Parking Assist Systems, Function - GF54.00-P-0003GWM
Model 463 (except 463.342)
as of Model year 2019
with code EZ8 (PARKTRONIC Park Assist)
The active parking function (automatic parking space entry/exit) with code EZ8 (Active Parking Assist) is available in different ways in Model 463 depending on the Model year version: On vehicles as of change year AJ20/1 (code X20) in combination with code 8B8 (Active Parking Assist Reduction (UN R79)), there is no automatic parking space entry/exit.
Function requirements in general
- Terminal 15 ON:
The electronic ignition lock control unit sends the status of circuit 15 via the chassis FlexRay to the parking system control unit.
- Engine running or drive train operational:
The CDI control unit or the ME-SFI control unit sends the "Engine running" or "Drivetrain operational" signal to the parking system control unit via drive train CAN, powertrain control unit and chassis FlexRay.
- Vehicle speed v < 10 km/h:
The vehicle speed is calculated on the basis of the wheel speeds.
The Electronic Stability Program control unit sends the vehicle speed via the chassis FlexRay to the parking system control unit so that the deactivation behavior can be calculated.
Parking system, general
The parking system uses twelve distance sensors and the reversing camera (Parking Pilot Entry (with code FR8 (Reversing camera)) or the 360° camera system (Parking Pilot High (with code JS1 (360° camera))). It supports the driver during the parking procedure, when maneuvering in confined spaces and when driving out of exits or blind crossings. The parking system ensures greater safety when parking and maneuvering due to:
- Visual and/or acoustic warnings for objects in front of and behind the vehicle as well as at the sides of the vehicle
- Speed limitation when driving off if obstacles are detected in the direction of travel (start-off assist)
- Automatic braking to avoid collisions with traffic crossing the vehicle's path (vehicles, bikes and pedestrians with a minimum speed of v = 4 km/h) when reversing (with code EM4 (Driving Assistance Plus Package)) The parking system is operated via the head unit, using the PARKTRONIC button and using the parking system button.
The Audio/COMAND display shows the distances between the vehicle and the obstacle as well as potential parking spaces. In addition, warning tones can be emitted for the front area from the instrument cluster speaker and for the rear area from the parking system speaker.
Illustration of the Parking Pilot Entry principle (with code FR8 (Reversing camera)), shown on Model 463
Parking Pilot Entry (with code FR8 (Reversing camera)):
Parking Pilot Entry comprises the following functions:
- Backup camera
- PARKTRONIC
- Active Park Assist
Illustration of the Parking Pilot High principle (with code JS1 (360° camera)), shown on Model 463
Parking Pilot High (with code JS1 (360° camera)):
Parking Pilot High comprises the following functions:
- 360° camera system
- PARKTRONIC
- Active Park Assist
Reversing camera (Parking Pilot Entry (with code FR8 (Reversing camera))):
The reversing camera is an optical parking aid. Its tasks include the recording of images of the area to the rear of the vehicle, the generation of dynamic and static guide lines and the transmission of the picture data to the head unit. The area behind the vehicle is displayed on the head unit. Dynamic guide lines are displayed when drive range "R" is engaged and irrespective of the current wheel angle.
The views are calculated based on the vehicle level (with code A20 (Adjustable damping)). The reversing camera only switches on within a defined vehicle speed range (maneuvering speed) and only if the function has not been deactivated through the head unit.
360° camera system (Parking Pilot High (with code JS1 (360° camera))):
The 360° camera system consists of four digital cameras. The views are calculated depending on the vehicle level. The "Vehicle from above" view also displays open doors and folded-in outside mirror housings. The 360° camera system detects objects or persons and distinguishes between the two. The calculated distances to obstacles are indicated by means of static guide lines.
The parking system uses the picture data to generate various views of the vehicle's surroundings. The driver is shown these views in real time in the Audio/COMAND display. The views can be generated either from the picture of one camera or from the pictures of four cameras, e.g. for the bird's-eye view of the vehicle and its surroundings.
Depending on the view and application case, guide lines are displayed to assist the driver. Object detection is also integrated in order to protect pedestrians as well as the vehicle and its surroundings against collisions. Further information, such as PARKTRONIC distance data and open doors, can be integrated in the generated view.
The 360° camera system only switches on within a defined vehicle speed range (maneuvering speed). The displays in the Audio/COMAND display only appear if the function has not been deactivated.
The 360° camera system supports the driver in situations with obstructed view by displaying the vehicle's surroundings from various perspectives on the Audio/COMAND display.
