System Description
SYSTEM DIAGRAM
Around View Monitor Control Unit Input Signal (CAN Communication)
| Transmit unit | Signal name |
|---|---|
| ABS actuator and electric unit (control unit) | Wheel speed signal |
| ADAS control unit | Warning driver attention signal |
| AV control unit |
|
| BCM | Door state signals |
| Combination meter |
|
| ECM | Engine status signal |
| Electric parking brake control module | Parking brake status display signal |
| Sonar control unit |
|
| Steering angle sensor | Steering angle sensor signal |
| TCM | