FCC ID: 2ASWA-24RA-20000 IP6K7 RADAR SENSOR

HDMS FMCW RADAR USER MANUAL User's Guide HDMS HDMS FMCW RADAR User's Guide RevisionNumber : 1.30 Date : October 01, 2021 Writer : Lee Je Woo This document contains all the resources needed to set up the HDMS FMCW RADAR for performance evaluation. Aftermarket HDMS FMCW RADAR Date 21.10.01 21.11.15 21.12.27 22.01.03 Project Manager Technology Description Quality Production IC, FCC, CE RED_EC

, , RF Power Revision history

Name

Note V1.00 V1.10 V1.20 V1.30 PAGE - 2 -

Aftermarket HDMS FMCW RADAR List RADAR (Radio Detection and Ranging)? .................................................................................................... 4 1.1 Detailed Specifications ...................................................................................................................... 5 1.2 About RADAR antennamodule measurement ranges and beam patterns ........................................ 6 2 Components ............................................................................................................................................ 9 2.1 IP6K7 RADAR ................................................................................................................................... 9 2.2 RADAR Bracket ................................................................................................................................. 9 2.3 Connect cable .................................................................................................................................. 10 2.4 Power supply and PC connection. .................................................................................................. 15 3 Communication Protocol ....................................................................................................................... 16 4 RADAR Installation and Test Procedure ............................................................................................... 18 4.1 RADAR Test Compliance ................................................................................................................ 18 4.2 RADAR Installation Compliance ...................................................................................................... 18 4.3 RADAR Test Method (How to Use a Tripod) ................................................................................... 19 4.4 RADAR Test Method (How to Use in Vehicle) ................................................................................. 19 5. Appendix ................................................................................................................................................ 20 Interference Mitigation For IWR1443 RADAR Device ............................................................................... 20 1 Types of Interference in FMCW RADAR ............................................................................................... 20 2 Interference Avoidance .......................................................................................................................... 20 PAGE - 3 -

Aftermarket HDMS FMCW RADAR 1 RADAR (Radio Detection and Ranging)?

It is a device that measures the distance or shape to an object by radiating strong electromagnetic waves and measuring reflected waves reflected by the object.

- Compared to other sensors, it has higher permeability (lower impact on clouds and weather) and can detect long distances.

The Frequency Modulated Continuous Wave

(FMCW) method is mostly used, the hardware configuration is easier than other modulation methods, and it has high resolution and speed resolution in terms of performance.

- HDMS FMCW RADAR is a RADAR with a 77 ~

81Ghz frequency band and is installed in heavy equipment with stable and excellent performance and is used to detect people.

It is installed in heavy equipment and can be expected to reduce injuries and accident rates due to collision prevention and prevention with RADAR and reduce the cost of human and material resources due to accident prevention.

- RADAR data output information is as follows. Distance(X,Y Coordinates) Object Signal Power PAGE - 4 -

Aftermarket HDMS FMCW RADAR 1.1 Detailed Specifications PAGE - 5 -

Aftermarket HDMS FMCW RADAR 1.2 About RADAR antennamodule measurement ranges and beam patterns

- RADAR's beam pattern computer simulation image is as follows, and RADARs beam pattern is different depending on the presence or absence of a cover of the case. RADAR Antenna Module, Detecting Range, Azimuth Pattern PAGE - 6 -

Aftermarket HDMS FMCW RADAR RADAR Antenna Module beam radiation pattern

(Left: Top case remove, Right: Top case)

> This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

> This equipment has been tested and found to comply with the limits for a digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. PAGE - 7 -

Aftermarket HDMS FMCW RADAR This device should be installed and operated with minimum 20 cm between the radiator and your body. Prohibited applications of RADAR equipment under this service rule include fixed RADAR use outside of airport areas and airborne RADAR operations.

This device can be operated in at least one Member State without infringing applicable requirements on the use of radio spectrum. PAGE - 8 -

Aftermarket HDMS FMCW RADAR 2 Components 2.1 IP6K7 RADAR

- RADAR product is composed in detail as follows. Top Case, Bottom Case Connect Cables Interface board, RADAR Antenna module IP6K7 RADAR(24RA-20000) 2.2 RADAR Bracket RADAR Bracket, assembly screws

- Bracket is used to fix RADAR in a specific position.

- Four M8 screws are used to fix the bracket and RADAR. PAGE - 9 -

Aftermarket HDMS FMCW RADAR 2.3 Connect cable

- The basic configuration for RADAR and the connection cable is as follows.