PARKTRONIC:
The PARKTRONIC is an electronic parking aid with ultrasound and uses six distance sensors in the front bumper and six distance sensors in the rear bumper to monitor the vehicle's surroundings. The PARKTRONIC provides a visual and acoustic indication of the distance between the vehicle and an obstacle and can be deactivated using the PARKTRONIC button.
The PARKTRONIC is based on the ultrasound measurement system.
The parking system control unit actuates the distance sensors directly.
These then emit ultrasonic waves. The ultrasonic waves reflected by an obstacle are received again by the distance sensors. The parking system control unit reads in the signals of the distance sensors directly and evaluates them. In principle a distinction is made between two measurements. On the one hand the direct measurement resulting from a direct echo and on the other hand the indirect distance measurement which is achieved by means of a cross echo (see illustration of the principle of the measuring procedure). Echoes can usually also be received from adjacent distance sensors due to the large distance sensor detection angles; these are known as cross echoes. These occur at the obstacle due to scattered reflection. With the help of the triangulation method, the distance from the vehicle to an obstacle can be calculated from two echo signals. The propagation times of the signals from the direct measurement and from the cross measurement are required for this method. A long signal propagation time therefore corresponds to a large distance, and a short signal propagation time corresponds to a short distance to the obstacle.
Illustration of the principle for measuring procedure
Due to the principle on which it operates (transmission and reception of sound waves), PARKTRONIC cannot function properly in certain situations. So, for example, when approaching a highly sound-absorbent obstacle (e.g. a vehicle covered in snow), it is possible that false data may be displayed.
If PARKTRONIC is not switched on and an obstacle is detected in the vehicle's path, a pop-up window appears in the Audio/COMAND display at speeds of up to v = 10 km/h.
Shown on Audio/COMAND display (Parking Pilot Entry (with code FR8 (Reversing camera))), shown on Model 463
Shown on Audio/COMAND display (Parking Pilot High (with code JS1 (360° camera))), shown on Model 463
Active Park Assist:
The Active Parking Assist supports the driver when parking the vehicle in a parking space. The parking space search function is activated using the parking system button. The vehicle detects suitable parking space as it drives past by using the distance sensors for object detection. When the Parking Pilot is activated, the vehicle steers by itself. On vehicles with automatic transmission, an automatic longitudinal control function is also used.
For Active Parking Assist, parking spaces that are limited by objects or lane markings are detected within a defined speed range (distance sensors evaluation). If the parking system button has been activated, detected parking spaces are displayed. When a parking space has been detected, the driver can activate the automatic parking space entry function via the operating menu in the Audio/COMAND display. If the function is not started by the driver, the parking space search continues. During the automatic parking procedure, vehicles with automatic transmission are braked automatically when the end of the parking space is reached or when maneuvering points are reached.
The vehicle is automatically steered along the calculated trajectory.
The automatic parking space exit function can be activated via the operating menu in the Audio/COMAND display. Braking and steering commands are also sent for this function.
The parking system control unit evaluates among others the following input factors:
- Terminal 15 status (function requirement)
- "Engine running" or "drive train operational" signal (function requirement)
- Vehicle speed/acceleration/direction of travel (function requirement)
- Engaged gear range (function requirements)
- Status of Electric power steering, front wheel angle
- Status of Electric power steering, front wheel angle
- Steering wheel torque from the driver (status of hands-off and hands-on detection)
- Status of parking brake, brake and ESP®
- Trailer operation status
- Status of Blind Spot Assist (with code EM4 (Driving Assistance Plus Package)) or Active Lane Keeping Assist
- Warning of Blind Spot Assist (with code EM4 (Driving Assistance Plus Package)) or Active Lane Keeping Assist
- Brake request of Blind Spot Assist (with code EM4 (Driving Assistance Plus Package)) or Active Lane Keeping Assist
- Steering wheel angle and steering wheel velocity
- Vehicle level (with code A20 (Adjustable damping))
- Status of parking space selection
- Status of PARKTRONIC button
- Status of parking system button
- Accelerator pedal position
- Status of outside mirror housing
- Status of respective door (with code JS1 (360° camera))
- Status of rear camera cover
Terminal 15 status:
The electronic ignition lock control unit sends the status of circuit 15 via the chassis FlexRay to the parking system control unit.
Signal "Engine running" or "Drive train operational":
The CDI control unit or the ME-SFI control unit sends the "Engine running" or "Drivetrain operational" signal to the parking system control unit via drive train CAN, powertrain control unit and chassis FlexRay.
