I was interested in trying an automotive radar for collision avoidance on a UGV. Automotive radar should be cheaper than LIDAR due to scale production and no moving parts, and requires less brains than stereo vision.
I got a Bosch sensor for an Audi Q5 (Audi part 8R0907561) off eBay. The magical search term was "Adaptive Cruise Control". There are other radars from other companies, I got that one because it was the cheapest and there was some information about it on the net.
Hooked it up to my laptop using a CAN-USB interface (photo below). It outputs a steady stream of messages, unfortunately those messages don't change when I change the distance to objects in front of the sensor. An example of the stream of packets is attached. I feel there may be some configuration that is sent to the sensor to get it to output range information. It gets a little warm to touch and draws around 180mA@12V, so something is happening.
What would really help is a log of the CAN bus traffic from an operational sensor. I could replay this log back into my sensor and see if it came alive.
* Has anyone tried to use an automotive radar?
* Does anyone have an Audi with adaptive cruise control and could log some data for me?
PS for anyone who is interested, here is some links about Bosch automotive radar:
Nice summary article talking about Bosch's radar development, no details. I think I have LRR2, not LRR3.
A university thesis about how well the radar detects different objects. Has some details about the CAN messages but none of the messages match what I get. Probably the audi part has a different firmware.
Service manual for Adaptive cruise control in an audi a8 (in German) has some CAN bus and state diagrams.
Some more Bosch marketing material with nice detail (shows LRR3 has much wider field of view than LRR2).
Retrofit of ACC to an Audi Q7, this is where I got the pinout from.
The CAN bus log is from a Kvaser leaf using Kvaser's canlib library, data format is
id length messages[0..7] flags time
- time is in milliseconds
- the logs are taken from start up, so step 1 start logging, step 2 turn on sensor.
script sort-log.py shows the unique messages.