ATS100 (with GPS)Intelligent Turn AssistantUser Guide

Autel Intelligent Automobile Co., Ltd.

I

Trademark
Autel® , MaxiSys® , MaxiDAS® , MaxiScan® , MaxiTPMS® , MaxiVideo® , MaxiRecorder® and MaxiCheck® _ are trademarks of Autel Intelligent Technology Corp., Ltd., registered in China, the United States and othercountries. All other brands are trademarks or registered trademarks of their respective holders.

Copyright Information
No part of this manual may be reproduced without the prior written permission of Autel Intelligent
Automobile Co., Ltd. reproduced, stored in a retrieval system, or transmitted in any form or by anymeans, electronic, mechanical, photocopied, recorded or otherwise.

Disclaimer of Warranties and Limitation of Liability
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. shall not be liable for any direct, special, incidental, indirect,
or consequential damages (including lost profits) as a result of using the product.

IMPORTANT
Before operating or servicing this equipment, please read this manual carefully, paying particularattention to the safety warnings and precautions.

For Services and Support
Web: www.auteltech.cn
Mail: Support@auteltech.net
Hotline: 0086-755-2267-2493 (Headquarters in China) / 1-855-AUTEL-US (288-3587) (North
America) / 0049 (0) 6103-2000520 (Europe) / +045 5948465 (APAC) / + 971 585 002709 (IME)For technical support in all other markets please contact your local distributor.

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Table of contents
1.

ATS100 Turn Assistant Introduction .......................................................................... 4

1.1

ASR100 Radar Introduction .................................................................................... 4

1.2

Warning display ......................................................................................................... 6

1.3

GPS&IMU module .................................................................................................... 9

1.4

System connections and the cable harness .............................................................. 9

2.

User Manual ................................................................................................................. 13

2.1 Radar installation .......................................................................................................... 13
2.2 Radar wiring .................................................................................................................. 17
2.3 Input signal for the system ............................................................................................ 18
2 .4 Power access .................................................................................................................. 19
2.5 Installation of GPS and IMU module .......................................................................... 20
2.6 Screen installation ......................................................................................................... 20
2.7 Generation of installation report ................................................................................. 22III

1. ATS100 Turn Assistant Introduction
ATS100 is a turn assistant with precise target recognition and vehicle blind spot warnings. The system components are as follows: a millimeter wave radar with an operating
frequency of 76-77 GHz and a maximum RF output power of 12 dBm, a spirit level, amounting bracket (optional), a warning screen, a GPS and IMU module, and the cable.
The millimeter wave radar can accurately measure object distance, speed, angle andother information through the difference in echoes between the transmitting and receiving electromagnetic waves. It is an all-weather and all-day turn assistant with a working
temperature of -40℃ - 85℃. The warning screen warns the driver of a dangerous object
in the blind spot and reminds the driver to make timely adjustments on the road to avoid
accidents.
The ATS100 turn assistant covers 180° on one side, no blind spots, with a target detection range of up to 80 x 4.5m. With a compact structure, it has collision prediction andgraduated alarm function, can be connected with external CAN (Controller Area Network) and CAN FD (Flexible Data) interfaces can be integrated and supports 12 V or
24 V supply voltage.

Figure 1-1 ASR100 radar coverage
The warning objects of the ATS100 turning assistant include:Dynamic vulnerable road users moving at speeds equal to or exceeding 5 km/h ,including pedestrians, bicycles, electric bicycles, etc.

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 to warn heavy duty trucks/
buses etc. of side blind spots with IP69K protection housing, in line with the environment for commercial vehicle use .

4

Figure 1-2 ASR100 dimensions
Performance parameters:
working frequency

76-77GHz±80 m (vehicle)

Maximum detection range±40 m (pedestrian/bicycle)
working mode

slow speed

High speed

minimum detection range

0.25m

0.9m

distance resolution

0.31 m

0.96 mdistance accuracy±0.16m±0.5m

speed range±60km/h±150km/h

speed accuracy±0.43km/h

speed resolution

0.86km/h

horizontal angle

180°

angular accuracy±0.8°

General parameters:

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size

115mm x 95mm x 41mm

weight

2 30g

power consumption

6.5W

communication interface

CAN2.0, CAN_FD
8V - 32V;
Passenger car 12V ，operating voltage _Commercial vehicle 24V

1.2

operating temperature _-40℃ ~ 85℃

storage temperature-40℃~105℃

installation angle redundancy-2°~2°

protection rating _IP69K

operating cycle

60ms

Warning indicator

The A TS 100 turning assistance system uses a precision detection system to predict the
future probability of collision with the object and provides users with dynamic detection
and display-based intelligent alerts to remind drivers to take timely preventive measures
to reduce the possibility of accidents. The warning display screen supports adaptive
brightness control, allowing the screen brightness to adjust based on the brightness ofthe surrounding environment to provide a reduction in driver's eye fatigue during thenight.