Vehicle speed/acceleration/direction of travel:
The vehicle speed and deceleration are calculated from the wheel speeds. The direction of travel is defined using the wheel rotation direction. The Electronic Stability Program control unit sends corresponding information via the chassis FlexRay to the parking system control unit.
Engaged drive position:
The fully integrated transmission control unit sends information on the engaged gear range via the drive train CAN, the powertrain control unit and the chassis FlexRay to the parking system control unit.
Status of electric power steering, front wheel angle:
The electrical power steering control unit sends the status of the electric power steering via the chassis FlexRay to the parking system control unit.
The electric power steering torque sensor detects the wheel angle.
The electrical power steering control unit reads in the signals of the electric power steering torque sensor directly and sends these over the suspension FlexRay to the parking system control unit.
Steering wheel torque from driver (status of hands-off and hand-on detection):
The electric power steering torque sensor records the steering torque applied by the driver. The electrical power steering control unit reads in the signals from the electric power steering torque sensor directly. On the basis of these values, the electrical power steering control unit determines whether and at which time intervals the driver is making steering movements (hands-off and hands-on detection), and sends these via chassis FlexRay to the parking system control unit.
Status of parking brake, brake and ESP®:
The Electronic Stability Program control unit sends the respective status via the chassis FlexRay to the parking system control unit.
Trailer recognition:
When a trailer is detected, the trailer recognition control unit sends the "trailer detected" status via the interior CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Status of Blind Spot Assist (with code FM4 (Driving Assistance Plus Package)) or Active Lane Keeping Assist:
The head unit sends the status of the Blind Spot Assist via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Warning of Blind Spot Assist (with code FM4 (Driving Assistance Plus Package)) or Active I ane Keeping Assist:
The request to issue a warning is sent by the right outer rear bumper integrated radar sensor via the periphery CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit. The outer rear bumper integrated radar sensors operate according to the "master-slave" principle. The master or slave function can be determined via the connector coding. The master function is defined for the integrated outer rear bumper radar sensor. This means that the left outer rear bumper integrated radar sensor sends its information via the periphery CAN to the right outer rear bumper integrated radar sensor.
Brake request of Blind Spot Assist (with code FM4 (Driving Assistance Plus Package)) or Active I ane Keeping Assist:
The right outer rear bumper integrated radar sensor sends the brake request via the periphery CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Steering wheel angle and steering wheel velocity:
The steering wheel angle and the steering wheel velocity are detected by the steering wheel angle sensor. The steering column tube module control unit reads in the signals from the steering wheel angle sensor directly and sends the information on the steering wheel angle and steering wheel velocity via the chassis FlexRay to the parking system control unit.
Vehicle level (with code A20 (Adjustable damping)):
The adaptive damping system control unit sends information on the vehicle level over the suspension FlexRay to the parking system control unit.
Status of parking space selection:
The head unit sends the status of parking space selection via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Status of PARKTRONIC button:
The front SAM control unit reads in the status of the PARKTRONIC button via the instrument panel IIN and sends this via the interior CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Status of parking system button:
The right lower control panel reads in the status of the parking system button directly and sends the status over the LCP LIN, Audio/COMAND control panel, telematics CAN, head unit, user interface CAN, electronic ignition lock control unit and the suspension FlexRay to the parking system control unit.
Accelerator pedal position:
The CDI control unit or the MF-SFI control unit sends information on the accelerator pedal position via the drive train CAN, powertrain control unit and chassis FlexRay to the parking system control unit.
Status of outside mirror housing:
The left front door control unit and the right front door control unit send the status of the respective outside mirror housing via the interior CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Status of respective door (with code JS1 (360° camera)):
The front door control units and the rear door control units send the status of the respective door (open or closed) via the interior CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Status of rear camera cover:
The position of the rear camera cover (open or closed) is registered by the rear camera cover motor switch. The rear SAM control unit reads in the status of the rear camera cover motor switch directly and sends the status via the interior CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
The parking system control unit issues the following initial parameters:
- Status of parking system
- Request to engage gear range
- Increase/reduce the braking torque
- Request for control mode (limit vehicle speed)
- Request for front wheel angle (steering angle)
- Information on distance to obstacle (remaining distance to obstacle)
- Request for braking mode
- Request for rear camera cover
- Surround lighting request (with code JS1 (360° camera))
- Parking system display in Audio/COMAND display
- Output of system and warning messages
Status of parking system:
The parking system control unit sends the status of the parking system via the chassis FlexRay to the Electronic Stability Program control unit and to the electrical power steering control unit and also via the chassis FlexRay, powertrain control unit and drive train CAN to the CDI control unit or the ME-SFI control unit.
