Project Documentation | UMRR-11 Type 132 User Manual Project Number:
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UMRR-11 Type 132 User Manual Keyword(s):
UMRR-11 Type 132 radar sensor, transmit signal, transceiver, data interface Date:
January 10, 2019 Document:
UMRR-11 Type 132 User Manual.docx Version:
2 CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 1 of 17 I January 10, 2019 1 Contents 6.1 1 Contents .................................................................................................................... 2 2 Abbreviations ............................................................................................................. 3 3 Introduction ............................................................................................................... 4 4 General description .................................................................................................... 5 4.1 Sensor description ................................................................................................ 5 4.2 Transmit Signal .................................................................................................... 5 4.3 General Performance Data .................................................................................... 6 5 Hardware .................................................................................................................. 7 5.1 UMRR-11 sensor .................................................................................................. 7 5.2 Sensor Dimensions ............................................................................................... 8 6 Cables and connectors .............................................................................................. 10 Sensor connector ............................................................................................... 10 7 Data interfaces ........................................................................................................ 11 7.1 CAN data interface ............................................................................................. 11 7.2 CAN-Settings ..................................................................................................... 11 7.3 RS-485 data interface ......................................................................................... 12 7.4 Transceiver schematics....................................................................................... 14 8 Applications ............................................................................................................. 15 9 Declaration of Conformity ......................................................................................... 16 9.1 Declaration of Conformity for USA ....................................................................... 16 FCC Label .................................................................................................... 16 9.2 Declaration of Conformity for Canada .................................................................. 16 9.2.1 Declaration of Conformity in English .............................................................. 16 9.2.2 Dclaration de conformit en francais ........................................................... 17 9.2.3 Industry Canada (IC) Label ........................................................................... 17 9.1.1 CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 2 of 17 I January 10, 2019 2 Abbreviations ACC ADC AEB CAN DSP Adaptive cruise control Analog-to-digital converter Advanced emergency braking Controller area network Digital signal processing; digital signal processor FMCW Frequency modulated continuous wave MMIC Monolithic microwave integrated circuit RS485 Physical communication layer standard EIA RS-485 UMRR Universal medium-range radar CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 3 of 17 I January 10, 2019 3 Introduction This document is a short documentation of the general purpose universal medium range radar (UMRR) UMRR-11 Type 132 radar sensor with type 132 antenna. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 4 of 17 I January 10, 2019 4 General description 4.1 Sensor description The main task of the UMRR is the detection of any reflectors in the field of view, to measure the distance, the relative speed and the angle to the shortest reflector (and to other reflectors), to detect motion and to track (filter) the results over time. For this general purpose measurement application, range and relative radial speed and the angle value of each reflector inside the antenna beam are measured and the results are reported via the communication links cycle by cycle. 4.2 Transmit Signal The UMRR transmit frequency is located in the 76 GHz to 77 GHz band, the used bandwidth is smaller than 1 GHz. The maximum transmit power is smaller than 55dBm. The UMRR-11 sensor type 132 provides 2 modes, AEB- and ACC-mode. Antenna type 132 is used, consisting of three transmit and four receive antennas, both are linear polarized. The 2 way 3 dB cut-off angle by AEB-mode in azimuth is 25 deg. and in elevation is 4.1 deg. The 2 way 3 dB cut-off angle by ACC-mode in azimuth is 7 deg. and in elevation is 4.1 deg. The device uses different FMCW transmit signal waveforms for distance and speed measurement. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 5 of 17 I January 10, 2019 4.3 General Performance Data After power up or reset, the sensor readings are within specified performance within <10 seconds. In Table 4-1 the general performance data of UMRR-11 Type 132 are given. Table 4-1: General performance data Environmental Ambient Temperature Shock Vibration IP Pressure / Transport altitude Mechanical Weight Dimensions Housing Identification Antenna Identification DSP Board Identification General Power Supply Frequency Band Bandwidth Max. Transmit Power (EIRP) Interfaces
