radar upgrade tool interface

5. Data parsing for CAN interface

CAR70 radar supports CAN interface. The communication network of CAN Bus complies
with ISO11898-2 standard, with the transmission rate of 500bit/s. CAR70 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 CAR70 is defined as follows.

Table 4 Definition of frame message

Basic
CAN Frame format Message name Contents Source
message ID
Radar
1 CAN2.0A(11Bit) 0x200 RadarConfiguration CAR70
configuration
1 CAN2.0A(11Bit) 0x400 RadarFeedback Radar back CAR70
Radar status
1 CAN2.0A(11Bit) 0x60A RadarStatus CAR70
output
Radar target
1 CAN2.0A(11Bit) 0x70B TargetStatus CAR70
status
Radar target
1 CAN2.0A(11Bit) 0x70C TargerInformation CAR70
information

8
Note:

The specific ID calculation format: Each radar message ID=radar ID*10+basic message ID

Due to that multiple devices could be mounted in the CAN bus, and each device has its own
ID. In the above table, the default radar ID is 0 and the underlying message IDs are 0x200,
0x400, 0x60A, 0x70B and 0x70C. If the radar ID is configured as 1, then its Message ID is
0x210, 0x410, 0x61A, 0x71B, 0x71C, and so on.

Table 5 the message of carrier frame

CAN Frame format Message ID Message name Contents Source
1 CAN2.0A(11Bit 0x6E0 SpeedInformation Speed of carrier Carrier(vehicle)
1 CAN2.0A(11Bit) 0x6 E1 GearInformation Gear of carrier Carrier(vehicle)
Steering angular
1 CAN2.0A(11Bit) 0x6E2 YawRateInformation Carrier(vehicle)
speed of carrier

5.1 CAR70 configuration (Sensor Configuration)

CAR70 radar is configured through 0x200 messages. And the structure of radar configuration
message is as the following table：

Table 6 the structure of radar configuration message

Bit
7 6 5 4 3 2 1 0
Byte

7 6 5 4 3 2 1 0
0
r/w msb DataType lsb

15 14 13 12 11 10 9 8
1
msb lsb

23 22 21 20 19 18 17 16
2

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4 Parameter

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

The description for each field in the structure of radar configuration message is as the
followings.

9
 Table 7 the description of the structure of radar configuration message
Initial
Parameters Length Definition
position
1:Radar ID
2:Radar version
3:start/stop the output of target
information
4:Distance filtering
DataType 0 7
5:Mode
6:Radar installation direction
7:Target output option
7e: for the use of internal test
7f:Save parameters
0:Read parameters;
R/W 7 1
1:Write parameters
In accordance with the
Parameter 8 56
definition of DataType

For reading or writing parameters, CAR70 will reply a message that contains the results of
writing parameters or the returning of the parameters to read. RadarFeedback defines the
format of the replied message. When configuring CAR70, the definition of Parameter is
different for different DataType. The definition is as follows:

1) Configuration of radar ID

The format of radar ID configuration is as follows.

Table 8 The format of radar ID configuration

Parameters Initial position Length Value Definition
Radar ID
DataType 0 7 1
configuration
0:read
parameters
R/W 7 1 -
1:write
parameters
Parameter 8 4 0~15 ID Number
Reserved 16 40 -

When reading Radar ID, R / W is 0, and the ID_Number value is invalid; when writing Radar
ID, R / W is 1, and ID_Number is the ID number of radar.

2) Obtain radar version

The frame format for obtaining radar version is as follows：

10
 Table 9 Format for obtaining radar version
Initial
Parameters Length Value Definition
position
Obtain radar
DataType 0 7 2
version
0:read parameters;
R/W 7 1 -
1:invalid
Master Version 8 8 0~255 Master version
Second Version 16 8 0~255 Second version
Step Version 32 8 0~ 55 Step version
Reserved 40 24 - -

When the obtained radar version is read-only, in getting the radar version, do not fill any value
in the Master Version, Second Version, Step Version, and CAR70 ignore these values. When
CAR 70 receives a message of obtained radar version, the current radar version information
will fill up the fields in the reply message of 0x400.