Engage gear range:
The parking system control unit sends the "engage gear range" request via the chassis FlexRay to the Electronic Stability Program control unit. The Electronic Stability Program control unit evaluates this request and sends it via the chassis FlexRay, the powertrain control unit and drive train CAN to the fully integrated transmission control unit.
Increase/reduce braking torque:
The parking system control unit sends the "increase braking torque" or "reduce braking torque" request via the chassis FlexRay to the Electronic Stability Program control unit. The Electronic Stability Program control unit reacts by directly actuating the traction system hydraulic unit, which reacts by increasing or decreasing the braking torque according to the brake torque.
Request for control mode (limit vehicle speed):
The parking system control unit sends the "limit vehicle speed" request via the chassis FlexRay to the Electronic Stability Program control unit.
Request for front wheel angle:
The parking system control unit sends the currently required front wheel angle via the chassis FlexRay to the electrical power steering control unit. The electrical power steering control unit actuates the electric power steering actuator motor directly.
Information on distance to obstacle (remaining distance to obstacle):
The Electronic Stability Program control unit sends information on the distance to the obstacle via the chassis FlexRay to the Electronic Stability Program control unit.
Request for braking mode:
The parking system control unit sends the braking mode request via the chassis FlexRay to the Electronic Stability Program control unit.
Request for rear camera cover:
The camera cover is opened and closed when requested by the parking system control unit. The parking system control unit sends this via the chassis FlexRay, electronic ignition lock control unit and interior CAN to the rear SAM control unit. The rear SAM control unit then actuates the rear camera cover motor directly.
Request for surround lighting (with code JS1 (360° camera)):
The parking system control unit sends the "switch on ambient illumination" request via the chassis FlexRay, electronic ignition lock control unit and interior CAN to the front SAM control unit. 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 a corresponding request to the left front door control unit and the right front door control unit over the interior CAN. They activate the ambient illumination in the outside mirror housings.
Display of parking system in Audio/COMAND display:
The parking system control unit sends the request to show the parking system display in the Audio/COMAND display via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the head unit. The head unit then transmits this via the HSVL line to the Audio/COMAND display.
For a better representation of the camera pictures, the parking system control unit performs electronic distortion correction.
Output of system and warning messages:
The parking system control unit sends the requests to output system and warning messages via chassis FlexRay, electronic ignition lock control unit and user interface CAN to the head unit, which then outputs the corresponding system and warning messages via the Audio/COMAND display. In addition, the parking system sends the requests via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the instrument cluster.
The description of the parking system takes place, as an example, in the following chronological sequence:
- Activate and deactivate parking system
- Set acoustic warnings of PARKTRONIC
- Actuate rear camera cover
- Picture capture, picture output
- Monitoring with reverse travel
- Monitoring with forward travel
- Parking space detection
- Display and selection of potential parking spaces
- Automatic parking space entry
- Automatic parking space exit
- Start-off assist
- Cross Traffic Alert (with code EM4 (Driving Assistance Plus Package))
Activate and deactivate parking system
The parking system and the individual functions of the parking system can be activated and deactivated as follows.
Reversing camera:
The reversing camera is automatically activated by engaging gear range "R" and deactivated by disengaging gear range "R".
Automatic activation/deactivation of the reversing camera must have been enabled at the corresponding operating level of the head unit.
The following options are available for navigating in the control menu:
- Navigation can be performed on the Audio/COMAND control panel. The Audio/COMAND control panel transmits the relevant control signals via the telematics CAN to the head unit.
- Navigation can be performed by voice control. The driver hands-free system microphone is read directly by the head unit.
- Navigation can be performed via the head unit finger navigation pad and the "Back" button on the steering wheel. The corresponding operation signals are sent by the head unit finger navigation pad and the "Back" button over the steering wheel electronics, steering wheel CAN, steering column tube module control unit, suspension FlexRay, electronic ignition lock control unit and the user interface CAN to the head unit.
- The operating menu can be called up on the upper control panel control unit via the vehicle button. The vehicle button status is sent by the upper control panel control unit over the LCP-LIN, Audio/COMAND control panel and the telematics CAN to the head unit.
The head unit sends the status of the reversing camera via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit. If drive range "R" is now engaged, the parking system control unit activates the reversing camera.
