360 Degree View Camera

WARNING: This page is about a different car, the 2018 Lincoln Navigator. However, it is still accessible from the selected car via links, so may be relevant.

System Diagram

Courtesy of FORD MOTOR COMPANY

Item	Description
1	IPMB
2	BCM
3	processed video signal
4	PAM
5	PCM
6	PAM
7	APIM
8	ABS Module
9	PSCM
10	GWM
11	TRM
12	with trailer tow
13	Camera selection switch
14	Camera video signals (coaxial cables)
15	with active park assist
16	without active park assist
17	FDIM
18	Rear parking aid camera
19	Front parking aid camera
20	RH side parking aid camera
21	LH side parking aid camera

Network Message Chart

IPMB Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Camera commands	APIM	Used to command the visual park aid alert and zoom level on and off based on driver inputs through the FDIM.
Camera selection switch status	FCIM	Used to switch the camera views dependent upon the transmission gear selection.
Driver door ajar status	BCM	Used to generate the door ajar icon on the image when the LH front door is ajar.
Left rear door ajar status	BCM	Used to generate the door ajar icon on the image when the left rear door is ajar.
Parking aid sensor data	PAM	Used to generate the visual highlights in the zone where an object is detected by the parking aid system.
Passenger door ajar status	BCM	Used to generate the door ajar icon on the image when the RH front door is ajar.
Reverse gear state	PCM	Used to enable the front or rear camera views based on the current gear selection.
Right rear door ajar status	BCM	Used to generate the door ajar icon on the image when the right rear door is ajar.
Steering angle	ABS Module	Used to generate the intended vehicle path for the active guideline feature.
Trailer lamp connected	TRM	Disables the guidelines and visual park aid alert when a trailer is electrically connected to the vehicle. (if equipped with trailer tow)
liftgate ajar	BCM	Disables the guidelines and visual park aid alert when the liftgate is open.
Vehicle speed	PCM	Used to support the front and rear camera standby mode. Turns the camera image output off when vehicle speed is 16 km/h (10 mph) or greater and turns the camera image output on when the vehicle speed is 12 km/h (8 mph) or less.

ABS Module Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Steering wheel angle sensor data	PSCM	The ABS module uses the steering angle sensor data to generate the steering angle message that is sent to the IPMB to support the active guideline feature.

APIM Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Camera front display status	IPMB	Used to enable the video display when the camera selection switch is pressed and any gear except reverse is selected or when driving in certain terrain management off-road modes.
Camera settings	BCM	Used to enable the video display when the camera selection switch is pressed and any gear except reverse is selected or when driving in certain terrain management off-road modes.
Camera status	IPMB	Used to enable the video display when the camera selection switch is pressed and any gear except reverse is selected or when driving in certain terrain management off-road modes.
Gear lever position	PCM	Used to enable and disable the video display based on the current gear selection.
Parking aid sensor data	PAM	Used to generate the visual highlights in the zone where an object is detected by the rear parking aid system.
Vehicle speed	PCM	When the video delay feature is turned on, this message is used to turn the rear camera display off after the vehicle speed exceeds a preset threshold.

Image Display

NOTE: The liftgate and doors must be fully closed for correct operation of the 360 degree view camera system.

The 360 degree view camera system is capable of generating several different views using the front, rear, LH side, RH side, and the IPMB. The IPMB processes the video signals from the cameras and generates the appropriate views that are displayed on the FDIM. The views that are displayed are determined by the transmission gear selector position.

When the ignition is ON and reverse gear is selected, the rear camera views are shown on the FDIM. The Rear 360 + Normal view is shown first. Subsequent presses of the camera selection switch or on-screen buttons when reverse gear is selected allow the driver to cycle through the following rear camera views:

View order	View name	Description
1	Rear 360 + Normal	Contains the normal rear camera view, shown next to a 360 degree camera view.
2	Rear Normal	Provides an image of what is directly behind the vehicle.
3	Rear Split View	Provides an extended wide angle image of what is behind the vehicle.