6

Figure 1-3 Display size
The warning function is divided into three levels as follows:（Note: Conditions for
activating the warning function: The vehicle speed is less than or equal to 30km/h.）Level 1 warning : The steering wheel angle is less than 30° and the object enters
the warning area, then a section of warning light LEDs will light up, as shown in
Figure 1-4.

Level 2 Warning : The vehicle is turning right, the steering wheel angle is morethan 30°, or the turn signal is turned on (if the turn signal is connected), and thevehicle and the object are expected to collide within a certain time, then a sectionof warning light LEDs will start flashing.



Level 3 Warning : The vehicle turns right, the steering wheel angle is greater than30°, or the turn signal is turned on (if the turn signal is connected), and the vehicle
and the object are about to collide, then the warning light starts to flash and also an
acoustic warning tone is triggered.

The driver can get the approximate location of the object based on the section of warning light LEDs that are on or flashing.
The detailed description of each warning light on the display is as follows:7Figure 1-4 Warning light description① Warning module operation and status indicator: Lights up when the status of thewarning module is normal.
② Brake Indicator: This light flashes when braking is active. (Currently this function
is not available.)③ GPS error indicator: lights up when the GPS sensor has no signal (temporarily),flashes when the GPS sensor has an permanent error signal.
④ Warning light: Provides early warning of dangerous objects. The warning area isdivided into three different priorities: upper zone (2-5 m in front of the vehicle front),
middle zone (2 m in front of the vehicle front - 7 m behind the vehicle front), and lower
zone (7-30 m behind the vehicle front). If several objects are in the upper, middle or
lower zone at the same time, give priority to the middle, then the lower, then the upperzone.
⑤ Vehicle model: for reference; is in a steady light state after switching on.
⑥ Radar Status Indicator: Steady light indicates temporary radar failure, usuallycaused by factors such as blocked radar or poor weather conditions; Blinking indicatespermanent radar failure that requires professional repair.
⑦ System malfunction indicator : The indicator light flashes when there is a malfunction in the entire system.

8Troubleshooting:
Table 1-1 Error description and troubleshooting
status symbol
Warning module operationand status display

Error Descrip-

repair manual

tion
does not light up
after switching

Hardware failure and needs to be replacedonpossible reason:

Radar Status

The error lamp

1. Obstructed by objects such as snow, mud, etc.

Indicator

is always on

2. Extreme weather, heavy rain and snow, etc.
3. The installation angle is greater than 5°

Radar Status

Fault light

Indicator

flashessystem error

Fault light

display

flashes

GPS error dis-Fault light

Restart after power off, if the error persists, youplayflashesneed to replace the hardware

1.3

Hardware failure and needs to be replaced

Hardware failure and needs to be replaced

GPS&IMU moduleThis module integrates a high-precision gyroscope, an accelerometer and a GPS module. With this module, no input signal such as speed, acceleration or yaw rate fromvehicle is needed.

1.4

System connections and the wiring harness

Connect each connector of the radar, display, GPS and IMU module harness as shown
below.
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Figure 1-5 System Connections Schematic
Description of the radar wiring harness
In the figure below, connector P1 is connected to the radar. It has 8 pins and the pinorder is shown 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, andthe 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 the power supply, it has 6 pins, and the pinnumber of P3 in the figure corresponds to the pin definition in Table 1-4. The end ofeach cable has a printed label. Please check this carefully during installation. Do notturn on the device if the connectors are not properly connected.

Figure 1-6 Radar Wiring Harness Diagram

Radar interface P1 definition table:
Table 1-2 Definition of radar interface P1
Pin No.

definitionAreacable color

1

VCC

8~32V DC

Red

2

NC

empty

Orange3

SWITCH

Input : 1 2/2 4V DC

Blue

Output : 0VDC _4

Dimensions

0 V DC voltage

10

Black

5

CAN2.0_H-58~58VDC

Green

6

CAN2.0_L-58~58VDC

Yellow

7

CAN _FD _H-58~58VDC

White

8th

CAN_FD_L-58~58VDC

VioletGPS interface P2 definition table:
Table 1-3 Definition of the GPS interface P2
Pin No.

definitionAreacable color

1

CAN_FD_H-58~58VDC

White

2

CAN_FD_L-58~58VDC

Violet3

VCC_SCREEN

8~32VDCRed

4

GND_SCREEN

0 V DC voltage

Black

Vehicle power interface P3 definition table:
Table 1-4 Definition of Vehicle power interface P3
Pin No.

definitionAreacable color

1

VCC

8~32V DC

Red

2

NC

empty

Orange3

SWITCH

Input : 1 2/2 4V DC

Blue

Output : 0VDC _4

Dimensions

0 V DC voltage

Black

5

CAN2.0_H-58~58VDC

Green

6

CAN2.0_L-58~58VDC

YellowShow description of wire harness
In the image 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 below. The pin number in the figure
corresponds to the pin definition in Table 1-5.