When shifting to the neutral position, the previously shown picture continues to be shown on the Audio/COMAND display. The parking system is automatically deactivated when drive range "P" is engaged.
PARKTRONIC:
PARKTRONIC can be manually activated/deactivated by actuating the PARKTRONIC button in the driver's side instrument panel button group.
When the PARKTRONIC is deactivated, the LED in the PARKTRONIC button lights up.
The parking system control unit sends the corresponding request via chassis FlexRay, electronic ignition lock control unit and interior CAN to the front SAM control unit, which actuates the LED in the PARKTRONIC button via the instrument panel LIN.
During the engine start PARKTRONIC is automatically switched on.
Parking Pilot:
The Parking Pilot is automatically active during forward travel.
If the PARKTRONIC has been switched off, the Parking Pilot is not available.
To be able to enter/exit a parking space using the Parking Pilot, the parking system button in the right lower control panel must be actuated.
If an attempt is made to activate the parking system above a vehicle speed of v = 10 km/h, an inactivity message is shown on the Audio/COMAND display. When the vehicle speeds drops below this limit at a later time, the parking system is activated. If the parking system is activated at a vehicle speed of v < 10 km/h and then accelerated within a period of t = 1 s to a vehicle speed of v > 30 km/h, an inactivity message is also shown in the Audio/COMAND display.
With reverse travel, the parking system operates irrespective of the vehicle speed.
When commissioning, as well as after replacement of the parking system control unit, a camera or removal/installation of the rear door, an outside mirror or the radiator trim, the corresponding cameras must be recalibrated. After replacement of a camera, the parking system control unit has to be coded again.
The following situations lead to deactivation of the parking system function:
- Vehicle speed v > 10 km/h
- Terminal 15 OFF
Set acoustic warnings of PARKTRONIC
The acoustic warnings can be set via the corresponding operating level of the head unit:
- Set volume of acoustic warnings (5 stages)
- Set tone pitches (frequencies) of acoustic warnings (5 stages)
- Determine when acoustic warnings are output
It is possible to determine whether the acoustic warnings of the PARKTRONIC are to be output at a relatively large distance from the obstacle.
- Switch audio lowering on or off
It is possible to determine whether the volume of the multimedia system should be reduced when PARKTRONIC warning tones are issued.
The following options are available for navigating in the control menu:
- Navigation can be performed on the Audio/COMAND control panel. The Audio/COMAND control panel transmits the relevant control signals via the telematics CAN to the head unit.
- Navigation can be performed by voice control. The driver hands-free system microphone is read directly by the head unit.
- Navigation can be performed via the head unit finger navigation pad and the "Back" button on the steering wheel. The head unit finger navigation pad and the "Back" button transmit the corresponding operation signals via the steering wheel electronics, steering wheel CAN, steering column tube module control unit, suspension FlexRay, electronic ignition lock control unit and the user interface CAN to the head unit.
- The operating menu can be called up on the upper control panel control unit via the vehicle button. The vehicle button status is sent by the upper control panel control unit over the LCP-LIN, Audio/COMAND control panel and the telematics CAN to the head unit.
The head unit sends the status of the settings via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Actuate rear camera cover
When the parking system control unit activates or deactivates the parking system, the rear SAM control unit actuates the rear camera cover motor in the open or close direction. When the rear camera cover is opened, the parking system control unit switches on the power supply of the reversing camera (with code FR8 (Reversing camera)) or the cameras of the 360° camera system (with code JS1 (360° camera)).
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 via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit. The path of the signal is the same as that for opening of the rear camera cover when the parking system is activated.
The rear camera cover is automatically closed as from a speed of v > 27 km/h (irrespective of any calibration procedure) or after deactivation of terminal 15. During a calibration procedure, it is possible that the rear camera cover remains open for the duration of the calibration even after the parking system function has been deactivated.
Picture capture, picture output
The images captured by the reversing camera (with code FR8 (Reversing camera)) or the respective 360° camera (with code JS1 (360° camera)) are read in and processed by the parking system control unit over HSVL lines. The parking system 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 parking system control unit evaluates information from the twelve distance sensors, for example, to mark the areas of the vehicle that are at risk during maneuvering.
The parking system control unit sends the request for picture output via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the head unit. This then activates the Audio/COMAND display via telematics CAN. The parking system control unit then transmits the processed picture data via HSVL lines to the head unit. The head unit then transmits this via the HSVL line to the Audio/COMAND display. There the processed camera pictures including the guide lines are displayed.
For a better representation of the camera pictures, the parking system control unit performs electronic distortion correction.
