408 Radar Viewer

This script read the can messages from the radar sensor and display the objects on a plot.

Features

• 10Hz update rate (ajustable)
• Object filter options
• Sensor field of view
• different views possible
• simple to modify

Limits

• Works with radar ID is set to ID 0
• Display objects, not cluster

Read the docs

Conti 408-21

Premium Long Range Radar at 77Ghz

• Range from 170 up 250m
• -400 to 200kph relativ speed detection
• CAN Bus interface at 500kb
• can used in
  • European Union
  • USA
  • Canada
  • Russia
  • South Korea
  • Australia
  • Japan and further countries
• made for instustrie and automitive applications
• Sensor works from 9-32V DC

*distance on X axsis x10

And is easy to integrate. Just 4 Wires are needed to bring the sensor to live.

• Power + direct from battery
• GND
• CAN-H
• CAN-L

Setup

Python

Install needed python libs

pip install can cantools matplotlib

CAN

Setup the CAN connection or replay log data.

I used BUSMASTER to log and replay CAN data and a Vector CAN interface. Other CAN interface will also work. Just change the CAN config.

The 408-21 needs the following CAN MSG IDs:

MsgId = MsgId + SensorId * 10 0x200 with SensorId 0 = 0x200 0x200 with SensorId 1 = 0x210

• 0x008 - Relay control
• 0x20x - Config & status
• 0x30x - Speed & Yaw input
• 0x40x - Collision detection config and status
• 0x60x - Cluster & obj data
• 0x700 - Version ID

-> for details look at datasheet or DBC

-> CAN Ids overlaps with the Engine CAN - separate CAN lines!

Input

Optional inputs -> see docu for more details

• 0x300 Speed in m/s
• 0x301 Yaw rate in deg/s

Output

The script display the radar objects on a plot with 10Hz.

lang distance view

Close range view with hidden (filtered objects)

Config

set radar config

0x200 Radar config

Siganl	Config
MaxDistance [m]	250
SensorID	0
OutputType	1 (send objects)
RadarPower	0 (standard)
CtrlRelay	0 (inactive) 1?
SendQuality	0 (inactive) 1?
SendExtInfo	0 (inactive) 1?
SortIndex	1 (by range)
StoreInNVM	1 (active)
RCS_Threshold	0 (standard)

Speed and Yaw relay

The radar needs a speed and yaw input. This will do the "can_relay" script. It reads speed and yaw from the vehicle CAN. Do some calc km/h->m/s and send it to the radar CAN.