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Figure 1-7 Display Wiring Harness Diagram

GPS interface P4 definition table:
Table 1-5 Definition of the GPS interface P4
Pin No.

definitionAreacable color

1

CAN_FD_H-58~58VDC

White

2

CAN_FD_L-58~58VDC

Violet3

VCC

8~32VDCRed

4

Dimensions

0 V DC voltage

Black

5

GPS_1 Rx

0 ~5VDC

blue_ _

6

GPS_2 Tx

0 ~5VDC

Orange7

VCC_GPS_ _5 V DC voltage

Green

8th

GND_GPS

0 V DC voltage

Yellow

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2. User Guide
2.1 Radar installation
Notes on installation

The radar should be mounted on a low-vibration component. Strong vibrations

will affect the detection function.
The radar should be installed on the most protruding level on the side of the truck
to prevent it from being blocked by other parts and affecting its detection performance.

Installation position: The radar must be installed on the right side of the truck. The
radar must always be attached to the vehicle in front of the first rear axle! We recommend mounting on the side protection plate, side protection rail or similar installation
locations on the vehicle.

Figure 2-1 Radar installation location diagram
Installation area:
When the radar is used, the reference coordinate origin is the center of the rear axle ofthe vehicle. The standard installation position parameters of the radar are shown in Table 2-1, which are only suitable for vehicles with a wheelbase of approx. 3.5-5 m andthe installation position (plug and play variant) as shown in Figure 2-3.
Table 2-1 Radar default installation parameters
installation locationright side

Left side

Lateral distance X (m)

2.85

2.85

Longitudinal distance Y (m)

-1.25

1.25

Installation angle （°）

90

-90

Warn_dx (m)

6.15

6.15

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 mounting position relative tothe center of the rear axle of the vehicle;
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Mounting angle: the angle of rotation of the radar mounting position relative to thecenter 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.

Trailer length

Figure 2-2 Diagram of calibration parameters for radar installation site
The recommended or preconfigured sensor location is shown in Figure 2-3 below. The
radar can be installed at a distance of 230-430 cm backwards from the front edge ofthe vehicle and at a height of 30-120 cm from the ground. As long as the sensor stays
within this installation area, no parameterization is required after installation. It is theplug and play built-in version of the system.

Figure 2-3 Recommended or Plug and Play installation position diagram
If the wheelbase of 3.5-5 meters or the installation position is out of the plug and play
installation range, the installer needs to re-enter the installation position of the sensor.
At this time, the installer needs to measure the distance between the actual installation
position of the radar and the center of the rear axle of the vehicle to renew the installation position of the radar.

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To parameterize the radar installation position, please use a Windows PC with the CAN
box we have provided and our AutelRadarCfgTools software. First connect the CAN
box with radar sensor via CAN 2.0 interface, see Table 1-2. The working steps areshown 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 is 250K
(4) Click Start button to open Channel 2(5) Click stop button to close channel 2(6) Choose whether the installation position faces the left or right side of the vehicle
front(7) Enter the values dx , dy, theta and warn_dx(8) With Write you write the values in the radar sensor, with Read you can read out thevalues in the radar sensor again(9) You can also use the Report button to print out an installation report. A detailed
description can be found in Chapter 2.7
dx: Longitudinal distance from the installation position of the radar to the center ofthe rear axle of the vehicle. unit: meters
dy: The lateral distance from the radar installation location to the center of the vehicle's rear axle, typically 1.25 m
Installation Angle: The left side is -90°, the right side is 90°
Warn_dx: the distance from the center of the rear axle to the front edge of the vehicle.
Unit: meter15

Figure 2-4 AutelRadarCfgTools interface icon

Maximum installation area: The maximum installation area is shown in Figure 24.1. The sensor may be installed with software parameterization from the front of thevehicle up to a maximum of 700 cm to the rear. At the same time, the sensor must not
be installed behind the first rear axle. The installation height is the same as the Plugand Play installation variant and remains unchanged at 30cm - 120cm.

Figure 2-4.1 Maximum installation area

Installation Deviation: In order to ensure detection accuracy, the horizontal angle errorof the radar installation should be within ±1° at best. The vertical angle error when
installing is best within 2°.

