Electrical Function Schematic For 360 Degree Viewing System - GF54.65-P-0007RF
Model 205
up to model year 2019
with code 501 (360° camera)
Model 253 (except 253.99)
up to model year 2020
with code 501 (360° camera)
Function requirements, general
- Terminal 15 ON
- Vehicle speed v < 18 km/h
The electronic ignition lock control unit sends the status of circuit 15 to the 360° camera control unit over the user interface CAN.
The vehicle speed is calculated from the wheel speed. The Electronic Stability Program control unit sends corresponding information to the instrument cluster over the suspension FlexRay, electronic ignition lock control unit and user interface CAN. The instrument cluster calculates the vehicle speed to be displayed and sends this via the user interface CAN to the 360° camera control unit.
360° camera system, general
The 360° camera system consists of four digital cameras. There is one camera behind the radiator trim, one in the outside mirror housings and one on the trunk lid or on the liftgate. The 360° camera control unit uses the picture data from the cameras to calculate a virtual picture ("Virtual viewpoint"). The Audio/COMAND display shows the vehicle and its immediate surroundings (s = 3 m to the front and rear as well as s = 2.5 m to the sides, as measured on the ground) in a "birds-eye view".
A total of seven split views and two full-screen views of the area surrounding the vehicle can be displayed, however no more than two views simultaneously: The "birds-eye view" and an additional detailed view (e.g. after engaging the reverse gear (transmission 716) or drive range "R" (transmission 722, 724, 725), the picture taken by the rear 360° camera).
Camera lenses with a horizontal angle of vision of ∠ > 180° and a vertical angle of vision of ∠ > 123° record the required field of view. Dynamic and static guide lines, which represent the vehicle dimensions and driving trajectories (driving path) based on the steering angle, are displayed to assist the driver. These displays assist the driver particularly when entering and leaving a parking space, and when maneuvering. Additional elements are displayed here that mark the area at risk at the vehicle corners.
The 360° camera function comprises the following subfunctions:
- Function sequence for activating, deactivating the 360° camera system
- Function sequence for actuating the rear camera cover
- Function sequence for picture recognition, picture output
Function sequence for activating, deactivating the 360° camera system
The 360° camera system can be activated or deactivated manually by pressing the 360° camera button in the driver side instrument panel button group, the corresponding softkeys and/or the favorite button on the Audio/COMAND control panel or automatically by engaging the reverse gear (transmission 716) or gear range "R" (transmission 722, 724, 725).
Activating/deactivating manually:
The front SAM control unit reads in the status of the 360° camera button over the instrument panel LIN and sends it over the interior CAN, electronic ignition lock control unit and user interface CAN to the 360° camera control unit. The 360° camera control unit then activates or deactivates the 360° camera system.
Automatic activating/deactivating:
The automatic activation, deactivation of the 360° camera system must be enabled via the corresponding operating level of the head unit. The Audio/COMAND control panel sends the corresponding control signals (softkey, favorite button) to the head unit over the telematics CAN. The head unit sends the status of the 360° camera function to the 360° camera control unit via user interface CAN. If reverse gear (transmission 716) or gear range "R" (transmission 722, 724, 725) is now engaged, the 360° camera control unit activates the 360° camera system.
Vehicle with transmission 716:
Engaging the reverse gear is recorded by the manual transmission main shifter shaft position sensor. The CDI control unit or the ME-SFI [ME] control unit reads in the signal of the manual transmission main shifter shaft position sensor directly, uses it to generate the "Reverse gear engaged" signal and transmits this to the electronic ignition lock control unit via the drive train CAN, the powertrain control unit and the chassis FlexRay.
Vehicle with transmission 722, 724, 725:
Gear range "R" is engaged through the fully integrated transmission control unit. The fully integrated transmission control unit then transmits the "Gear range R engaged" status to the electronic ignition lock control unit via the drive train CAN, the powertrain control unit and the chassis FlexRay.
The electronic ignition lock control unit uses the incoming information to generate the "Reverse gear engaged" status, which is independent of the transmission variant, and transmits this via user interface CAN to the 360° camera control unit.
When shifting to the neutral position, the previously shown picture continues to be shown on the Audio/COMAND display. In vehicles with transmission 722, 724, 725, the 360° camera system is automatically deactivated when gear range "P" is engaged.