3) Start/stop the output of target information

Format for start/stop target information data output is as follows：

Table 10 Format for start/stop target information data output

Initial
Parameters Length Value Definition
position
Start/stop the output of target
DataType 0 7
information
0:read parameters;1:write
R/W 7 1 -
parameters
Parameter 8 1 0:stop output;1:start output
Reserved 9 55 - -

4) Distance filtering

【Reserve】

5) Mode configuration

CAR70 can switch between different modes to meet the requirements of different scenarios.
The mode configuration format is shown in the following table.

11
 Table 11 Format of mode configuration
Initial
Parameters Length Value Definition
position
DataType 0 7 5 Mode configuration
0:read parameters;
R/W 7 1 -
1:write parameters
0:BSD/LCA; 1:RCTA
Parameter 8 8
2:EAF; 3:FCTA
Reserved 16 48 - -

6) Configuration of radar installation direction

The installation direction of CAR70 affects the angle calibration in the algorithm. After
installing the CAR70, the installation direction field of the radar needs to be configured, and
the program will be calibrated according to the installation direction. The radar installation
direction configuration format is shown in the following table:

Table 12 Configuration format of radar installation direction

Initial
Parameters Length Value Definition
position
DataType 0 7 6 Radar installation direction
0:read parameters;
R/W 7 1 -
1:write parameters
0:forwarddirection;
Parameter 8 1
1:reverse direction
Reserved 9 55 - -

7) Target output option

CAR70 can output processed target data (for example, output the target data within the set
distance range), or directly output the original target data (all the target data in the detection
range).And the current default output is the original target data. The format of target output
option is shown in the following table.

Table 13 Format of target output option

Initial
Parameters Length Value Definition
position
DataType 0 7 7 Targets output option
0:read parameters；1:write
R/W 7 1 -
parameters
0:Data of processed targets
Parameter 8 1
1:Data of original targets
Reserved 9 55 - -

12
8) For internal test

【Reserve】

9) Save parameters

To save the configured parameters, you need to run the command of saving parameters. Then
after reboot, the last configuration takes effect and it does not need to be re-configured.
Otherwise, it needs to be re-configured in the next startup. The format for saving the
parameters (i.e. 0xFF00000000000000) is shown in the following table:

Table 14 Format of saving parameters

Initial
Parameters Length Value Definition
position
DataType 0 7 7f Save parameters
R/W 7 1 1 Write parameters
Reserved 8 56 - -

5.2 Radar back (Sensor Feedback)

Each time the host computer or other MCU sends the configuration signal to CAR70, CAR70
will immediately return the execution result. The reply format of the reply is shown in the
following table. In the radar reply, only Bit7 is different. Bit7 in RadarConfiguration is defined
as R / W, and RadarFeedback is defined as the result of the configured execution. The
Parameter field RadarConfiguration is used to write the parameter, which is used in the
RadarFeedback to return the current value of the parameter.

Table 15 the structure of radar back message

Bit
7 6 5 4 3 2 1 0
Byte

7 6 5 4 3 2 1 0
0
Result
msb DataType lsb

15 14 13 12 11 10 9 8
1
msb lsb

23 22 21 20 19 18 17 16
2

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4 Parameter

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

13
The definition for the description of each field in radar reply is as follows:

Table 16 the description of each field in radar reply

Initial
Parameters Length Definition
position
1:radar ID；2:radar version
3:start/stop the output of
target information
4:distance filtering; 5:Mode
DataType 0 7
6:radar installation direction
7:target output option
7e:for internal test
7f:save parameters
0:fail to configure;1:succeed
Result 7 1
to configure
In accordance with the
Parameter 8 56
definition of DataType

5.3 Radar status (Radar Status)

The message 0x60A includes radar status message. And the structure of radar configuration
message is as follows.

