AUTEL ATS100 Intelligent Turn Assist System User Manual

ATS100 (With GPS)
Intelligent Turn Assist System User Manual Autel Intelligent Automobile Co., Ltd.

Trademarks

Autel and MaxiCheck ®, MaxiSys TM, MaxiDAS ®, MaxiScan ®, MaxiTPMS ®, MaxiVideo TM, and MaxiRecorder TM are trademarks of Autel Intelligent Technology Corp., Ltd., registered in China, the United States, and other countries. All other marks are trademarks or registered trademarks of their respective holders. TM
Copyright Information
No part of this manual may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise without the prior written permission of Autel Intelligent Automobile Co., Ltd.
Disclaimer of Warranties and Limitation of Liabilities
All information, specifications, and illustrations in this manual are based on the latest information available at the time of printing.
Autel Intelligent Automobile Co., Ltd. will not be liable for any direct, special, incidental, or indirect damages, or for any economic consequential damages (including lost profits) as a result of using the product.
IMPORTANT
Before operating or maintaining this unit, please read this manual carefully, paying extra attention to the safety warnings and precautions.

ATS100 Turn Assist System Introduction

ATS100 is a turn assist system with accurate target detection and warnings for vehicle blind spots. The system components are as follows: a millimeter-wave radar with operation frequency 76-77GHz and max RF output power 12dbm, a spirit level, a mounting bracket (optional), a warning screen, a GPS&IMU module and the cable. The millimeter-wave radar can accurately measure the target distance, speed, angle, and other information through the difference in echoes between the transmitting and receiving electromagnetic waves. It is an all-weather and all-day operational turn assist system with working temperatures from -40℃-85℃. The warning screen warns the driver of a dangerous target in the blind spot and reminds the driver to make timely adjustments to the driving trajectory, to avoid accidents.
The ATS100 turn assist system covers 180° on one side, ensuring no blind spots, with a target detection range up to 80 x 4.5 m. With a compact structure, it comes with collision pre-determination and graded alarm function, can integrate with external CAN (Controller Area Network) and CAN FD (Flexible Data) interfaces, and supports 12 V or 24 V supply voltage.

Warning targets of the ATS100 turn assist system include:

• Dynamic vulnerable road users, moving at speeds greater than 3 km/h, including pedestrians, bicycles, electric bicycles, etc.
• Dynamic cars, moving at speeds greater than 10 km/h.
  Note: The safe use distance of the system needs to be greater than 4cm.

1.1 ASR100 Radar Introduction
The ASR100 77 GHz Millimeter-Wave Radar is a compact, rugged radar sensor designed and manufactured by Autel Intelligence Vehicle® in China for side blind zone warnings for heavy trucks/buses, etc. The ASR100 meets automotive- grade standards for professional commercial vehicles and has an IP69K rating, in line with the commercial vehicle use environment.

Performance Parameter：

General Parameter：

1.2 Warning Display
The ATS100 turn assist system employs a precision sensing system to predict future collision probability with the target and provides users with dynamic sensing and display-based intelligent warnings, to remind drivers to take preventative measures in time to reduce the possibility of accidents. The warning display screen supports adaptive brightness control, enabling the screen’s brightness to adjust based on the brightness of the surrounding environment, thereby reducing eye fatigue for drivers during the night. The warning function is divided into three levels as follows: （Note: Prerequisites for enabling the warning function: the speed of the vehicle is ＜30km/h）

• Level 1 warning: The steering wheel angle is less than 30°, , and the target enters the warning range, then a section of warning light LEDs, displayed in Figure 1-4,  light up.
• Level 2 warning: The vehicle is turning to the right, the steering wheel angle is greater than 30° or turn on the turn signal (when the turn signal is connected), and it is expected that the vehicle and the target will collide within a certain amount of time, then a section of warning light LEDs start flashing.
• Level 3 warning: The vehicle is turning to the right, the steering wheel angle is greater than 30° or turn on the turn signal (when the turn signal is connected), and the vehicle and the target collision is imminent within a short amount of time, then the warning light will start flashing and a warning sound is generated.
  The driver can get the approximate location of the target based on the section of warning light LEDs that are on or are flashing.
  The detailed description of each warning light on the display is as follows:

1. Warning module power and status indicator: lights up when the status of the warning module is normal.
2. Brake indicator: This light flashes when actively braking. (Currently, this function is not available).
3. GPS fault indicator: on when GPS sensor has no signal (temporary), flashing when GPS sensor has faulty signal.
4. Warning light: provides early warning of dangerous targets. The warning area is divided into three different priorities: Zone top (2-5 m in front of the vehicle), Zone central (2 m in front of the vehicle- 7 m behind the front of the vehicle), and Zone bottom (7-30 m behind the front of the vehicle), If there are multiple targets in Zone top, central or bottom at the same time, give priority to Zone central, then Zone bottom, and then Zone top.
5. Vehicle model: for reference; is in a steady on state after power on.
6. Radar status indicator: steady on state indicates a temporary radar failure, usually caused by factors such as radar being blocked, bad weather conditions; flashing indicates a permanent radar failure, requiring professional repair.
7. System fault indicator: The indicator light is on when there is a fault in the entire system.