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.
The background illumination for the Audio/COMAND display can be manually adapted to the ambient brightness. The background illumination is adjusted at the head unit by selecting the "sun" symbol in the function bar of the "Parking system".
Parking Pilot Entry (with code FR8 (Reversing camera)):
Parking Pilot Entry can be operated in the following modes which can be selected by the driver:
- Maneuvering mode
- Trailer mode
- Wide-angle mode
The corresponding selection is made on the head unit's control menu in the appropriate control level. The following options are available for navigating in the control menu:
- Navigation can be performed on the Audio/COMAND control panel. The Audio/COMAND control panel transmits the relevant control signals via the telematics CAN to the head unit.
- Navigation can be performed by voice control. The driver hands-free system microphone is read directly by the head unit.
- Navigation can be performed via the head unit finger navigation pad and the "Back" button on the steering wheel. The head unit finger navigation pad and the "Back" button transmit the corresponding operation signals via the steering wheel electronics, steering wheel CAN, steering column tube module control unit, suspension FlexRay, electronic ignition lock control unit and the user interface CAN to the head unit.
- The operating menu can be called up on the upper control panel control unit via the vehicle button. The vehicle button status is sent by the upper control panel control unit over the LCP-LIN, Audio/COMAND control panel and the telematics CAN to the head unit.
If the reversing camera was previously operated in maneuvering mode, the maneuvering mode is also activated again when the "R" drive range is engaged. This function does not apply if the reversing camera was previously operated in trailer mode.
Object detection is active in the view "Full screen rearward field of view". Objects and pedestrians are recognized and marked by object detection lines (visual warning) in a range of maximum s = 250 cm.
The views are calculated depending on the vehicle level.
Maneuvering mode:
The maneuvering mode assists the driver when reversing while parking. To do so, dynamic guide lines are shown in the display in addition to the pictures recorded by the reversing camera.
Display of dynamic and static guide lines (with wheels turned), shown on Model 463
Virtual steering angle (yellow lane):
As soon as the driver engages drive range "R", the virtual steering angle is then shown (yellow lane). It indicates to the driver the path that the vehicle would follow with the current steering wheel angle (current wheel angle). This curve is automatically adapted as the steering wheel angle changes. The distance between the yellow guide lines (the virtual vehicle width) is slightly more than the vehicle width.
Parking procedure:
To park, the driver must alter the steering wheel angle until one of the outer yellow guide lines virtually touches the parking space marking.
The parking space marking can, for example, be another vehicle or a line on the asphalt. The driver must then continue reversing and adapting the steering wheel angle until the parking space markings run parallel to the current direction of travel.
Virtual vehicle width (yellow guide lines):
Next the driver must turn the steering wheel back into the straight-ahead position in order to drive in a straight line up to the final position in the parking space. While doing so, he can check via the virtual vehicle width (yellow guide lines) whether the vehicle is in a straight position relative to the parking space and whether the parking space is wide enough.
Trailer mode:
The trailer mode supports the driver when reversing to a trailer by means of a zoom on the ball head of the trailer hitch. To do so, special guide lines are shown in the display in addition to the pictures recorded by the reversing camera.
Display of distance lines in the trailer mode, shown on Model 463
Virtual steering angle (yellow guide line):
The virtual steering angle (yellow guide line) and the distance line (red guide lines) are shown as soon as the driver engages gear range "R".
The virtual steering angle indicate to the driver the path which the vehicle would follow with the current steering wheel angle. This curve is automatically adapted to the situation as the steering angle changes.
The length of the guide line corresponds to approx. s = 1 m.
Distance line around the ball head (red guide line):
The distance line (red guide line) is shown with a radius of s = 0.30 m around the ball head.
All guide lines are hidden during an attempted correction (forward travel) and shown again when the gear range "R" is engaged again, taking into consideration the following parameters:
- Time period t < 255 s
- Vehicle speed v < 10 km/h
- Driving distance during forward travel s < 10 m
The picture displayed disappears when these parameters are exceeded. The reversing camera then remains in standby mode.
The direction of travel is defined using the wheel rotation direction. The vehicle speed is calculated from the wheel speed.
The Electronic Stability Program control unit sends the corresponding information via the chassis FlexRay to the parking system control unit.
Wide-angle mode:
The wide-angle mode supports the driver when reversing in unclear traffic areas. The reversing area is shown in the Audio/COMAND display as a three-part view with an angle of ∠ > 180°. This gives the driver a clear view of crossing roads in good time, e.g. when reversing out of narrow streets.