Table 17 the structure of radar status message（0x60A）

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0
msb Radar_Mode lsb msb Radar_ID lsb

15 14 13 12 11 10 9 8
1
msb Radar_RollCount lsb

23 22 21 20 19 18 17 16
2

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7
Mount_Dir Output_Type

The description for each filed in radar status message is as follows.

14
 Table 18 the description for radar status message（0x60A）
Initial
Parameters Length Value range
position
Radar_ID 0 4 0~15
0:BSD/LCA;1:RCTA;
Radar_Mode 4 4
2:EAF;3:FCTA
Radar_RollCount 8 2 0~3
Radar_Output_Type 56 1 0:Processed;1:Origin
0:forward direction；
Radar_Mount_Dir 57 1
1:reverse direction

5.4 Target output status (Target Status)

The target output status data message format for CAR70 system is as shown in the table,
which NoOfCluster represents the number of detected targets, and the value of RollCount
value lies between successive cycles of 0-1-2-3-0-1-2-3 ••••••. When the host computer or an
external MCU cannot process the output data of CAR70 sensor in time, it will cause the
received RollCount value to be discontinuous. At this time you should find a faster moving
and handling method to solve this problem.

Table 19 target status（0x70B）

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0 NoOfCluster
msb lsb

15 14 13 12 11 10 9 8
1 ClusterSt_RollCount
msb lsb

23 22 21 20 19 18 17 16
2

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

The description for each field in target status is as follows.

Table 20 the description for target status（0x70B）

Initial
Parameters Length Value range
position
NoOfCluster 0 8 0~255
ClusterSt_RollCount 8 2 0~3

15
5.5 Target output information (Target Info)
The message format for Car70 target output is as follows.

Table 21 the structure of target information (0x70C)

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0 Cluster_Index
msb lsb

15 14 13 12 11 10 9 8
1 Cluster_RCSValue
msb lsb

23 22 21 20 19 18 17 16
2 Cluster_Range[15:8]
msb

31 30 29 28 27 26 25 24
3 Cluster_Range[7:0]
lsb

39 38 37 36 35 34 33 32
4 Cluster_Azimuth
msb lsb

47 46 45 44 43 42 41 40
5 Cluster1_RollCount Cluster_Vrel[10:8]
msb lsb msb

55 54 53 52 51 50 49 48
6 Cluster_Vrel[7:0]
lsb

63 62 61 60 59 58 57 56
7

Message 0x70C contains the target's distance, angle, speed and other information. When the
radar sensor is working and the target is detected, the target output state message appears after
the CAR 70 system status message, and finally there will be the target output information
message.

The description of each field in the target message is described in the following table:

Table 22 the description for target information（0x70C）

Calculation Value
Parameters Initial position Length
methods range
Cluster_Index 0 8 0~127
Cluster_RCSValue 8 8 Val*0.5-50 -50~30
Cluster_Range 16 16 Val*0.01 0~655
Cluster_Azimuth 32 7 Val*2-90 -90~90
Cluster_Vrel 48 11 Val*0.05-35 -35~35
Cluster1_RollCo nt 46 2 0~3

Note:

The value of each field in the table is not the true value of the target information. The true
value needs to be calculated by the following formula:

- Index = IndexValue

- Rcs = RcsValue*0.5 – 50

16
- Range = (RangeHValue*256 + RangeLValue)*0.01

- Azimuth = AzimuthValue*2 – 90

- RollCount = RollCountValue

- Verl = (VrelHValue*256 + VrelLValue) *0.05-35

- SNR = Value-127

The reflection Radar-Cross Section (RCS), the target range (Range), the target velocity (Verl),
the target azimuth (Azimuth), and the Signal Noise Ratio (SNR) can be obtained by these
calculations, therefore to accurately detect the target.

