Kia Carens: Front / Rear Parking Assist System / Description and operation

Kia Carens RP (2013-2018) Service Manual / Body Electrical System / Front / Rear Parking Assist System / Description and operation

System Configuration

PAS consists of 8 sensors(Front 4 EA, Rear 4EA) which are detecting the obstacles and transmit the result separated into three warning levels, the first, second and third to IPM(BCM) by Lin communication. IPM(BCM) decides the alarm level by the transmitted communication message from the slave sensors, then operate the buzzer or transmits the data for display.

Block Diagram

System Operation Specification

Initial mode - Front sensor

(1)	System initializing time is 500ms after IGN1+ initial D Gear + below 10 Km/h .

(2)	PAS recognizes LID and sets the sensor ID up during initialization.

(3)	PAS activates each sensor and then executes the diagnosis after finishing initialization of IPM(BCM).

(4)	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, 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.

(7)	IPM(BCM) memorizes the completed initializing status of front sensor until IGN 1 is OFF. It doesn't activate initializing when next D gear input.

(8)	In case of PAS SW OFF, system initializing does not be activated.

(9)

If PAS switch is ON like as below status, it activates initializing.

–	PAS switch OFF when IGN1 is On.

–	PAS switch ON when vehicle speed is below 10 km/h

(10)	Initializing has nothing to do with parking brake operation.

Initial mode - Rear sensor

(1)	System initializing time is 500ms after IGN1+ initial R Gear.

(2)	PAS recognizes LID and sets the sensor ID up during initialization.

(3)	PAS activates each sensor and then executes the diagnosis after finishing initialization of IPM(BCM).

(4)	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, 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.

(7)	IPM(BCM) memorizes the completed initializing status of rear sensor until IGN 1 is OFF. It doesn't activate initializing when next R gear input.

(8)	Initializing has nothing to do with parking brake operation.

Normal mode - Front sensor

(1)	Lin communication starts and keeps the routine after IGN1 ON+D gear + below 10 km/h.

(2)	After initializing, the routine starts at once without PAS starting warning sound.

(3)

Alarms of obstacle consists of 3 level 1,2,3 step and 1,2 alarm sounds intermittently and 3 alarm sounds continuously. 1 level alarm doesn't exist in the front ultrasonic sensor.

–	Type with display

•	2 level alarm : Display is only operated without alarm.

•	3 level alarm : Alarm + Display

–	Type without display : Alarm only

(4)	In display, the data of each sensor is sent from IPM(BCM) to display, for example cluster. CAN communication is used for transmission and maximum gateway time is 50ms.

(5)	The efficient vehicle speed of RPAS operation is under 10Km/h.

(6)	It doesn't work at PAS SW OFF.

(7)	It has nothing to do with parking brake operation.

(8)	Operation doesn't start or stops at gear N, P.

Normal mode - Rear sensor

(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)	In display, the data of each sensor is sent from BCM to display, for example Cluster. CAN communication is used for transmission and maximum gateway time is 50ms.

(6)	It has nothing to do with vehicle speed.

(7)	When PAS SW is OFF, if gear R signal is inputted, PAS SW is changed to ON.

(8)	It has nothing to do with parking brake operation.

(9)	Operation doesn't start or stops at gear N, P.

Sensing Area

1.	Measurement condition – PVC pole (diameter 75mm, length 3m), normal temperature

Distance range detected objects (Measured directly in front of sensor)

Position	Level	Distance range
Position	Level	cm	inch
Front	1st	61 ~100 (±15)	24.0 ~ 39.4 (±5.9)
	2nd	31 ~ 60 (±15)	12.2 ~ 23.6 (±5.9)
	3rd	Less than 30 (±10)	Less than 11.8 (±3.9)
Rear	1st	61 ~120 (±15)	24.0 ~ 47.2 (±5.9)
	2nd	31 ~ 60 (±15)	12.2 ~ 23.6 (±5.9)
	3rd	Less than 30 (±10)	Less than 11.8 (±3.9)

Horizontal Sensing Area

Vertical Sensing Area

Distance Measurement

Direct Measurement

Transmission and Reception are executed with one sensor

(FL, FCL, FCR, FR, RL, RCL, RCR, RR each sensor execution)

Indirect Measurement

(FCL → FL, FCL → FCR, FCR → FCL, FCR → FR, 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.

