Tesla Bosch Radar

From Tinkla: Tinkering with Tesla
Revision as of 17:03, 26 March 2022 by BogGyver (talk | contribs) (→‎Programming your radar - VIN Learning)
If you need instructions for the Tesla Bosch Radar to use with EON or other (non Tesla) cars, the information can be found here.
Tesla Bosch Radar Wiring Harness.png
Giraffe rev B Radar Diagram.png
Giraffe rev A.png
The Giraffe rev A board. Use CAN1 for radar..png

The Bosch radar made for Tesla (Bosch MRRevo14, and with few different part numbers like 1038224-00-A/B or 1057551-00-B) have been used on Tesla Model S cars from October 2014 (AP1) until they have been replaced by the Continental radar with AP2.5). The main difference between 1038224-00-B and 1038224-00-A is that the A version does not have the heater element for winter weather (to melt snow and ice).

The radar has a range of about 160m and for the short beam a cone of 45°.

Bosch radars

Many other car manufacturers use the same radar hardware, including Honda, Nissan, VW, Audi, etc. But Tesla (AFAIK) is the only one that reads and processes raw data from the radar instead of letting the radar make the decision about longitudinal control action needed (acceleration or deceleration). 

This radar can ben used on any OP supported car. To insall the radar for a non-Tesla car please find a branch that has the code already done or modify your branch and add the code needed to make the radar talk to the Panda code for your car. More info available here.

Deconding the radar

With a little help from a group of enthusiasts, we were able to reverse engineer all the messages that AP sends to the radar in order to make it "talk". Then we identified the structure of the CAN messages that describe each of the 32 objects this radar can detect. Signals like longitudinal distance, lateral distance (vs radar), longitudinal relative speed, lateral relative speed, longitudinal acceleration, certainty of detection, etc are all now processed and sent to the radar daemon of OpenPilot, improving longitudinal control for the car.

What you need

In order to get the radar working on your car, you need to buy a radar, a mounting bracket (few options here), a connector and then to create a harness and run the cable back to the Tinkla OBD-C Adapter.

For a permanent install I recommend following the diagram in the Tesla Bosch Radar Wiring Harness image at the top of the page. This setup uses the EPAS power (which is ignition power) to trigger a relay and feed power to both the radar electronics and the heater unit of the radar. Make sure the line from the battery is fused. Also please use the AWG chart to select the right wire needed for your setup.

Modifying the configuration settings for radar

It is important now to take the time to configure the [[Tesla_Unity_Configuration|setting in Tesla Unity] in order to activate the radar. Before moving to the next step, please turn ON the toggle for Use Tesla Radar and appropriately configure the Radar behind nosecone and Radar offset.

Programming your radar - VIN Learning

Chances are you bought your Tesla Bosch Radar on ebay and was previously installed and programmed in a car (so it will only respond if we send the right VIN, epas type and position). In order to make the radar work on your car you will have to go through the Radar VIN Learn process that can be started using the button with the same name at the bottom of the Tesla preAP settings page.

  1. Ensure your Radar is installed in your vehicle and connected to the Tinkla OBD-C Adapter or to your specific harness.
  2. Ensure that all the settings are configured correctly for your radar, especially enabling the radar and specifying if it is behind the nose cone or not.
  3. Using the Radar VIN Learn button under the Tesla preAP tab of settings start the programming process
  4. Before hitting the VIN Lrn button, ensure your car is on (in P - Park) and continue to keep your foot on the brake throughout the process.
  5. Hit the VIN Lrn button and the screen will show the progress. Your car might emit warnings and sounds during this process, which is normal.
  6. Once process is complete, allow the car to go in "CAR OFF" mode and reboot your Comma devkit.
  7. You are now ready to use your Tesla Bosch Radar.