Note:

The target speed is the relative movement velocity. When the target is close to the radar sensor,
the target speed value (Verl) is negative; when the target is far away from the radar sensor, the
target speed value (Verl) is a positive number.

5.6 Carrier speed (Speed Information)

Message 0x6E0 is the carrier's speed information, which is periodically provided by the carrier.
The structure of the carrier speed information is shown in the following table, where
RountCount is looped between 0-1-2 ... And the value could be checked in the receiving end to
determine if the information if accepted normally. When receiving the discontinuous value,
you need to look for faster processing to move the message data.

Table 23 the structure of Speed Information message(0x6E0)

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0
msb Speed lsb

15 14 13 12 11 10 9 8
1
msb RountCount lsb

23 22 21 20 19 18 17 16
2
msb CRC lsb

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

The description for each field in carrier speed is as follows.

17
 Table 24 the description for Speed Information message（0x6E0）
Initial
parameters Length calculation Value range
position
Speed 0 8 0 ~250km/h
RountCount 8 4 0~15
CRC 16 8 0~255

5.7 Carrier gear (Gear Information)

The gear information of Message 0x6E1 and the structure of carrier gear message are shown in
the following table:

Table 25 the structure of carrier gear message

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0
msb Gear lsb

15 14 13 12 11 10 9 8
1
msb RountCount lsb

23 22 21 20 19 18 17 16
2
msb CRC lsb

31 30 29 28 27 26 25 24
3

39 38 37 36 35 34 33 32
4

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

The description for each field in carrier gear is as follows.

18
 Table 26 the description for the structure of carrier gear message
Initial
Parameters Length Range value
position
0:not ready(shift changing)
1:Parking
2:Reverse
Gear 0 3
3:Neutral
4:Drive
5:Economy
RountCount 8 4 0~15
CRC 16 8 0~255

5.8 Steering angular speed of carrier (Yaw Rate Information)

Message "Yaw Rate Information" includes the steering angular information of carrier (turn left,
turn right, normal driving) as the following table.
Table 27 the structure Yaw Rate Information message(0x6E2)

Bit
7 6 5 4 3 2 1 0
Byte
Byte

7 6 5 4 3 2 1 0
0
msb Yaw lsb

15 14 13 12 11 10 9 8
1
WheelAngleH
msb lsb

23 22 21 20 19 18 17 16
2
msb WheelAngleL lsb

31 30 29 28 27 26 25 24
3
msb
RountCount lsb

39 38 37 36 35 34 33 32
4
CRC
msb lsb

47 46 45 44 43 42 41 40
5

55 54 53 52 51 50 49 48
6

63 62 61 60 59 58 57 56
7

The description for each field in carrier steering angular speed is as follows.

19
 Table 28 the description for Yaw Rate Information message（0x6E2）
Initial
Parameters Length Value range
position
Yaw 0 2 0: No Action；1:Left；2:Right
Unit：degree，the detailed data
Wheel Angle 8 16
format is undefined
RountCount 24 4 0~15
CRC 32 8 0~255

Note:

The angular velocity of carrier for CAR70 cannot be extracted temporarily.

20
6. Data parsing examples
Take Message ID as the target output information (Target Info) as an example, there is a frame
of the Target Info data message as follows:

Message ID:

0x70C

Data Payload:

0x01 0xC8 0x07 0xD0 0x32 0x02 0xEE 0x96

Interpretation：

Message ID = 0x70C

Data Payload = 0x01 0xC8 0x07 0xD0 0x32 0x02 0xEE 0x96

Each field of Data Payload is parsed as following：

Index = 1

Rcs = 0xC8*0.5 – 50 = 50

Range = (0x07*0x100 +0xD0)*0.01 = 20

Azimuth = 0x32*2-90 = 10

Rsvd1 = 0

RollCount = (0x0 & 0xE0) >> 5 = 0

Verl = (0x02*0x100 + 0xEE) *0.05-35 = 2.5

SNR = 0x96 – 127 = 23

Note:

The user needs to program to parse the sensor output data (hexadecimal).

