BSD+RCTA System Specification Project: RT05 2016/11/15 WNC Nancy Wu FCC Caution: Any changes or modifications not expressly approved by the party responsible for compliance could void the users authority to operate this equipment. 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. 1 HISTORY ............................................................................................................................................................... 3 2 3 SCOPE ................................................................................................................................................................ 4 SYSTEM DESCRIPTION .................................................................................................................................. 5 3.1 SYSTEM INTRODUCE ............................................................................................................................................... 5 3.2 SYSTEM DIAGRAM .................................................................................................................................................. 5 3.3 SUB- SYSTEM DESCRIPTION ................................................................................................................................... 5 3.3.1 3.3.2 BSD function ................................................................................................................................................ 5 RCTA (Rear Cross Traffic Alert) ................................................................................................................ 6 4 TECHNICAL REQUIREMENT .......................................................................................................................... 7 4.1 BASIC PARAMETER .................................................................................................................................................. 7 4.2 RADAR PERFORMANCE ........................................................................................................................................... 7 5 FUNCTION REQUIREMENT ............................................................................................................................ 8 5.1 DETECTION ............................................................................................................................................................. 8 5.2 WARNING ................................................................................................................................................................ 8 5.2.1 5.2.2 5.2.3 5.2.4 Blind zone define of BSD system ............................................................................................................. 8 Parameter of BSD system ......................................................................................................................... 9 RCTA zone of RCTA system ................................................................................................................... 11 Parameter of RCTA system ..................................................................................................................... 12 5.3 SELF DIAGNOSTIC ................................................................................................................................................. 12 6 MECHANICAL REQUIREMENT .................................................................................................................... 13 6.1 WEIGHT ................................................................................................................................................................. 13 6.2 6.3 THE SIZE OF SENSOR ............................................................................................................................................ 13 INSTALLATION ........................................................................................................................................................ 14 7 CONNECTER INTERFACE ............................................................................................................................ 15 7.1 CONNECTER .......................................................................................................................................................... 15 7.2 PIN DEFINE ............................................................................................................................................................ 15 2 1 History Version#
Reviser Date Description of the revision Reviewer 0.1 Nancy 2016.11.15 First release 3 2 Scope This document describes system introduce, technical requirement, function requirement, mechanism, installation, connecter interface, CAN communication and environment requirement. 4 3 System description 3.1 System Introduce Two 24 GHz narrow band sensors compose this system. Two major functions are included which are BSD (Blind spot detection)and RCTA (Rear cross traffic Alert). 3.2 System Diagram ECU is built by customer. The communication interface between 2 sensors is CAN (Private CAN or sensor CAN). The information on this CAN is vehicle data, sensor position setup data, warning parameter setup data and normal warning data output. 3.3 Sub- system description 2 sub-systems are included which is BSD and RCTA 3.3.1 BSD function Blind Spot Detection (BSD) Radar sensor is designed for short range detection, the field of view is selected to cover the full blind spot warning zone, which is defined in the related ISO norms (ISO- 17387) corresponding to this application. 5 Master SensorSlave SensorPrivate CANIGNGNDECU 3.3.2 RCTA (Rear Cross Traffic Alert) The Rear Cross Traffic Alert (RCTA) system uses the same radar infrastructure used for detecting vehicles in the blind spot (Blind Spot Detection, BSD). Some serious accidents are happen when driver are reversing out of parking space (Refer to follow picture). The usual reason of these accidents is because drivers either fail to see a vehicle or cyclist approaching from the side or they see them too late. RCTA system provides assistance to the driver to prevent this. It is activating when the reverse gear is selected. 