When the ignition is ON and any gear except reverse is selected, the front camera and 360 degree views are shown on the FDIM when the camera selection switch is pressed. The front images are available until the vehicle speed reaches 10 km/h (6 mph). The Front 360 + Normal view is shown first. Subsequent presses of the camera selection switch allow the driver to cycle through the following front camera views:

View order	View name	Description
1	Front 360 + Normal	Contains the normal front camera view, shown next to a 360 degree camera view.
2	Front Normal	Provides an image of what is directly in front of the vehicle.
3	Front Split View	Provides an extended wide angle image is what is in front of the vehicle.

To enable the front or rear camera displays, the IPMB monitors the camera selection switch or on-screen button status from the APIM, gear position and vehicle speed messages. The PCM sends the gear position and vehicle speed messages to the GWM through the HS-CAN1 and the APIM sends the on-screen camera selection button status message to the GWM through the HS-CAN3. The GWM then sends the messages to the IPMB via HS-CAN2.

All camera views are generated by the IPMB, using the video signals from one or more of the cameras. The video signals are sent from the cameras to the IPMB through coaxial cables. The IPMB processes the image(s) from the cameras and sends a single image with the desired view to the APIM.

360 Degree Image Composition

To generate the 360 degree view, the IPMB combines and aligns the images from all 4 cameras to produce a single overhead view that is displayed on the FDIM along with a front or rear camera view.

NOTE: When a camera or any body component that a camera is attached to is removed or adjusted, the 360 degree view camera alignment must be performed to create a 360 degree image.

Refer to: 360 Degree View Camera Alignment .

NOTE: F-Series shown, other vehicles similar.

Courtesy of FORD MOTOR COMPANY

Item	Description
1	Front camera image
2	LH side camera image
3	RH side camera image
4	Rear camera image

Camera Image Generation

The front and rear cameras are on any time they receive voltage (when the ignition is ON), but a video signal is only generated under certain conditions. When reverse gear is selected or the camera selection switch is pressed, the IPMB sends an enable request message to the front and rear cameras over coaxial cables via LVDS to turn the video signal output on. When any gear except reverse is selected, the IPMB sends a disable request message to the cameras to turn the video signal off when the vehicle speed reaches 16 km/h (10 mph), and sends an enable request message to turn the video signal on when vehicle speed falls below 8 km/h (5 mph). If the IPMB is not configured properly, some features and views may be inoperative.

The LH and RH side cameras are on and generating a video signal any time they receive voltage from the IPMB. The IPMB sends an enable request message through coaxial cables via LVDS to the LH and RH side cameras when reverse gear is selected and the vehicle speed is below 8 km/h (5 mph) or the camera selection switch is pressed.

Camera Features

The system supports several rear camera features to assist the driver.

The following features are driver selectable:

Visual park aid alert - visually alerts the driver to objects causing the parking aid system to sound.
Manual zoom - allows the driver to manually zoom the image.
Video delay - allows the driver to see the image behind the vehicle after the vehicle is shifted out of reverse into any gear other than park.

The following features are not driver selectable:

Fixed guidelines - displays guidelines to assist the driver with aligning the vehicle with an object.
Active guidelines - displays the intended path of the vehicle based upon steering wheel input.

The system supports visual park aid alert on 360 + Normal and Normal views. Front and rear split view do not include visual park aid alert. For views that include the 360 degree overhead image, the visual park aid alert is generated by the IPMB. For views that do not include the 360 degree overhead image, the visual park aid alert feature is generated by the APIM.

To turn the manual zoom on and off, the driver generated commands originate at the FDIM, which is physically connected to the APIM. The commands are sent by the APIM to the IPMB via the HS-CAN3, GWM and HS-CAN2. The IPMB then sends the zoom command to the rear camera via a coaxial cable. The image is then zoomed in or out by the rear camera.

The video delay feature is controlled within the APIM.

The fixed and active guidelines are generated by the IPMB and are not selectable by the driver.

Visual Park Aid Alert

NOTE: The on-screen alert transitions may not match changes in the audible parking aid alert tone frequency.

NOTE: The visual park aid alert is not available on Front Split View and Rear Split View camera views.