If an attempt is made to activate the 360° camera system above a vehicle speed of v = 27 km/h, an inactivity message is shown on the Audio/COMAND display. When falling below this speed limit at a later stage, the 360° camera system is activated. If the 360° camera system is activated at a vehicle speed of v < 27 km/h and the vehicles is then accelerated within a period of t = 1 s to a vehicle speed of v > 30 km/h, an inactivity message is also shown on the Audio/COMAND display. During reverse travel, the 360° camera system operated independently from the speed.
During initial startup as well as after replacement of the 360° camera control unit or a camera or upon removal/installation of the trunk lid, or liftgate, an outside mirror or the radiator trim, the corresponding cameras must be recalibrated. After a camera is replaced, a recoding of the 360° camera control unit is required.
The following situations lead to a deactivation of the 360° camera function:
- Vehicle speed v > 27 km/h
- Circuit 15 OFF
- Engaging neutral position (transmission 716) or engaging gear range "P" (transmission 722, 724, 725)
Function sequence for actuating the rear camera cover
When the 360° camera control unit activates or deactivates the 360° camera system, the camera cover control unit actuates the respective rear camera cover motor in the opening or closing direction. The 360° camera control unit sends the corresponding request to the camera cover control unit over the user interface CAN, electronic ignition lock control unit and interior CAN. The position of the rear camera cover (open or closed) is registered by the rear camera cover motor switch. The camera cover control unit reads in the status of the rear camera cover motor switch directly and sends it via the interior CAN, electronic ignition lock control unit and user interface CAN to the 360° camera control unit. At the same time the rear camera cover is opened, the 360° camera control unit switches on the power supply of the cameras.
The rear camera cover can be opened using the corresponding operating level of the head unit to clean the camera lens. During this, no image is shown in the Audio/COMAND display. The head unit sends the "service mode" request to the 360° camera control unit via user interface CAN. The path of the signal is the same as that for opening of the rear camera cover when the 360° camera system is activated.
The rear camera cover is automatically closed as of a speed of v > 27 km/h (irrespective of any calibration procedure) or after deactivation of circuit 15. During a calibration procedure, it is possible that the rear camera cover remains open for the duration of the calibration even after the 360° camera function has been deactivated. The rear camera cover is not closed until after the calibration is complete.
Function sequence for picture recognition, picture output
The images recorded by each camera are read in by the 360° camera control unit via LVDS lines and processed. The 360° camera control unit calculates guide lines to be shown on the Audio/COMAND display taking into account the steering wheel angle, the wheel angle and stored vehicle parameters. Additionally, the 360° camera control unit uses the information of the parking system, for example, to mark the areas of the vehicle corners at risk during maneuvering.
The 360° camera control unit sends the request for displaying the picture to the head unit via user interface CAN. This then activates the Audio/COMAND display via telematics CAN. The 360° camera control unit then transmits these processed picture data via the low voltage differential signaling lines to the head unit. The head unit then transmits them to the Audio/COMAND display via the LVDS line. There the processed camera pictures including the guide lines are then displayed.
For a better representation of the camera pictures, the 360° camera control unit corrects the pictures electronically for distortion.
The steering angle is recorded by the steering wheel angle sensor. The steering column tube module control unit directly reads in the signals of the steering wheel angle sensor and sends information on the steering wheel angle to the 360° camera control unit via chassis FlexRay, electronic ignition lock control unit and user interface CAN.
The Electronic Stability Program control unit calculates the wheel angle based on the position of both front wheels and sends corresponding information to the 360° camera control unit via chassis FlexRay, electronic ignition lock control unit and user interface CAN.
The parking system control unit sends the information of the parking system to the 360° camera control unit over the chassis FlexRay, electronic ignition lock control unit and user interface CAN.
To ensure that the surrounding area can also be recorded in the dark, the ambient illumination in each of the outside mirror housings is activated, irrespective of the ambient brightness. To do this, the 360° camera control unit permanently sends the "Switch on ambient illumination" request to the SAM control unit over the user interface CAN, electronic ignition lock control unit and the interior CAN. The front SAM control unit as the exterior lights master control unit then evaluates the ambient brightness. When it is dark, the front SAM control unit sends the request to switch on the ambient illumination via interior CAN to the front door control unit. They then activate the ambient illumination in the outside mirror housings.
The background illumination for the Audio/COMAND display can be manually adapted to the ambient brightness. The background illumination can be adjusted through the head unit in the "360° camera" system menu function bar by choosing the "Sun" symbol.