6 4 Technical requirement 4.1 Basic parameter Operation voltage range9~16V Typical operation voltage: 12V Operation temperature-30~+85 Maximum power consumption 7W Operation frequency: 24GHZ (NB) Water proof: IP67 4.2 Radar performance Frequency : 24.075 24.225GHz (Left side) 24.065 24.215GHz (Right side) FOV : 120 degree range accuracy: 0.25m range resolution:1m velocity accuracy: 0.08 m/s Velocity resolution: 0.31 m/s Angular accuracy):+- 1degree Maximum objects detection : 32 Cycle Time: 20.48ms 7 5 Function requirement 5.1 Detection FOV is 120 degree. 120 30m 120 30m 5.2 Warning 5.2.1 Blind zone define of BSD system The warning zone definition is as follow, and it can be adjusted if needed. 8 Right side blind zone 7m2m0.4m3.8~4.5m dynamic changeCenter of the car Left side blind zone3.8~4.5m dynamic change7m2m0.4m 5.2.2 Parameter of BSD system Parameter Description Default value Xf Xr Ys Forward length of Alert region Backward length of Alert region Alert ignore area 2m 7m 0.4m Thold_ToS Thold_SoT Warning hold time when target overtaking subject 0.5sec Warning hold time when subject overtaking target 0.5sec Vy_dynamic_alarm_min The velocity minimum gate for dynamic y distance 18m/s Vy_dynamic_alarm_max The velocity maximum gate for dynamic y distance 38.75m/s y_dynamic_alarm_min Minimum gate of dynamic y distance y_dynamic_alarm_max Maximum gate of dynamic y distance Y X For Y:
Alert width Alert length after rear bumper 3.8m 4.5m Variable Variable If relative speed of object Vy_dynamic_alarm_min then Y=
y_dynamic_alarm_min If relative speed of objectVy_dynamic_alarm_max then Y=
y_dynamic_alarm_max If Vy_dynamic_alarm_min <relative speed of object<
Vy_dynamic_alarm_max then Y is linear interpolation between y_dynamic_alarm_min and y_dynamic_alarm_max. 9 Alert RegionCarAlert RegionYsYXfTracking ObjectAXrVYsYTracking ObjectBVUnit: meter(m)XxExtend Alert RegionExtend Alert Region For X:
We have one linear formula as follow which is calculate from ISO 17387 Chapter 4 Table 3 T=0.1V +1.5 (where T is TTC and V is relative speed) That means different relative speed, we have different TTC. X=V*T If VTXr then X=Xr (fix) If VT>Xr then X=VT (Dynamic) 10 5.2.3 RCTA zone of RCTA system The RCTA zone definition is as follow, and it can be adjusted if needed. The moving target which is with Speed between2.5m/sec~15m/sec and enter left or right RCTA ZONE and have Potential collision TTC<2.0sec The maximum subject car speed is not over 15km/hr. 11 RCTA ZoneCenter of the carTyp. 30m base on TTC <2.0sec7mTyp. 30m base on TTC<2.0sec 5.2.4 Parameter of RCTA system Position of Tracking Object will fall into the potential collision Region (length is Xcf+Xcr, Width is Yc for each side) with TTC within 2sec Parameter Description Xcf Xcr Yc TTC_RCTA Alert TTC setting Forward length of potential collision area Backward length of potential collision area Width of each side (right or left) Default value 3m 5m 0.8m 2sec 5.3 Self diagnostic System will do self diagnostic during the boot up and operation. 12 CarXcrTracking ObjectXcfYcYXXcfTracking ObjectXcrYc 6 Mechanical Requirement 6.1 Weight Weight of Signal sensor is 285g 6.2 The size of sensor 144*98*230.3 mm (L*W*H) Outline is as follow:
13 6.3 Installation There are 4 fix locations, please refer to follow:
The master sensor is installed inside the rear bumper of left, and the connecter is down. The slave sensor is installed inside the rear bumper of right, and the connecter is down Please refer to follow Azimuth angle is 57 degree Elevation angle is 1~4 degree The height of sensor is 30~80 cm 14 7 Connecter interface 7.1 Connecter I/O connecter [16pin]: ACES: 50992-0161L-001 Wire connecter: Tyco 1438031-1 7.2 Pin define 8.2.1. Master sensor NO Signal Name I/O/P Description Note 1 2 3 4 5 6 7 8 9 10 11 LED_L LED_R TURN_R TURN_L SPD VEHICLE_CAN_H GND V_IN
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BUZZER 12 S_PRIVATE_CAN_L 13 S_PRIVATE_CAN_H 14 15 16 VEHICLE_CAN_L GND V_IN P P IO IO IO IO P P IO IO P IO IO IO P P HMI LED for left side HMI LED for right side HMI HMI Indicator signal for right side Vehicle data Indicator signal for left side Vehicle data Vehicle speed physical line Vehicle data Vehicle CAN bus Vehicle data Power Ground Power Input
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HMI Buzzer Ground Power
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HMI Sensor private CAN To slave sensor Sensor private CAN To slave sensor Vehicle CAN bus Vehicle data Power Ground Power Input Ground Power 15 8.2.2. Slave sensor NO Signal Name I/O/P Description Note 1 2 3 4 5 6 7 8 9 10 11
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GND V_IN
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IO
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IO
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IO
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IO
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IO
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IO
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P P Power Ground Ground Power Input Power IO
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IO
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IO
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12 S_PRIVATE_CAN_L IO Sensor private CAN To Sensor 13 S_PRIVATE_CAN_H IO Sensor private CAN To Sensor 14 15 16
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IO
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IO
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IO
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16