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.

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, Otherwise, about fail display information,BCM send that to cluster each sensor information.

System operation Spec - Front sensor

When the system has the power (after IGN ON and D gear), MICOM checks every sensor channel. In case it is not find any error, it sounds 500ms afterward. But it finds any error even a sensor, it sounds buzzer corresponding fault sensor instead of initial starting alarm. If PAS ON switch in OFF, system doesn't work. Function for normal mode entrance is as below.

* In the initial mode, IPM(BCM) judges only sensor fail.

With D gear, system function is as below.

With D gear releasing, system function is as below

System Operation Spec - Rear sensor

When the system has the power (after IGN ON and R gear), MICOM checks every sensor channel.In case it is not find 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

With R Gear, system function is as below

With R gear releasing, system function is as below

※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)

*α value definition

1.	low priority sensor off : α = 0ms

2.	low priority sensor is 1st warning level : α < 340ms

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

Alarm control by sensing distance is as below

1.	First warning area (Front: 61cm(24in) ~ 100cm(39.4in), Rear: 81cm(31.9in) ~ 120cm(47.2in) )

2.	Second warning area (Front: 31cm(12.2in) ~ 60cm(23.6in), Rear: 41cm(16.1in) ~ 80cm(31.5in) )

3.	Third warning area (Front: less than 20cm(7.9in). Rear: less than 40cm(15.7in))

Period of fault alarm

(1)	With visible display

Visible Alarm Indicator Specification.

Front alarm display

When the system operates, cluster lights the indicator as below figure.

When the system finds an object, it lights indicator immediately.

Alarm level per distance - Front sensor

–	First step alarm : 61~100 cm(24~39.4 in)

–	Second step alarm : 31~60 cm(12.2~23.6 in)

–	Third step alarm : Less than 30 cm(11.8 in)

* It only displays the position of detected obstacle.

* Indicator blinks every 1 second at third step alarm.

Rear alarm display

Alarm level per distance - Rear sensor

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.)

–	First step alarm : 61~120 cm(24~39.4 in)

–	Second step alarm : 31~60 cm(12.2~23.6 in)

–	Third step alarm : Less than 30 cm(11.8 in)

* It only displays the position of detected obstacle.

* Indicator blinks every 1 second at third step alarm.

* Integrated display(FCL/FCR, RCL/RCR)

Error Handling

LIN BUS Off error case

Section	Error recognition condition	Error releasing condition
Initial Routine	LIN BUS OFF sensing once	Error is not released in initial mode.
Normal Routine	LIN BUS OFF is sensed times in a row	The fault is released when BCM or LIN Master senses LIN BUS ON four times in a row in normal mode

※ Remark :

1.	In fault counting, output message or signal should be transmitted as a Last Valid value.

2.	Error in initial mode, fault buzzer (BCM) is operated with fault display(Cluster)

3.	Error in normal mode, fault is only displayed on Cluster without buzzer.

Sensor fault (LIN Msg : 0x08)

Section	Error recognition condition	Error releasing condition
Initial Routine	Sensor fault Message sensing once	Error is not released in initial mode.
Normal Routine	Sensor fault Message sensing four times in a row	The fault is released when BCM or LIN Master senses LIN BUS ON four times in a row in normal mode

※ In fault display, RCR/RCL indicator is displayed individually

※ Remark :

1.	In fault counting, output message or signal should be transmitted as a Last Valid value.

2.	Error in initial mode, fault buzzer (BCM) is operated with fault display (Cluster)

3.	Error in normal mode, fault is only displayed on Cluster without buzzer

4.	When the error occurs in direct condition, the sensors sent the same status of error for indirect condition

* Indicator blinks every 1 second.

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.)

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