Display of area to rear of vehicle in wide-angle mode, shown on Model 463
Parking Pilot High (with code JS1 (360° camera)):
The "Vehicle from above" view also displays open doors. The parking system control unit correspondingly displays an open door in the "Vehicle from above" view. The picture data from the camera on the open front door are then hidden.
When the outside mirror housings are folded in, the areas on the side of the vehicle can no longer be recorded. The corresponding areas are also hidden in the Audio/COMAND display in this case.
In the "Full screen forward field of view" and "Full screen rearward field of view" views, object recognition is active. Objects and pedestrians are recognized and marked by object detection lines (visual warning) in a range of maximum s = 250 cm.
The parking system is active during forward travel up to a vehicle speed of v = 10 km/h. When this speed limit is exceeded, the parking system is deactivated.
Vehicles with code A20 (Adjustable damping):
The current vehicle level is used by the parking system control unit to correct the captured picture data and to calculate the optimum representation on the Audio/COMAND display.
The views shown on the Audio/COMAND display can be switched over both automatically and manually. According to the engaged gear range, an automatic switch is made between forward view and rearward view. In addition to 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:
Overview of views in Audio/COMAND display, shown on Model 463
Full screen forward field of view, shown on Model 463, German system language
Vehicle from above view and forward field of view, shown on Model 463
Vehicle from above view and field of view showing front wheels on both sides, shown on Model 463, German system language
Full screen rearward field of view, shown on Model 463, German system language
Vehicle from above view and rearward field of view, shown on Model 463, German system language
Vehicle from above view and field of view for trailer coupling, shown on Model 463, German system language
System limits:
The functions and displays of the parking system are limited. Distortion and "blind spots" can occur.
In the "Vehicle from above" view, objects outside road level (e.g. vehicles) are displayed with distortion.
Objects in the "Full screen forward/rearward field of view" (front camera and reversing camera active) are also shown with distortion.
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, for example, that in the "Vehicle from above" view people are not shown from around the knees upward. In both cases, however, support is provided by the parking system.
Additional function requirements for monitoring reverse travel
- Vehicle speed v = 0 to 10 km/h or vehicle speed v = 10 to 0 km/h (calculated from wheel speed)
- Backward movement of vehicle (defined via the wheel rotation direction)
- No trailer detected
Monitoring with reverse travel
During reverse travel the areas in front of and behind the vehicle are monitored. When the speed drops below the lower limit speed of v = 10 km/h, the parking system changes to measuring mode. When objects in front of or behind the vehicle are detected, the driver is warned visually by illumination of the warning segments in the Audio/COMAND display and acoustically via the instrument cluster speaker (for front) or the parking system speaker (for rear).
When the speed exceeds the upper speed limit of v = 12 km/h, the parking system changes back to standby mode.
The parking system control unit sends the request to show the parking system display in the Audio/COMAND display via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the head unit. The parking system control unit actuates the parking system speaker directly (for rear) or sends the request to issue a warning via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the instrument cluster. The instrument cluster then directly actuates the instrument cluster speaker (for front).
Additional function requirements for monitoring during forward travel
- Vehicle speed v = 0 to 10 km/h or vehicle speed v = 10 to 0 km/h (calculated from wheel speed)
Monitoring with forward travel
When driving forwards the area in front of the vehicle is monitored.
When the speed drops below the lower limit speed of v = 10 km/h, the parking system changes to measuring mode. When obstacles are detected in front of the vehicle, the driver is warned visually by illumination of the warning segments of the parking system indicator in the Audio/COMAND display and acoustically via the instrument cluster speaker.
When the speed exceeds the upper speed limit of v = 10 km/h, the parking system changes back to standby mode.
The parking system control unit sends the request to show the parking system display in the Audio/COMAND display via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the head unit. The parking system sends the request to output a warning via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the instrument cluster. The instrument cluster then actuates the instrument cluster speaker directly.
Additional function requirements, parking space recognition
- Electronic Stability Program (ESP®) has not intervened for t = 5 s
- Vehicle speed v < 36 km/h
The Electronic Stability Program control unit sends the status of the ESP® and the vehicle speed via the chassis FlexRay to the parking system control unit.
Parking space detection
Using the distance sensors for object detection, the Parking Pilot detects a suitable parking space on both sides of the vehicle parallel and perpendicular to the direction of travel as the vehicle passes.
