sunnypilot/tools/radar/PLATFORM_MATRIX.md

Hyundai/Kia/Genesis radar range matrix

This is a forum-ready summary of the routes analyzed for the sunnypilot radar tracks work. It describes observed protocol families, not guaranteed equipment for every model year, market, trim, or harness. A range can be present but empty when the radar is inactive. Raw bus number is also not a layout identifier: follow the sustained logical A-CAN source and reject brief forwarded copies.

Status terms:

• Confirmed: complete range, checksum/cadence, and tracked-object layout were validated across route data.
• Observed/optional: verified on at least one qualifying route, but not every route or trim carrying the main front-radar family.
• Candidate: source association or exact semantics remain incomplete.
• Not radar: camera or fused-output traffic overlapping radar-like ranges.

Platform matrix

Platform or platform group	Front tracked-object range	Front layout	Additional radar traffic	Camera/fused traffic that is not another radar	Status and notes
Kia K7 2017; older Hyundai Ioniq; sampled Ioniq PHEV	0x500–0x53F	64 slots, 8 B each, about 20 Hz	0x4E0, 0x4E1, 0x4E3 status/path messages	Legacy 0x238–0x24F may coexist on applicable cars	Confirmed 64-slot legacy/Delphi-ESR dialect.
Kia Niro EV first generation; legacy Hyundai Palisade; Sonata; Sonata Hybrid	0x500–0x51F	32 slots, 8 B each, about 20 Hz	0x4E0–0x4E5 status/build/health/alignment family	Legacy 0x238–0x255 or related camera candidates may coexist by platform	Confirmed 32-slot legacy dialect. The upper 0x520–0x53F bank is absent.
Hyundai Kona EV 2022; Kia Ceed PHEV	0x602–0x617	Two packed tracks in implemented messages	None established	None established	Observed/candidate legacy front family; the relationship between 0x602–0x611 and 0x612–0x617 remains incomplete.
Hyundai Elantra HEV 2024	0x210–0x21F	Detailed dialect, 32 tracks in 16 × 32 B messages, 20 Hz	No paired corner family established	Platform-dependent camera traffic	Confirmed detailed 210 front radar.
Hyundai Ioniq 5; Hyundai Palisade 2023; Kia EV6, older HDA2 samples	0x210–0x21F	Detailed dialect, 32 tracks	Right-front candidate: 0x240–0x24F objects plus 0x270–0x277 compact records. Left-front candidate: 0x278–0x287 objects plus 0x288–0x28F compact records.	Isolated 0x235 traffic is not a complete camera-object family	Confirmed front radar. Paired front corners are observed/optional only on qualifying routes; A=right and B=left are strongly inferred but still need physical occlusion confirmation.
Hyundai Santa Cruz 2025; Tucson 4th generation; Tucson HEV 2025; Kia Sportage 5th generation	0x210–0x21F	Compact dialect, 32 tracks	No corner family established in checked routes	Platform-dependent camera traffic	Confirmed compact 210 front radar. Compact and detailed 210 share core kinematics but use different lifecycle fields.
Hyundai Ioniq 6	0x3A5–0x3C4	Common 32-track layout, 24 B each, 20 Hz	No independent corner range established	0x235–0x248 camera objects and 0x360–0x366 camera lane/path may be present	Confirmed common 3A5 front radar.
Hyundai Kona/Kona HEV/Kona EV 2nd generation; Santa Fe HEV 5th generation; Sonata 2024	0x3A5–0x3C4	Common 32-track layout	No independent corner range established	Platform-dependent 0x235, 0x360, and CCNC 0x162 fused traffic	Confirmed common 3A5 front radar. CCNC/HDA generation does not imply rich radar extensions.
Kia Carnival HEV 2026; EV6 2025; K4 2025; K5 2025; Niro EV/HEV 2nd generation	0x3A5–0x3C4	Common 32-track layout	No independent corner range established	Platform-dependent 0x235, 0x360, and CCNC 0x162 fused traffic	Confirmed common 3A5 front radar. Bus 0/1 varies by architecture; a bus-2 copy can be forwarding.
Kia EV9; Hyundai Ioniq 9	0x3A5–0x3C4	Rich 32-track layout with optional width, length, absolute speed, and orientation	0x3D0–0x3D4 synchronized 32-position auxiliary scan array	0x235–0x248 camera objects; 0x360–0x366 camera lane/path; CCNC 0x162 fused traffic	Confirmed rich 3A5; 3D0 is observed/optional radar auxiliary traffic. Former 3D0 speed/azimuth interpretations were falsified, so it is counted but not projected as geometry.
Kia Sportage HEV 2026 forum sample	Overlaps 0x3A5–0x3C4 addresses	Payload is incompatible with the common 3A5 layout	Unknown	Unknown	Excluded from the common decoder; address overlap alone is not layout compatibility.

Other observed ranges

Range	Applicable examples	Classification
0x235–0x248, 32 B at about 33 Hz	Newer CAN-FD platforms, including rich EV9/Ioniq 9 captures	Not radar: forward-camera object list with class, motion, ID, geometry, velocity, and acceleration.
0x360–0x366, 32 B	Newer CAN-FD platforms carrying camera lane/path output	Not radar: forward-camera lane/path family.
0x180–0x184, 0x1B6–0x1B9, 0x2BB–0x2BE	Sampled Kia Sorento/Sorento HEV and Genesis GV70 candidates	Not radar: forward-camera auxiliary lists according to downloaded Hyundai DBCs.
0x238–0x24F, 8 B	Ioniq PHEV/HEV 2022, legacy Palisade, Niro PHEV candidates	Not established as radar: strong legacy forward-camera-perception candidate.
0x238–0x255, 8 B, often with 0x25A–0x25E	Custin, Elantra/Elantra HEV 2021, Sonata/Sonata Hybrid candidates	Not established as radar: extended legacy forward-camera-perception candidate.
CCNC_0x162	CCNC platforms	Not raw radar: stock fused/cluster lead, side, and rear slots with unknown upstream fusion.
Bus-9 0x300/0x400/0x500/0x600 blocks	Historical EV6 prototype capture	Historical candidate: four-corner FL/FR/RL/RR prototype; not reconfirmed in the current production-route corpus.

Supported combinations observed in the corpus

Combination	Front	Corners or radar auxiliary
Legacy front, 32 slots	0x500–0x51F	0x4E0–0x4E5 companion/status
Legacy front, 64 slots	0x500–0x53F	0x4E0, 0x4E1, 0x4E3 companion/status
Legacy alternate front	0x602–0x617	None established
CAN-FD detailed front only	0x210–0x21F	None established
CAN-FD detailed front plus paired front corners	0x210–0x21F	A/right candidate 0x240/0x270 families plus B/left candidate 0x278/0x288 families
CAN-FD compact front only	0x210–0x21F	None established
CAN-FD common front	0x3A5–0x3C4	Camera/fused families may coexist but are not independent radar tracks
CAN-FD rich front plus auxiliary scan	0x3A5–0x3C4	Optional 0x3D0–0x3D4 auxiliary radar array

No checked route proves a combination containing both the paired 0x240/0x270–0x28F corner family and 0x3D0–0x3D4. No distinct production rear-radar tracked-object range has been confirmed. Rear objects in CCNC_0x162 are fused outputs and do not prove a raw rear-radar range.