System Overview
RPAS (Rear Parking Assist System) is an electronic driving
aid that warns the driver to be cautious while parking or in low speed environments.
The sensor uses ultrasonic waves to detect objects within proximity of the vehicle.
RPAS consists of four RPS sensors which are detecting the
obstacles and transmit the result separated into three warning levels, the first,
second and third to BCM by Lin communication. BCM decides the alarm level by
the transmitted communication message from the slave sensors, then operate the
buzzer or transmits the data for display.
![See large image...](images/books/770/sdmbe3253n.gif)
System Block Diagram
![See large image...](images/books/770/syfbe0229l.gif)
System Operation Specification.
1. |
INIT mode
(1) |
System initializing time is 500ms after IGN1+
R Gear.
|
(2) |
RPAS recognizes LID and sets the sensor ID
up during initialization.
|
(3) |
RPAS activates each sensor and then executes
the diagnosis after finishing initialization of BCM
|
(4) |
R-PAS Starting buzzer” is normally worked,
when sensor does not send an error message and after finishing
error diagnosis.
|
(5) |
If any failure is received from the any sensors,
R-PAS Starting Buzzer” does not work but the failure alarm is
operated for a moment.
If you have display option, warning sign
is also shown on it.
|
(6) |
Buzzer for sensor failure is operated once,
but display is shown continuously until it is repaired completely.
|
|
2. |
NORMAL Mode
(1) |
Lin communication starts and keeps the routine
after IGN1 ON+R gear
|
(2) |
BCM send a message once to each sensor for
operating request to check the initial status of the system
and four sensors response at a time. At this time, if there
is no problem, the alarm starts after 500ms of R gear shifting
at 300ms intervals.
|
(3) |
After initialization, normal mode starts
100ms later after finishing alarm output.
|
(4) |
Alarm for obstacles is divided into 3 levels.
The first and second are intermittent sound,
and the third alarms continuously
|
(5) |
The efficient vehicle speed of RPAS operation
is under 10Km/h.
|
(6) |
Refer to ‘Digital PAS Project LIN communication’
for the more detailed communication specification.
|
|
Sensing Area
1. |
Measurement condition – PVC pole (diameter 75mm,
length 3m), normal temperature
|
2. |
Distance range detected objects (Measured directly
in front of sensor)
61cm(24.0in) ~ 120cm(47.2in) : ± 15cm(5.9in)
31cm(12.2in) ~ 60cm(23.6in): ± 15cm(5.9in)
Less than 30cm(11.8in) : ± 10cm(3.9in)
|
Horizontal Sensing Area
![See large image...](images/books/770/sbkbe2595l.gif)
Vertical Sensing Area
![See large image...](images/books/770/syfbe0231l.gif)
Distance Measurement
Transmission and Reception are executed with one sensor
(RL, RCL, RCR, RR each sensor execution)
![See large image...](images/books/770/syfbe0232l.gif)
(RCL → RL, RCL → RCR, RCR → RCL, RCR → RR Execution in order)
With two or three sensors, one of them sends the transmission
and the others get the reception.
![See large image...](images/books/770/syfbe0233l.gif)
Direct and Indirect
Measurement at once |
With two or three sensors, the one sensor performs both transmission
and reception, and the others perform only reception.
![See large image...](images/books/770/syfbe0234l.gif)
RPAS alarm system
When the RPAS sensor detects the object, warning is operated
by audible alarm device as like buzzer. RPAS sensor sends data to BCM with LIN
communication and BCM implements audible warning for each RPAS SENSOR by priority.
And it performs a role of gateway only when it sends visible alarm device such
as Cluster.
- |
Sensor buzzer/display information processing method
of BCM In case of RL/RR sensor information, the BCM handles each sensor
information directly about Display and buzzer output function. Buzzer
output of CL/CR sensor, BCM handles center combination information by
priority both sensor.
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System Operation Spec
When the system has the power (after IGN ON and R gear),
MICOM checks every sensor channel. In case it finds any error, it sounds 300ms
buzzer 500ms afterward. But it finds any error even a sensor, it sounds buzzer
corresponding fault sensor instead of initial starting alarm. Function for normal
mode entrance is as below
![See large image...](images/books/770/syfbe0235l.gif)
With R Gear, system function is as below
![See large image...](images/books/770/syfbe0236l.gif)
With R gear releasing, system function is as below
![See large image...](images/books/770/syfbe0237l.gif)
※acceptable error range on waveform ±10%
Alarm Output Specification classified by distance between sensors
Condition logic according to priority of alarm level is as
below. (the identical sensor)
![See large image...](images/books/770/syfbe0238l.gif)
*α value definition
1. |
low priority sensor off : α = 0ms
|
2. |
low priority sensor is 1st warning level : α < 340ms
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3. |
low priority sensor is 2nd warning level : α < 170ms
|
*β value definition
1. |
low priority sensor is 1st warning level : β = 1700ms
|
2. |
low priority sensor is 2nd warning level : β = 1700ms
|
3. |
low priority sensor is 3rd warning level : β = 700ms
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Alarm control by sensing distance is as below
1. |
First warning area (61cm ~ 120cm)
![See large image...](images/books/770/syfbe0239l.gif)
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2. |
Second warning area (31cm ~ 80cm)
![See large image...](images/books/770/syfbe0250l.gif)
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3. |
Third warning area (less than 30cm)
![See large image...](images/books/770/syfbe0251l.gif)
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Visible Alarm Indicator Specification
When the gear is applied to R, cluster lights the indicator
as below figure.
When the system finds an object, it lights indicator immediately.
During sensing an object, if there is no object, it lights indicator that is
no alarm status for two seconds and then turns out afterward detecting an object.
(But when it turns third step alarm to No alarm status, it
lights third step alarm for two second and turns out.)
![See large image...](images/books/770/sdmbe3254n.gif)
- |
It shows only the detecting position of obstacles.
|
- |
In third level alarm, indicator flickers at intervals
of a second.
|
- |
In normal alarm level display, RCR/RCL indicator
is combinated by priority.
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Communication Standard
This section defines the communication between RPAS and BCM.
RPAS send a detecting result of object and sensor diagnosis
result to BCM according to this document, and BCM takes a role to alarm.
Indicator shows the transmitted position and alarm data,
in alarm case, it finds the nearest DATA and alarms the nearest DATA first.
(Ex. In case, RL is first step alarm and RR is third step,
RR alarm has priority.)
Component Location 1. BCM (Body Control Module) 2. Ultrasonic sensor ※ Rear parking assist control unit function is built in BCM (body control unit). ...
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