Installation Vertical Angle
30-120cm

Figure 2-5 Radar Installation Deviation Chart
Installation example

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To control installation variations, an optional additional mounting bracket can be used
to adjust direction and angle during installation.
1. With the front of the radar (the side with the plastic case) facing the detection area,
attach the radar to the mounting bracket with the screws.
2. Place the bubble level in the center of the top tier of the radar and adjust the mounting
position adjustment screw until the bubble overlaps the ring in the center.
3. Secure the mounting position adjustment screw, and then connect the cable.

Figure 2-6 Radar installation and calibration diagram
2.2 Radar Wiring
After the radar cable is connected to the radar, it should be routed into the cabin alongwith the chassis cable as shown in the figure below.

The entry for the chassis cable into the cab is on the underside of the cab. Therefore
you need to lift the cabin during wiring as shown in the picture below.

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In front of the passenger seat (where the main fuse and main ECU are located), connect
the power supply, screen and other parts of this product as shown in the figure below.

2.3 Input signal for the system
The system has two feed options for the input signals.
Feeding in with the supplied GPS/IMU module
Feeding in without the supplied GPS/IMU module, directly with the vehicle CAN
signals
The supplied GPS/IMU module provides the required input signals for the system. If
the supplied GPS/IMU module is not used. Alternatively, the system can also be used
if the input signals are provided via vehicle CAN Bus. The Autel ATS100 requires the
5 CAN signals shown below for its normal operation. By default, the radar automatically reads these CAN J1939 signals. This means only vehicles with standardized J1939
signals are supported by the system. If the vehicle does not provide standardized J1939
signals, we recommend using the supplied GPS/IMU module. The baud rate for vehiclecommunication is 250 KB:
1. vehicle speed
2. steering wheel angle
3. yaw rate
4. longitudinal acceleration
5. lateral acceleration18

identifier

min

Tmax

message typebytes or

0xCFE6CEE

50ms

50ms

cyclic

intel

start
signal _byte

lengthresolution

offsetminimum

Maximum

Unit

16

0.00390625

00250,996km/h

bit
vehicle speed

648

identifier

min

Tmax

message typebytes or0xCF0090B

20ms

20ms

cyclic

intel

start
signal _

lengt

byte

miniresolutionbit

offsethMaximum

Unit-1797.6

1797.6

Degree-224.6

224.6

mum
-

steering
00

160.055952

1797.

wheel angle
6degrees/secyaw rate

3

24

16

0.00699088-224.6ond
0.00048827
lateral acceleration

5

40

16

15,68

-15,687

15,687m/(s*s)

-12.5

12.5

m/(s*s)3
7longitudinal accel7

56

8th

0.1

-12.5

eration2 .4 Power Access
The radar must be supplied via KL15 or terminal 15 (12V or 24V). We recommend you
find KL15 on the main fuse board and connect the radar to it.

192.5 Installation of GPS and IMU module
The GPS/IMU module can be placed anywhere in the driver's cabin, the preferred position is behind the windscreen and somewhere in the middle of the cockpit.
a. Place the GPS&IMU module horizontally, noting that the X-axis direction is the sameas the vehicle's forward direction.
b. The module can be fixed with screws or double-sided tape.
c. Connect the two harnesses at the end of the GPS&IMU module to the radar and thedisplay respectively.
Note: Installation angle tolerance of the GPS and IMU module<30°

2.6 Screen Installation

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a. Remove the A-pillar cover and drill holes: Using the mounting holes on the bracket
back plate as shown in Figure 1 as reference points, drill two 4.5mm mounting holes
and one 12mm hole to pass the cable (30th hole). -40 mm below the mounting holes).
b. As shown in Figure 2, use two M4*14 screws to attach the bracket back plate to the
A-pillar cover.
Note: 3M adhesive on the bracket back plate allows the bracket to be glued to the Apillar cover.

c. As shown in Figure 3, route the cable on the strainer assembly through the cablehole on the A-pillar cover.
i.e. Referring to Figure 4, place the display assembly in the appropriate location on
the bracket backplate 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

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screws.
e. Reinstall the cover on the A-pillar.
2 .7 Generation of installation report
The AutelRadarCfgTools V2.3.60 has a function to print installation report or vehicle
configuration report, which automatically creates a pdf file with the registered vehicle
information, radar serial number and software version and radar installation location
after user input the related information.
The instructions for using the report printing feature are as follows:(1) Establish communication between the AutelRadarCfgTools and the radar as described in Figure 2-4 in Section 2.1. This step is not necessary if the radar is alreadyconnected to the client.
(2) Click the "Report" button on the bottom right corner and the following window willappear. Enter your name, vehicle identification number and license plate number
and click "Generate" to automatically generate a radar configuration report on yourcomputer desktop.

(3) Follow the steps above and you will receive a report with your entries and radar
information as shown below.

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