- Refer to the table below and the image for the pin configuration of the connection cable TE 1-

1703506-1 of RADAR. PIN 1 2 3 4 5 6 7 8 Pin Description Power(24V) GND CAN HIGH CAN LOW Reserved Digital Input1 Digital Input2 Digital Input3

[ Pin ]

GPIO (0:Low, 1:High) CAN ID PIN 6 PIN 7 PIN 8

(Radar ID 1)

(Radar ID 2)

(Radar ID 3) Install_Position_0 0x18FF326C Open/GND Open/GND Open/GND Install_Position_1 0x18FF326A Open/GND Open/GND 24v Install_Position_2 0x18FF3268 Open/GND Install_Position_3 0x18FF326B Open/GND 24v 24v Open/GND 24v Install_Position_4 0x18FF3269 24v Open/GND Open/GND PAGE - 10 -

Aftermarket HDMS FMCW RADAR Install_Position_5 0x18FF326D Open/GND 24v Install_Position_6 0x18FF32F1 Install_Position_7 0x18FF32F2 24v 24v Open/GND 24v 24v 24v 24v PAGE - 11 -

Aftermarket HDMS FMCW RADAR

10m extension cable (ID 1~6): A cable that extends the distance according to the installation location of the RADAR and distinguishes CAN IDs by location PAGE - 12 -

Aftermarket HDMS FMCW RADAR 10m Extension Cable CAN ID 1 CAN ID 2 CAN ID 3 CAN ID 4 CAN ID 5 CAN ID 6

PAGE - 13 -

Aftermarket HDMS FMCW RADAR

- Split cable : Split cables that allow you to connect up to 6 RADARs

- To connect the connecting cable, connect the parts that fit into the grooves as shown in the figure below. PAGE - 14 -

Aftermarket HDMS FMCW RADAR 2.4 Power supply and PC connection.

- Apply 12/24V to the connection cable, connect PCAN to USB to CAN H/L, and check information on the object detected from RADAR through PCAN View. Check packet output status when connecting to PCAN PAGE - 15 -

Aftermarket HDMS FMCW RADAR 3 Communication Protocol

- RADAR basic communication uses CAN 2.0B and the communication speed is 500kBit/s.

- Refer to Table 1 below for the packet structure of RADAR. (The CAN ID of RADAR varies depending on the cable being connected.) Table 1 RADAR CAN Protocol(Total 8Byte) Start bit Range min max Length Signal Name Factor Offset Unit Description 0 4 RADAR Detect Packet Number 1 0 0 15

0 : NOT USED / Error 1 ~ 5 : RADAR Packet Number 0 : RR_BR - Rear RADAR, Backward, Rearward-looking 1 : SR_RR -

Side RADAR, Right-hand side, Rearward-looking 2 : SR_LR - Side RADAR, Left-hand side, Rearward-looking 3 : SR_RF - Side RADAR, Right-hand side, Forward-looking 4 : SR_LF - Side RADAR, Left-hand side, Forward-looking 4 4 Install Position 1 0 0 15

8 10 12 2 2 8 RADAR Status Reserved 0 0 3 3 1 1 1 0 0 0

- 0 : Normal, 1 : Swing, 2 : Moving

- Reserved RADAR SW version 0 255

- RADAR Software version(ex, 0x10 = ver 1.0) 20 10 n-th Target X data 1 0 0 1023 cm 30 10 n-th Target Y data 1 0 0 1023 cm 0 : 0 cm 40 10 n-th Target Power data 0 0 1023 dB 50 10 Reserved 0 0 1023 Reserved 1 1 60 4 Fault Code 1 0 0 15

n : packet number 0 : 0 cm 1~511 : +(X_Distance ) cm 512 ~ 1023 : -((1024-X_Distance) ) cm n : packet number 1~1023 : +(Y_Distance ) cm n : packet number 0~1023 : Power dBm Fault Code 0x0 : Normal 0x1 : RADAR Interface board Error 0x2 : RADAR Module board Error 0x3 : Position Pin Error (Not connect) 0x4 : Position Pin Error (Redundant connect) PAGE - 16 -

Aftermarket HDMS FMCW RADAR PAGE - 17 -

Aftermarket HDMS FMCW RADAR 4 RADAR Installation and Test Procedure 4.1 RADAR Test Compliance

- The installation location and installation method of RADAR are based on Appendix C. Test Procedure for RADAR Sensors in ISO 16001 2017 documents.

- RADAR's test object should be a human body part protruding to the sensing area. For testing, a real person with the height of an intermediate pilot must use it in accordance with ISO 3411.

- The surrounding environment for the test should be an open space of flat terrain based on dry sand, dry gravel, or a combination of dry sand and dry gravel. Everyone except the person performing the test should be in an area not detected by RADAR (excerpt from part of the C.3 test area of ISO 16001 2017). 4.2 RADAR Installation Compliance

- This RADAR is permanently attached or fixed to the vehicle. (If the RADAR is shaken by surrounding environment or vibration, the basic sensing performance may be degraded.)