Representation of vehicle views in the Audio/COMAND display: The "Vehicle from above" view also shows, for example, open doors and an open trunk lid or an open liftgate. The rear SAM control unit sends the status of the trunk lid or the liftgate (open or closed) over the interior CAN, electronic ignition lock control unit and the user interface CAN to the 360° camera control unit. The status of the respective door (open or closed) is sent by the front door control units and the rear door control units (model 205.0/1/2, 253) via the interior CAN, electronic ignition lock control unit, and user interface CAN to the 360° camera control unit. The 360° camera control unit processes this information and displays an open door and an open trunk lid or an open liftgate accordingly in the "Vehicle from above" view. The picture data from the camera on the open front door or on the open trunk lid or on the open liftgate are hidden from view.
When the outside mirror housings are folded in (with CODE 500 (Electric folding outside mirrors)), the areas to the side of the vehicle can no longer be recorded. The corresponding areas are also hidden in the Audio/COMAND display in this case. The status of the corresponding outside mirror housing is sent by the corresponding front door control unit to the 360° camera via interior CAN, electronic ignition lock control unit and user interface CAN.
In the "Full screen forward field of view" and "Full screen rearward field of view" views, object recognition is active. In the area of maximum s = 250 cm, objects and pedestrians are recognized and marked by object detection lines (visual warning).
The 360° camera system is active during forward travel up to a vehicle speed of v = 30 km/h. When this speed limit is exceeded, the 360° camera system is deactivated.
The current vehicle level is used by the 360° camera control unit to calculate and equalize the recorded pictures for optimum display in the Audio/COMAND display. Information on the vehicle level is sent by the AIRmatic control unit (model 205 with CODE 483 (ADVANCED AGILITY package) and CODE 489 (AIRmatic)) or the AIR BODY CONTROL control unit (model 253 with CODE 489 (AIR BODY CONTROL)) via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the 360° camera control unit.
The views shown on the Audio/COMAND display can be switched over both automatically and manually. According to the engaged gear or gear range, an automatic switch is made between frontward view and rearward view. In addition to the automatic selection, the driver can also switch manually between the various detailed views via the head unit.
The following views are possible on the Audio/COMAND display:
- Vehicle top view and forward field of view
- Vehicle top view and rearward field of view
- Vehicle top view and field of view of front wheels on both sides
- Vehicle top view and field of view of rear wheels on both sides
- Vehicle from above and field of view for trailer hitch (with CODE 550 (Trailer hitch))
- Full screen forward field of view
- Full screen rearward field of view
- Vehicle top view with enlarged view of vehicle front
- Vehicle top view with enlarged view of rear end
Vehicle from above and forward field of view, shown on model 222, German system language
Vehicle from above and rearward field of view, shown on model 222, German system language
Vehicle from above and field of view showing front wheels on both sides, shown on model 222, German system language
Vehicle from above and field of view showing rear wheels on both sides, shown on model 166.0, German system language
Vehicle from above and field of view for trailer coupling (with code 550 (Trailer hitch)), shown on model 222, German system language
Full screen forward field of view, shown on model 218.3, German system language
Full screen rearward field of view, shown on model 218.3, German system language
Vehicle top view with enlarged view of vehicle front, shown on model 222, English system language
Vehicle top view with enlarged view of rear area, shown on model 222, German system language
System limits:
The functions and representations of the 360° camera system are limited. Distortion and "blind spots" can occur.
In the "Vehicle from above" view, objects outside the road level (e.g. vehicles) are displayed with distortion.
Objects in the "Full screen forward/rearward field of view" (front camera and reversing camera) are also shown in distorted form. The assignment of objects in the picture to how they appear in real-life can therefore be unusual.
There are different types of "blind spots" depending on the system and model in question. One reason is the camera position over the respective bumper: Here, the camera loses the field of view immediately before and after the vehicle. On the other hand, they are system-related, particularly in the four overlapping areas of the fields of view of the cameras, when calculating a "Vehicle from above" view.
Furthermore, due to the low installation height of the cameras, there are areas where only objects close to the ground can be seen. This means, e.g. that people are not shown roughly above knee height in the "Vehicle from above" view. In both cases, however, support is provided by the parking system.
| Electrical function schematic for 360° camera | PE54.65-P-2060-97FBA | ||
| Overview of system components of parking assistance systems | GF54.00-P-9997RF |