Troubleshooting

Table 1-1 Fault Description and Troubleshooting

Hardware failure and needs to be replaced
Radar status indicator| The fault light is always on| possible reason:
1.  Obstructed by objects, such as snow, mud, etc.
2.  Extreme weather, heavy rain and snow, etc.
3.  The installation angle is greater than 5°
Radar status indicator| Fault light flashes| Hardware failure and needs to be replaced
System fault indicator| Fault light flashes| Hardware failure and needs to be replaced
GPS fault indicator| Fault light flashes| Restart after power off, if the fault still exists, you need to replace the hardware

1.3 GPS &IMU Module
This module integrates a high-precision gyroscope, accelerometer, and GPS module, adopts a high-performance microprocessor and advanced dynamic solution and Kalman dynamic filter algorithm, which can quickly solve the current real- time motion attitude of the module. Using advanced digital filtering technology can effectively reduce measurement noise and improve measurement accuracy. The module integrates an attitude solver and cooperates with the dynamic Kalman filter algorithm to accurately output the current attitude of the module in a dynamic environment. The attitude measurement accuracy is 0.05 degrees static and 0.1 degrees dynamic, with extremely high stability and performance even better than some professional inclinometers.
1.4 System Connections & Wire Harness Description
Connect each port of the radar, display, GPS&IMU module wiring harness as shown below. Radar Harness Description
In the figure below, the P1 connector is connected to the radar; it has 8 pins and the pin order is shown as below. The pin number in the figure corresponds to the pin definition in Table 1-2. The P2 connector is connected to the GPS&IMU module; it has 8 pins, and the pin number of P2 in the figure corresponds to the pin definition in Table 1-3. The P3 connector is connected to the vehicle and power supply, it has 6 pins, and the pin number of P3 in the figure corresponds to the pin definition in Table 1-4. The end of each cable has a printed label. Please check it carefully during installation. Do not turn the power on if the connectors are improperly connected.

Radar interface P1 definition table: Table 1-2 Definition of Radar Interface P1

GPS interface P2 definition table: Table 1-3 Definition of GPS Interface P2

Vehicle power interface P3 definition table: Table 1-4 Definition of vehicle power interface P3

Display Harness Description
In the figure below, the left P4 connector of the display harness is connected to the GPS module; it has 8 pins and the pin order is shown as below. The pin number in the figure
corresponds to the pin definition in Table 1-5. 

Figure 1-7 Dispaly wiring harness diagram
GPS interface P4 definition table: Table 1-5 Definition of GPS interface P4

User Guide

2.1 Radar Installation
Notes on Installation

• The radar should be installed on a component with little vibration. Strong vibration will negatively affect its detection function.
• The radar should be installed on the most protruding plane on the side of the truck to prevent it from being blocked by other parts and its detection performance from
  being compromised.
  Installation position: The radar should be installed on the right side of the truck. For right rudder country please install on the left side of the truck. We recommend you
  install it on the side guard plate, side guard rail of the truck.

Installation range:
When the radar is used, the reference coordinate origin is the center of the rear axle of the vehicle. The default installation position parameters of the radar are shown in
Table 2-1 which only suitable for vehicles with a wheelbase of about 3.5-5m.
Table 2-1 Radar default installation parameters

Lateral distance X: the longitudinal distance of the radar installation position relative to the center of the rear axle of the vehicle;
Longitudinal distance Y: The lateral distance of the radar installation position relative to the center of the rear axle of the vehicle;
Installation angle: the rotation angle of the radar installation position relative to the center of the rear axle of the vehicle;
Warn_dx: the distance from the center of the rear axle to the front edge of the vehicle.

Figure 2-2 Radar installation location calibration parameters diagram

Recommended sensor location is shown in Figure 2-2 below. The radar can be installed at a distance of 230-430cm back from the front edge of the vehicle and a height of 30-120cm from the ground.