- Using RADAR's bracket or self-made bracket, it can be well fixed to the position where the RADAR is mounted.

- The recommended installation height of RADAR is 1.4-1.6m, and the angle of RADAR can be adjusted according to the installation environment. (As the angle of RADAR faces downward, the detection range decreases, and ground effect may occur due to the ground.) PAGE - 18 -

Aftermarket HDMS FMCW RADAR Detection range according to RADAR installation angle 4.3 RADAR Test Method (How to Use a Tripod)

- Fix the RADAR using a tripod, adjust the height of 1.4-1.6m, and adjust the angle of the RADAR according to the environment to check the detection result of humans to adjust the installation height and angle. more.

- If the environment is complex, there is a possibility of misunderstanding. Therefore, it is recommended to perform the RADAR test in an open space with a left and right width of 10 meters or 4.4 RADAR Test Method (How to Use in Vehicle)

- In the picture below, the test was conducted by mounting it on the actual excavator equipment, and the test was conducted by mounting it using a bracket at a height of 1.5m for each equipment. The test was conducted by mounting a RADAR at a location of 1.5 meters for each equipment. PAGE - 19 -

Aftermarket HDMS FMCW RADAR Mount on an excavator(For Example) 5. Appendix Interference Mitigation For IWR1443 RADAR Device

- References : swra662_Interference Mitigation For AWRIWR Devices http://www.ti.com/lit/an/swra662/swra662.pdf 1 Types of Interference in FMCW RADAR

- Crossing Interference

- Parallel Interference

- Between Crossing and Parallel Interference 2 Interference Avoidance NO Technique Method Implementable in Usefulness and TI device. simplicity Increase the CFAR thresholds CFAR based mitigation accounting for the interference. Yes. The detection Debatable usefulness. This decreases the detection sensitivity but avoids spurious threshold is user programmable. Very simple to implement. sidelobes. Dithering in time domain. Dithering the idle time (time Yes. A near infinite between chirps) or the interframe variation is possible on time (time between frames). Since the idle time. Frames this dither is different for the can be generated with Very Useful. specially in a parallel interferer scenario. Simple to implement 1 2 PAGE - 20 -

Aftermarket HDMS FMCW RADAR Aggressor and the Victim, the dithering as well probability of interference on more

(software control). Direction specific predefined frequency band separation. Detect interference and repair Rx results than one chirp is reduced. Use a separate RF bandwidth for long range RADAR, and short-

range RADAR. Use a different RF Bandwidth for front facing RADAR, and another band for rear facing RADAR. The region of the ADC affected by interference is deduced, and repaired. Detection is performed using statistical information of the ADC data. Repairing involves interpolation (for short sections) or signal healing.. Randomize the transmitted phase of each chirp. Since the aggressor Yes. Very simple to Debatable usefulness implement and process. Yes. IWR1443 devices provide side channel information (called chirp quality) to aid in narrowing down the region of interference. Very Useful. Dithering the would have no notion of this 5 phase of each randomized phase, the phase of Yes. chirp the interference event would be randomized spreading the interference across chirps Digital Beam Forming Detect interference and change timing of transmit chirp or frames Specific polarization of the antennas Place a notch at the direction of the interferer adaptively. This is done by applying a notch filter to Yes. the receiver array before processing. If an interferer is detected, avoid it, either in frequency or in time. Essentially frequency/time hopping. Yes. Use horizontal polarization for a certain set of antennas, and vertical polarization for another Needs antenna designers Extremely Useful. Especially in a parallel interferer scenario. The reduction in the interference level is a function of the number of chirps. May not work well if there are only a limited number of receivers. Also, the DoA of the aggressor needs to be estimated a priori. Possibly the most useful technique. Reasonably simple to implement. Useful but only two different options are available. Also, increased complexity PAGE - 21 -

3 4 6 7 8 Aftermarket HDMS FMCW RADAR set. in antenna design. PAGE - 22 -

Aftermarket HDMS FMCW RADAR FCC Instructions FCC Compliance Statement(Part 15.19 (3)) This device complies with part 15 of the FCC rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. FCC Interference Statement(Part 15.105) This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. the dealer or an experienced radio/TV technician for help. FCC Caution Connect the equipment into an outlet on a circuit different from which the receiver is connected. Consult Any changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate this equipment. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter. FCC Radiation Exposure Statement (Part 2.1091) This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20 cm between the radiator and your body. This transmitter must not be co-located or operating in conjunction with any other antenna or SDoC form will be attached to the manual when placing to the market. transmitter. PAGE - 23 -