Parking space detection is used to simply locate a suitable parking space. The parking space detection function is implemented via the outer front distance sensors. These monitor the area to the left and right of the vehicle and therefore have a larger range than the other distance sensors.
Where a parking space is detected, the driver can activate the automatic parking via the Audio/COMAND display.
If the function is not started by the driver, the parking space search continues.
Parking space detection display in multifunction display of instrument cluster
Parking space detection display in Audio/COMAND display (with code FR8 (Reversing camera)), shown on Model 463
Display and selection of potential parking spaces
When the parking system is searching for a parking space, a P symbol (25) is displayed in the instrument cluster and suitable parking spaces (28) are shown in the Audio/COMAND display.
Parking spaces are always looked for on both sides of the vehicle.
The parking system control unit sends the request to activate the display via the chassis FlexRay, electronic ignition lock control unit and user interface CAN to the instrument cluster and to the head unit.
The displays in the Audio/COMAND display only appear if the function has not been deactivated.
The driver can view and select suitable parking spaces in the Audio/COMAND display. The head unit forwards the parking space entry request of the driver via user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
Automatic parking space entry
Vehicles with code FR8 (Reversing camera):
If the Parking Pilot has detected a suitable parking space and the parking space entry procedure has been started, various driving instructions and messages are shown to the driver in the head unit.
The driver can now take his/her hands off the steering wheel.
If the driver does not take his/her hands off the steering wheel (hands-on detection), the parking space entry procedure is aborted.
The Parking Pilot steers the vehicle into the parking space by means of targeted steering movements. All the driver can do here is accelerate.
During the parking space entry procedure, the vehicle can be brought to a standstill and the gear range can be changed. The Parking Pilot now calculates a new path. The parking space entry procedure is then continued.
Illustration of the principle of entering a curbside parking space, shown on Model 463
Illustration of the principle of reversing into a parking space perpendicular to the roadway, shown on Model 463
Illustration of the principle of driving into a parking space perpendicular to the roadway, shown on Model 463
Additional function requirements for automatic parking space exit
- Vehicle was parked automatically
Automatic parking space exit
To start the parking space exit procedure, the parking system button must be pressed.
The parking space exit direction can be selected and confirmed in the Audio/COMAND display. The head unit sends this information via the user interface CAN, electronic ignition lock control unit and chassis FlexRay to the parking system control unit.
If the driver does not take his/her hands off the steering wheel (hands-on detection), the parking space exit procedure is aborted.
Parking space exit direction indicator in Audio/COMAND display (vehicle parked perpendicular to direction of travel), shown on Model 463
Illustration of the principle of exiting a parking space, shown on Model 463
Illustration of the principle of driving out of a parking space perpendicular to the roadway, shown on Model 463
Illustration of the principle of reversing out of a parking space perpendicular to the roadway, shown on Model 463
Additional function requirements for start-off assist
- PARKTRONIC switched on
- Gear-shift operation to R or D when stationary
- Obstacle at a distance of less than s = 1 m (as soon as a PARKTRONIC indicator is visible)
- No trailer operation
Start-off assist
The start-off assist is intended to prevent a collision with a detected obstacle from occurring in the direction of travel when starting off as a result of the driver confusing the brake pedal with the accelerator pedal or engaging the wrong gear. If an obstacle is detected in the direction of travel while the vehicle is stationary, the speed during start-off is limited (speed limitation to v = 3 km/h for s = 1 m). This limitation takes place via the speed interface in the Electronic Stability Program control unit.
Activity display in Audio/COMAND display, shown on Model 463
Additional function requirements for Cross Traffic Alert (CTA) (with code EM4 (Driving Assistance Plus Package))
- Vehicle speed v < 10 km/h
- PARKTRONIC switched on
- "Blind Spot Assist" in "Assistance" menu activated
- Drive position "R" engaged
Cross Traffic Alert (with code EM4 (Driving Assistance Plus Package))
The Cross Traffic Alert issues a warning and applies the brakes if traffic crosses the vehicle's path and a hazardous situation arises.
Crossing vehicles, motorcycles, bicycles and pedestrians (minimum speed v = 4 km/h) are detected by the following radar sensors at the rear end of the vehicle:
- Right outer rear bumper integrated radar sensor
- Left outer rear bumper integrated radar sensor The driver is warned of hazardous situations. If the driver does not react to this warning, the vehicle can be braked automatically.
Detection range of radar sensor system, shown on Model 463
| Electrical function schematic of parking system | PE54.65-P-2055-97ZGA | ||
| Overview of system components of parking assistance systems | GF54.00-P-9997GWM |