The data before being parsed is hexadecimal, and is decimal after being

parsed. 0x2AF5 hexadecimal is converted to decimal:

10997=5*16^0+F*16^1+A*16^2+2*16^3。

21
7 Installation and notes for risks

7.1Installation principles
Radar installation principles：
1. Keep away from the antenna within the body of the signal as far as possible when installing;
2. Keep away from the location of the large frequently started electrical equipment when
installing;
3. Keep away from the motor actuator and drive.
Installation position：
The CAR70 radar sensor is recommended for installation in the position of the vehicle
bumper.
Same as the radome, the bumper material will also have a greater impact on radar performance.
In essence, there are three aspects of impact on radar performance. Firstly, radar cannot
penetrate completely through the radome, which will reduce the effective radiated radar power,
including reflection loss and dielectric loss; Secondly, the distortion of radar antenna beam
causes the change of radar's effective areas, which may lead to the interference of the
backward targets; Thirdly, the radome makes radar’s standing wave worse. Radar radome will
reduce the detection sensitivity and coverage of radar.
When installing the rear bumper, try to follow the following guidelines:
1. Select the smooth surface area;
2. To avoid the corner or areas with the changes of thickness;
3. Avoid chrome plating or any other additional area with "the design of special decorative
shape ".

7.2Notes for risks in use

CAR70 is designed and developed for automotive applications and requires technical expertise.
The product can only be used by those with relevant training. When the users discover any
product safety defect, you are required to notify Nanoradar's customer service promptly.

 When installing the sensor, make sure there is no an ice particle or mist on the radome
surface.

 Weld activities should not be performed near the sensor position.

 The sensor surface can only be wiped with a damp, lint-free cotton cloth and please never
scratch the surface of the sensor.

 The equipment needs to be inspected daily before it is put into service.

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 8 Frequently asked questions (FAQ)
(1) Q: When CAR70 millimeter wave radar is installed in the car, the output of the ID is the
same?

A: Each radar has its own ID. And also radar ID is related to its installation position.ID can be
read out from the CAN message. For example, the ID of 0x70C radar is 0, and that of 0x73C
radar is 3. Therefore the IDs of radars on the same car are not the same, but the ID of radar in
the same installation position is the same for different vehicles. And the ID of radar can be
configured by program.

(2) Q: What if CAR70 is retrofitted to forward radar?

A: CAR70 is 24GHz medium-range blind spot detection (BSD) radar sensor developed for
Advanced Driver Assistant System (ADAS) applications, which uses a millimeter-wave radar
sensor to monitor both the vehicle's rear and sides. It can monitor the blind zone of "view" in
driving, and provide auxiliary warning function in the driver's normal driving or changing lane.
When CAR70 is installed as the forward detecting radar, its signal acquisition algorithm
should be modified. You could contact us for the modification.

(3) Q: What is the Millimeter Wave Radar Solution for Assisted Driving by Nanoradar?

A: Our auxiliary driving solution is currently the industry's leading high-level auxiliary driving
one. First is about the hardware configuration- a long-range radar (CAR150) and four
medium-range radars (CAR70), which constitutes the entire hardware base. Second is about
the fusion of visual and other multiple sensors, for the extraction of information, including the
target detection of position, speed, angle and other information. And the extracted information
will be highly integrated with the algorithm of moving targets and the map information.
Finally it constitutes the control of the vehicle, with the demanding of control algorithm and
the underlying function control to achieve it.

9 References
[1] White paper on CAR70 millimeter wave radar

[2] User manual for the general management system of Nanoradar mmw radar
[3] User manual for Nanoradar's radar upgrading tool

Hunan Nanoradar Science and Technology Co., Ltd. Tel.： 0731-88939916

No.27 Wenxuan Road, Hi-tech District Changsha E-Mail：sales@nanoradar.cn
B7 Lugu Compark URL： www.nanoradar.cn

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