If your vehicle’s wheelbase is not within 3.5-5 meters, using the above default radar installation position parameters will cause excessive errors. At this time, the user needs to measure the distance between the actual installation position of the radar and the center of the rear axle of the vehicle to calibrate the installation position of the radar. For the calibration of the radar installation position, please use our customer’s host computer AutelRadarCfgTools. The operation steps are shown in Figure 2-4 below:

1. Click the Open button to open the CAN device;
2. Click the Close button to close the CAN device;
3.  Select the baud rate of channel 2, the current default value is 250K
4. Click the Start button to open channel 2;
5.  Click the Stop button to close channel 2;
6. Select whether the Install Position is facing the left or right side of the front of the vehicle；
7. Enter dx, dy, theta and warn_dx values. dx: the longitudinal distance of the radar installation position relative to the center of the rear axle of the vehicle. Unit: meter; dy: The lateral distance of the radar installation position relative to the center of the rear axle of the vehicle, generally 1.25 m.
   Installation angle: the left side is -90°, right side is 90° Warn_dx: the distance from the center of the rear axle to the front edge of the vehicle. Unit: meter.

Installation deviations: To ensure detection accuracy, the radar installation horizontal angle error should be at best within ±1°. Installation vertical angle error should be t best
within 2°.

Example of Installation
In order to control installation deviations, an optional auxiliary mounting bracket can be used to adjust the direction and angle during installation.

1. With the front of the radar (the side with the plastic casing) facing the detection area, fix the radar to the mounting bracket using the screws.
2. Place the spirit level in the middle of the upper plane of the radar and adjust the mounting position adjustment screw until the bubble overlaps the ring in the middle.
3. Secure the mounting position adjustment screw, and then connect the cable.

2.2 Radar Wiring
After the radar cable is connected to the radar, it should be routed into the cab together with the chassis cable, as shown in the image below.

The entry for the chassis cable into the cab is at the bottom of the cab. Therefore, you need to lift the cab during wiring, as shown in the image below. In front of the front passenger seat (where the main fuse and the main ECU are located), connect the power supply, the display screen and the other parts of this product, as shown in the image below. 2.3 Input Signal Access
The Autel ATS100 requires the 5 interior signals below for its normal operation. The radar automatically reads these CAN J1939 signals by default, The baud rate is 250KB:

1. Vehicle speed
2. Steering wheel angle
3. Yaw rate
4. Longitudinal acceleration
5. Lateral acceleration

m/(ss)
Longitudinal acceleration| 7| 56| 8| 0.1| -12.5| -12.5| 12.5| m/(ss)

2.4 Power Access
The radar has to be powered via KL15 or Clamp 15 (24V). We recommend you find KL15 on the main fuse board and connect the radar to it.

2.5 GPS &IMU module Installation
The GPS/IMU Module can be placed anywhere inside the driver’s cabin, the preferred position is behind the windshield glass and somewhere in the middle of the cockpit.
a. Place the GPS&IMU module horizontally, and note that the X-axis direction is consistent with the vehicle’s forward direction.
b. The module can be fixed using screws or double-sided tape.
c. Connect the two wire harnesses at the end of the GPS&IMU module to the radar and display respectively.
Note: GPS&IMU module installation angle tolerance<30°

2.6 Display Screen Installation

a. Remove the A-pillar cover and drill holes: Referring to Figure 1, take the mounting holes on the bracket back plate as reference points, and drill two 4.5 mm mounting holes and one 12 mm hole to route the cable through (30-40 mm below the mounting holes). b. Referring to Figure 2, use two M4*14 screws to fix the bracket back plate to the A-pillar cover.
Note: 3M adhesive on the bracket back plate allows the bracket to be stuck on the A- pillar cover. 

c. Referring to Figure 3, route the cable on the screen assembly through the cable hole on the A-pillar cover.
d. Referring to Figure 4, place the screen assembly on the corresponding position on the bracket back plate, as shown in view V and view VI. You can rotate the screen around the axis to adjust its angle, and then fix the screen assembly with M4*14 screws.
e. Install the cover back to the A-pillar.
For Services and Support
Web: www.auteltech.cn
Email: Support@auteltech.net
Hotline: 0086-755-2267-2493 (China HQ) / 1-855-AUTEL-US (288-3587) (North America) / 0049 (0) 6103-2000520 (Europe) /+045 5948465 (APAC) / +971 585 002709 (IMEA) For technical assistance in all other markets, please contact your local distributor.
This product holds the approval of German ABE for Abbiegeassistent. Any modifications to the product will result to an automatic cancelation of this approval. The user is also obliged to observe the product in accordance to it’s legal requirements.

References

• 道通科技

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