The visual park aid alert feature displays a visual highlight in the zone where an object has been detected by the parking aid system. For views that include the 360 degree overhead image, the visual park aid alert is displayed as a color changing line around the perimeter of the 360 degree view overhead vehicle graphic. This visual park aid alert feature is generated by the IPMB. For rear camera views that do not include the 360 degree overhead image, the visual park aid alert feature is displayed as a vehicle icon in the upper part of the display. This icon is generated by the APIM. These features utilize the parking aid sensor data from the PAM to generate the visual highlights on the video image.

If the visual park aid alert feature is enabled, the feature is still operational even if the rear parking aid system has been disabled by the driver.

Fixed Guidelines

NOTE: The color-coded lines cannot indicate accurate or consistent distances between the rear of the vehicle and objects shown in the video image. This normal condition is due to variances in vehicle ride height, including, but not limited to, vehicle loading.

Fixed guidelines are only displayed on the rear camera image in Rear 360 + Normal and Rear Normal views.

The rear camera fixed guidelines feature displays guidelines on top of the rear video image to assist the driver with alignment of the vehicle. A dashed line on the displayed image represents the center of the vehicle and 3 color-coded lines (red, yellow, green) identify different zones between the rear of the vehicle and objects.

Fixed rear guidelines are not shown when the liftgate is open.

If the vehicle is equipped with a factory TRM, the fixed guidelines are not shown when a trailer is electrically connected to the vehicle.

Active Guidelines

NOTE: If the battery has been disconnected or discharged, or a module is disconnected or replaced, the active guidelines may be inoperative until the vehicle is driven on a flat and smooth road at 32 km/h (20 mph) or more, with hands placed loosely on the steering wheel and minimal steering correction for approximately 30 seconds.

If the guidelines remain inoperative, it may be necessary to disconnect the battery for 5 minutes with the driver's door open, then drive the vehicle for 8 kilometers (5 miles) in normal city driving before performing the procedure described above.

Active guidelines are only displayed on the rear camera image in Rear 360 + Normal and Rear Normal views.

The active guidelines feature displays dynamic guidelines that correspond to the projected path of vehicle travel, based on the current steering angle. Several modules are involved in generating the steering angle data used to support the active guidelines. The PSCM monitors the steering angle sensor and sends the steering wheel angle sensor data to the ABS module via the HS-CAN2. The ABS module uses this message from the PSCM to generate the steering angle message that is sent to the IPMB through the HS-CAN2. The IPMB uses this data to generate the active guidelines over the video image.

When the steering wheel is in the straight-ahead position, the active guidelines are not shown.

Active guidelines are not shown when the liftgate is open.

If the vehicle is equipped with a factory TRM, the active guidelines are not shown when a trailer is electrically connected to the vehicle.

Manual Zoom

The manual zoom is only supported by the rear camera. The manual zoom is only available for Rear 360 + Normal and Rear Normal views.

The manual zoom feature has one level of zoom. If the manual zoom feature is on and the vehicle is shifted out of reverse gear, the manual zoom feature is disabled. The manual zoom feature must be re-enabled the next time reverse gear is selected. When the driver turns the zoom on or off at the FDIM, the command is sent from the APIM via the HS-CAN3 to the GWM. The GWM then sends the message to the IPMB through the HS-CAN2. The IPMB sends the manual zoom request message to the rear parking aid camera via the coaxial cable. The camera then turns the zoom on or off.

Video Delay

When the video delay is turned on, the APIM keeps the rear normal view display enabled after the transmission is shifted out of reverse gear, into any gear other than park, until the vehicle speed reaches 8 km/h (5 mph). With the delay off (default), the image displays until the transmission is shifted out of reverse gear.

360 Degree View Camera Alignment

To create a 360 degree overhead image from the 4 separate camera images, the IPMB must align the camera images to each other and to the vehicle. As the camera alignment is very sensitive, the alignment process is necessary any time a camera or any component that a camera is attached to is removed or adjusted.

The alignment process is completed using a diagnostic scan tool and the 360 degree view camera calibration mats. Refer to: 360 Degree View Camera Alignment .