Radar tracks and corner radar
A vehicle having radar does not mean carrotpilot can receive the required messages. Check year, part number, firmware, harness and receive bus together.
Front input selection: EnableRadarTracks
| Value | Current meaning |
|---|---|
| -2 | VOACC vision-only experiment |
| -1 / 0 | Prefer SCC longitudinal distance/relative speed; vision if SCC is absent |
| 1 | Match front radar with vision without SCC; fall back to vision |
| 2 | Match front radar plus low-speed SCC with vision |
| 3 | Use SCC when front matching fails, then vision if SCC is absent; experimental |
A larger number is not better for every vehicle. SCC lateral coordinates are not used; a displayed lateral zero is not a measured lane-center position.
Beyond the old “Mando only” description
Legacy Mando has a path reading 32 base slots and 32 additional slots when received. Bosch MRRevo14F uses passive reception on specific candidate vehicles after the full 0x601–0x612 message set is confirmed on the same bus.
The Bosch path skips radar-enable UDS writes and SCC-ECU disable requests. The original document names Avante AD as the real-vehicle-validated configuration; other candidates are not automatically validated. This path does not update EnableRadarTracksResult, so that value alone cannot establish successful reception.
Corner radar and display
EnableCornerRadar is separate, with range 0–2: 1 enables it and 2 enables cut-in detection. Consult the current radar source for exact input support, physical prediction and vehicle conditions. Side points, BSD and control lead objects are different information.
- A visible point does not mean it was selected as a braking target.
- Vision, SCC, front and corner inputs have different quality and use scopes.
- Invalid/stale inputs and object-ID changes can alter tracking.
- Separate log validation from real-vehicle validation for experimental physical prediction.
If left and right are reversed
RadarTrackFlip reverses front raw-radar lateral position/velocity. It does not change SCC, corner radar or vision, and it affects lead selection too. Use only for a confirmed direction mismatch, then restart the ignition or reboot.
Record the problem
Keep vehicle/radar part, harness location, settings, CAN validity/errors, actual track reception and event time. Strong braking may be more than a display issue; prepare original logs around the event.
Source reference
Reference checked 2026-10-30 · carrot-wip · 10bf0a56.
docs/user/ko/radar.md · openpilot/selfdrive/carrot_settings.json · opendbc_repo/opendbc/car/hyundai/interface.py
The development branch continues to change. Check your device’s branch, commit and current settings together.