Aftermarket HDMS FMCW RADAR IC Industry Canada Statement This device complies with RSS-251 of the Industry Canada Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Ce dispositif est conforme la norme CNR-251 dIndustrie Canada applicable aux appareils radio exempts de licence. Son fonctionnement est sujet aux deux conditions suivantes: (1) le dispositif ne doit pas produire de brouillage prjudiciable, et (2) ce dispositif doit accepter tout brouillage reu, y compris un brouillage susceptible de provoquer un fonctionnement indsirable. Industry Canada Radiation Exposure Statement This equipment complies with IC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20 cm between the radiator & your body. Dclaration dexposition aux radiations Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non con trl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. PAGE - 24 -

Aftermarket HDMS FMCW RADAR CE RED_EU declaration

(This product can be used in which EU members, in accordance with Article 10(10) or this product can be used in at least one EU country, in accordance with Article 10(2)) PAGE - 25 -

HYUNDAI M SYSTEMS Co.,Ltd.

#102-805~806, 88 Sinwon-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea Date: November 30, 2021 Federal Communications Commission 7435 Oakland Mills Road Columbia MD 21046 c.c. UL Verification Services Certification Division 47173 Benicia Street Fremont, CA 94538, USA To whom it may concern:

I, the undersigned, hereby authorize Ms. Chloe Lee / Deputy General Manager of KCTL Inc. and hereafter referred to as KCTL to act on our behalf in all manners relating to application for equipment authorization, including signing of all documents relating to these matters. Any and all acts carried out by Ms. Chloe Lee / Deputy General Manager of KCTL Inc. on our behalf shall have the same effect as acts of our own. I, the undersigned, hereby certify that we are not subject to a denial of federal benefits, that includes FCC benefits, pursuant to Section 5301 of the Anti-Drug Abuse Act of 1988, 21 U.S.C. 853(a). In authorizing KCTL as our agent, we still recognize that we are responsible to:

a) b) c) d) comply with the relevant provisions of the certification program;

make all necessary arrangements for the conduct of the evaluation, including provision for examining documentation and access to all areas, records (including internal audit reports) and personnel for the purposes of evaluation (e.g. testing, inspection, assessment, surveillance, reassessment) and resolution of complaints;

make claims regarding certification only in respect of the scope for which certification has been granted;

do not use our product certification in such a manner as to bring the Certification Division into disrepute and not make any statement regarding our product certification which the Certification Division may consider misleading or unauthorized;

e) f) g) h) i) j) upon suspension or cancellation of certification, discontinue use of all advertising matter that contains any reference thereto and return any certification documents as required by the Certification Division;

use certification only to indicate the products are certified as being in conformity with specified standards;

endeavor to ensure that no certificate or report nor any part thereof is used in a misleading manner;

ensure that any reference to our product certification in communication media such as documents, brochures or advertising, complies with the requirements of the Certification Division;

keep a record of all complaints made known to the us relating to the products compliance with requirements of the relevant standard and to make these records available to the Certification Division when requested;

take appropriate action with respect to such complaints and any deficiencies found in products or services that affect compliance with the requirements for certification;

k) document the actions taken. This authorization is valid until further written notice from the applicant. Sincerely Yours, Bonggu Yeo / Staff

HYUNDAI M SYSTEMS Co.,Ltd.

#102-805~806, 88 Sinwon-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, Korea CONFIDENTIALITY REQUEST Federal Communication Commission Equipment Authorization Division, Application Processing Branch 7435 Oakland Mills Road Columbia, MD 21048 November 30, 2021 TO WHOM IT MAY CONCERN Pursuant to Paragraphs 0.457 and 0.459 of the Commissions Rules (47 C.F.R.) and Section 552(b)(4) of the Freedom of Information Act, HYUNDAI M SYSTEMS Co.,Ltd. requests confidentiality for the following products:

FCC ID Number Product Title/Model 2ASWA-24RA-20000 IP6K7 RADAR SENSOR / 24RA-20000 The following exhibits contain trade secrets and proprietary information that could be of benefit to our competitors regarding the design of our product. This material is not customarily available to the general public and we request that it be withheld from public inspection. We request that the following information submitted be held permanent confidential treatment. Permanent Confidential Request We also hereby request Short-Term Confidentiality for 180 days after the grant as outlined in Public Notice DA 04-1705. This provision will give temporary confidentiality of commercially sensitive information prior to product release. Short-Term Confidential Request If you have any questions, please feel free to contact me at the address shown below. Sincerely,

-. Schematics

-. Block Diagram

-. Operational Description

-. Antenna specification

-. External Photos

-. Internal Photos

-. Test set-up photo

-. User Manual Bonggu Yeo / Staff