Harbinger_ ultrasonic radar wiring method and start-up method .docx

Ultrasonic radar with controller

1. System overview

The ultrasonic radar system assists parking by detecting surrounding obstacles through ultrasonic sensors at the front and rear of the vehicle. The ultrasonic system consists of a controller and 12 sensors, including 8 UPAs (short-range ultrasonic sensors) + 4 APAs (long-range ultrasonic sensors).

Meaning of the number on the harness:

FLL	FL	FCL	FCR	FR	FRR
front left left	front left	front center left	front center right	front right	front right right
BLL	BL	BCL	BCR	BR	BRR
black left left	black left	black center left	black center right	black right	black right right

Figure (1) The physical picture of the product

接线工具：VECTOR、POWER、CANoe

图 ② VECTOR

Figure (3) Radar harness ends

Figure (4) Diagram of the wiring

Harness drawings:

2. Initiation conditions

The system can be started when the following conditions are met:

The pushrod travel signal is > 0.4 and the gear is D or R, or the gear signal is P

IPB 无故障：(IpbESPFlt=0x1：Normal)、(IpbEBDFlt=0x1：Normal)、(IpbABSFlt=0x1：Normal)、(IpbVLCFlt=0x1：Normal)、(IpbCDDFlt=0x1：Normal)、(EpbrFlt=0x1：Normal)、(IpbAPAavailable=0x1：Available)

VCU No Failure: VdpcVehFltLvl=0x0 (No Failure) or 0x1 (Level 1 Failure)

EPS No Failure: EpsFlt=0x0 (No Failure)

Trouble-free PAS (including fault-free sensors)

3. Initiation process

The system is powered on and enters the initialized "standby" state, at which point the sensor does not send and receive waves

CDP sends the CdpPASSysWorkStCtrl=0x1 (System Activation) signal

After the system self-test is fault-free and the associated parts are fault-free, it enters the "active" state, and the sensor begins to send and receive waves, and detects obstacles normally

Fourth, the status of the description

state	description
OFF	The system is not powered
standby	The system is powered and the sensor is not working during initialization
active	The system works normally, and the sensor sends and receives waves
inhibited	The CDP sends a standby signal and the sensor does not work
Failed	Faulty systems or sensors, etc

5. Precautions

If the request status is not returned for more than 1 second after the system starts, CDP will consider the PAS abnormal

During start-up, the signals need to meet E2E protection requirements

When the parking confirmation request feedback is "OK", it needs to be sent for at least 500ms

Special environments (e.g., the sensor is covered with snow or water, there is a strong ultrasonic source nearby, etc.) may affect the activation or cause false alarms