Calibrating your radar

Determine the center of car

Most likely the radar will have to be calibrated in order to ensure the correct data being fed into OpenPilot. In order to calibrate your radar you will need:

  • the calibrateRadar.py script which for those running on one of my Tesla branches is located in /data/openpilot/selfdrive/car/tesla/radar_tools/
  • a 4ft (120 cm) metal pole that can stay vertically by itself (I personally use a microphone stand)
  • tape measure
  • chalk
  • computer or phone to SSH into EON and view data

First, we need to create a straight line that is perfectly centered on the car (for this you will need another person to hold one end of the tape). Follow these steps:

  • start from the left front wheel well, measure 8 ft (2.5m) out towards the center of the car and draw an arch of the circle using the chalk.
  • repeat the process from the right front wheel
  • the place where your two arches intersect will be point A. (see blue lines in diagram)
  • repeat the process above but measure out 16.5 ft (5 m)
  • the place where your two new arches intersect will be point B (see red lines in diagram)
  • connect points A and B with a line; this line is now along the center of the car (see green line in diagram)

Now that we have the line that marks the zero dY line, let's start the calibration script:

  • start OP (OP might stop when you leave the car; what i did was to put open the driver window, put a heavy backpack on the driver seat, connect the driver seatbelt and turn the car on; this way it ensured that OP remained running)
  • SSH into EON and go to the folder where the calibrateRadar.py is
    • cd /data/openpilot/selfdrive/car/tesla/radar_tools/
  • set the python environment
    • export PYTHONPATH="/data/openpilot/"
  • run the calibration script
    • python calibrateRadar.py

The script will start showing data for objects between 8 ft (2.5 m) and 15 ft (4.5 m) in front of the car.

Now the calibration process starts:

  • place the metal pole (again, i used a microphne stand) in the middle of the line that connects A and B
  • look at the terminal window running the calibration script and check x and y values for distance:
    • you should see data from the script showing dRel and dY as some of the points; keep in mind the values are always in meters
    • measure the distance between the radar and the pole: it should match the dRel distance
    • dY should be 0.0
  • if you can not see the pole at all or dRel is greater than the real measured distance, you will need to adjust the radar vertically until they match.
  • if dY is not zero, adjust the radar position Left or Right until dY is 0.0
  • once dY is 0.0 move the pole along the line connecting A and B repeating the above process
  • you are done when no matter where you place the pole between A and B, dY is always 0.0

Troubleshooting the Tesla Bosch Radar

The radar send data for the first 5 seconds no matter what we send to it. But if we are sending the wrong info (VIN, position or epas) it will stop sending changes to the data after 5 seconds. At this point we have to see what exactly is happening with the radar by looking at the allerts it generates.

You can use cabana and paste the following code in the DBC in order to understand what errors the radar is sending and what you need to change. Once you opened your cabana drive, click Load DBC, then Upload, and copy and paste the content from below to the DBC area. Then just look at the message called TeslaRadarAlertMatrix and see if you have any errors. Calibration warnings will not stop radar from operating. (Make sure you're looking at 1:501 for TeslaRadarAlertMatrix, not 0:501) 

VERSION ""
NS_ : 
 NS_DESC_
 CM_
 BA_DEF_
 BA_
 VAL_
 CAT_DEF_
 CAT_
 FILTER
 BA_DEF_DEF_
 EV_DATA_
 ENVVAR_DATA_
 SGTYPE_
 SGTYPE_VAL_
 BA_DEF_SGTYPE_
 BA_SGTYPE_
 SIG_TYPE_REF_
 VAL_TABLE_
 SIG_GROUP_
 SIG_VALTYPE_
 SIGTYPE_VALTYPE_
 BO_TX_BU_
 BA_DEF_REL_
 BA_REL_
 BA_DEF_DEF_REL_
 BU_SG_REL_
 BU_EV_REL_
 BU_BO_REL_
 SG_MUL_VAL_
BS_:
BU_:  FrontCamera Radar
BO_ 769 TeslaRadarSguInfo: 8 Radar
 SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] ""  FrontCamera
 SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] ""  FrontCamera
 SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] ""  FrontCamera
 SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] ""  FrontCamera
BO_ 770 TeslaRadarTguInfo: 8 Radar
 SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] ""  FrontCamera
 SG_ unused30 : 30|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] ""  FrontCamera
 SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] ""  FrontCamera 
BO_ 1281 TeslaRadarAlertMatrix: 8 Radar
 SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] ""  FrontCamera
 SG_ unused62 : 62|2@1+ (1,0) [0|3] ""  FrontCamera
Retrieved from "https://tinkla.us/index.php?title=Tesla_Bosch_Radar&oldid=1340"