-40 ... +74 100 14 67 010.000 200 See 5.2 03 84 11 8 ... 32 I 5 76.077.0
< 1000 55.0 CAN V2.0b (passive) RS-485 Ethernet 100Mbit Connector Hirose LF10 series I measured at connector degree C grms grms m g V DC W GHz MHz dBm CAN, Power, RS485, Eth. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 6 of 17 I January 10, 2019 5 Hardware 5.1 UMRR-11 sensor An example picture of a UMRR-11 Type 132 sensor (housing type 030B00) is shown below. Figure 5-2: Front view of UMRR-11 Type 132 with housing type 030B00 Figure 5-1: Rear view of UMRR-11 Type 132 with housing type 030B00 CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 7 of 17 I January 10, 2019 5.2 Sensor Dimensions All values are given in mm. Figure 5-3: Sensor front view Figure 5-4: Sensor left, top and right side view CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 8 of 17 I January 10, 2019 Figure 5-5: Sensor rear side view CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 9 of 17 I January 10, 2019 6 Cables and connectors 6.1 Sensor connector The sensor connector is a 12-pin male (plug) circular bayonet type connector (water proof IP67, series LF10WBRB-12PD, manufacturer Hirose, Japan). A female counterpart (socket), e.g. LF10WBP-12S, has to be used to connect to the sensor. The pin numbering of the socket is shown in Figure 6-1 and the pin description is given in Table 6-1. Figure 6-1: Rear view of female counterpart to be connected to sensor Table 6-1: Connector pin out model of sensor UMRR-11 Pin No. Function 1 2 3 4 5 6 7 8 9 10 11 12 Sensor Ethernet TX H Sensor Ethernet TX L Sensor RS485 RX L Sensor RS485 RX H Sensor RS485 TX L Sensor RS485 TX H Sensor_GND Sensor_Vcc Sensor Ethernet RX L Sensor Ethernet RX H CAN H CAN L Wire Color
(MEDI type
#KU110C12J002) gray / red red / blue pink gray brown white blue red black purple green yellow Please note that in the standard configuration the sensor has no 120 Ohms resistor on board
(CAN bus termination between CAN L and CAN H). The resistors are nevertheless required at either end of a CAN / RS485 bus and is in most cases integrated in the cable delivered along with the sensor (if cable is manufactured by Smartmicro). For the RS485 data interface there is a 120 Ohms resistor on board of the sensor. A number of cable sets for initial operation and test purposes are offered by Smartmicro, to deliver a fast set-up of a sensor system. Among those preconfigured ready-to-run cables as well as cable stumps (pig tail cables or various lengths) which carry the connector on one side and open wires on the other. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 10 of 17 I January 10, 2019 7 Data interfaces 7.1 CAN data interface This specification gives a detailed description of the CAN data communication used in the UMRR based systems on the sensor CAN. The UMRR is compliant with CAN 2.0B standard. CAN is a very robust full duplex bidirectional interface. 7.2 CAN-Settings 500kBit/s or lower 1 8 7 2 Baud Rate:
Prescalar:
Tseg1:
Tseg2:
Tsjw:
Above values for CAN bit timing are illustrated in Figure 7-1 and used in the UMRR radar sensor (note: the CAN module is integrated in the DSP). For comparison purposes, in Figure 7-2 the CAN bit timing as defined by the CAN protocol is shown. The CAN bit timing parts as defined by the CAN protocol (Figure 7-2) can be described as follows:
(SJW: synchronization jump width) Sync: This part of bit time is used to synchronize the various nodes on the bus. An edge is expected to lie within this segment. For the UMRR sensor, this segment is always 1 TIME QUANTUM (TQ). Prop: This part of the bit time is used to compensate for the physical delay times within the network. It is twice the sum of the signals propagation time on the bus line, the input comparator delay, and the output driver delay. For the UMRR sensor, this segment is programmable from 1 to 8 TIME QUANTA (TQ). Phase 1: This phase is used to compensate for positive edge phase error. For the UMRR sensor, this segment is programmable from 1 to 8 TIME QUANTA (TQ) and can be lengthened by resynchronization. Phase 2: This phase is used to compensate for negative edge phase error. For the UMRR sensor, this segment is programmable from 2 to 8 TIME QUANTA (TQ) and can be shortened by resynchronization. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 11 of 17 I January 10, 2019 Figure 7-1: CAN bit timing for UMRR sensor Figure 7-2: CAN bit timing as defined by the CAN protocol 7.3 RS-485 data interface The RS-485 interface from the UMRR sensor has a predefined speed of 115200 baud/s. Typical other data rates are between 921.6kBit/s and 56.7kBit/s. The RS-485 message payload is identical to the CAN format. The data messages will be sent in several packets of one byte. Every cycle begins with a start sequence and ends with a calculated checksum and an end sequence. The length of the data payload depends on the number of targets and tracked objects. Every cycle has one start sequence one end sequence and one checksum. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 12 of 17 I January 10, 2019 Table 7-1: RS-485 message structure Byte\Bit 7 6 5 4 3 2 1 0 1 2 3 x x x x x x x x 0 1 2 3 4 Start sequence (4 x UINT8) Data payload (n x UINT8) XOR Checksum (UINT8) End sequence (4 x UINT8) 0 0xCA 0xCB 0xCC 0xCD 0xEA 0xEB 0xEC 0xED Every data message consists of its own message ID, the number of used data bytes and the data bytes itself. The checksum is calculated on all data except the start sequence and the end sequence. The Checksum is a simple XOR Assignment of all n data bytes. Byte0 XOR Byte1 XOR Byte2 ... XOR Byte (n-1) Table 7-2: Structure of a RS-485 data payload block 0 High Low Byte\Bit 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 8 9 10 CAN message ID (UINT16) CAN message length (UINT8) CAN data payload (length x UINT8) The sensor receives only one message per cycle. It is important to wait for the end sequence to send an additional command. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 13 of 17 I January 10, 2019 7.4 Transceiver schematics In Figure 7-3 and Figure 7-4 the exact DSP board schematic of the UMRR is given. The CAN pins of the Co-Processor are connected to a CAN transceiver, which is connected to the pins CAN1_P and CAN1_N. Similarly, the RS485 pins of the Co-Processor are connected to a RS485 transceiver, RS485_TX_ETHRN_TX4_P, RS485_TX_ETHRN_TX4_N, RS485_TX_CAN2_ETHRN_TX3_P, RS485_TX_CAN2_ETHRN_TX3_N. The Ethernet-Phy is connected to an Ethernet transformer, which is connected to the pins ETHRN-TX1_P, ETHRN-TX1_N, ETHRN-TX2_P, ETHRN-TX2_N. connected which pins the to is Figure 7-3: UMRR-11 DSP board schematics of CAN and RS485 transceivers Figure 7-4: UMRR-11 DSP board schematics of Ethernet-Phy CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 14 of 17 I January 10, 2019 8 Applications It can be used for long and medium range collision warning (CW), adaptive cruise control
(ACC) applications in autonomous driving systems. One or multiple sensors are specifically integrated into vehicle models of automotive OEMs. Usually there is a certain OEM-specific engineering effort required for the adaptation to specific vehicle models and the test and qualification procedures to be applied. Customer specific connectors, CAN(FD)/Ethernet interfaces, tracking algorithms, warning algorithms or other custom software packages can be included. Some examples of application in automotive fields are shown as follows:
- Adaptive cruise control (ACC)
- Advanced emergency braking (AEB)
- Forward collision warning (FCW)
- Rear collision warning (RCW) This sensor can optionally be compliant to ASIL Level B in customer specific projects
(requirements and safety concept to be agreed between OEM and smartmicro). It can also be offered with AUTOSAR compliant software in customer specific projects (specification to be agreed between OEM and smartmicro). CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 15 of 17 I January 10, 2019 9 Declaration of Conformity 9.1 Declaration of Conformity for USA This device has been tested and found to comply with the requirements set forth in 47 CFR Part 95, Subpart M for both fundamental emissions and unwanted emissions. These limits are designed to provide reasonable protection against any harmful interference when the device is operated in a commercial environment. Modifying the device without smartmicros authorization may result in the device being no longer compliant with FCC requirements. In that event, your right to use the device may be limited by FCC regulations, and you may be required to correct any interference to radio or television communications at your own expense. Changes or modifications not expressly approved by the party responsible for compliance could void the users authority to operate the device. This device complies with the requirements set forth in 47 CFR Section 95.3385 addressing RF exposure from radio frequency devices. To maintain compliance, the minimum separation distance from the antenna to general bystander is 20 cm. 9.1.1 FCC Label Figure 9-1: Sample of FCC Label 9.2 Declaration of Conformity for Canada 9.2.1 Declaration of Conformity in English This device complies with Industry Canada license-exempt RSS standard(s). Operation is subject to the following two conditions:
(1) this device may not cause interference, and
(2) this device must accept any interference, including interference that may cause undesired operation of the device. IC Radiation Exposure Statement:
This equipment complies with IC RSS-102 radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with the minimum distance 20cm between the radiator & your body. CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 16 of 17 I January 10, 2019 9.2.2 Dclaration de conformit en francais Le present appareil est conforme aux CNR dIndustrie Canada applicables aus appareils radio exempts de licence. Lxploitation est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lutilisaeur de lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. DCLARATION DEXPOSITION AUX RADIATIONS Cet equipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cetquipement doit tre install et utilis avec un minimum de 20cm de distance entre la source de rayonnement et votre corps. 9.2.3 Industry Canada (IC) Label Figure 9-2: Sample of IC Label CONFIDENTIAL AND PROPRIETARY The Information contained in this document shall remain the sole exclusive property of s.m.s, smart microwave sensors GmbH and shall not be disclosed by the recipient to third parties without prior consent of s.m.s, smart microwave sensors GmbH in writing. UMRR-11 Type 132 User Manual_V2.docx Version 2 I Page 17 of 17 I January 10, 2019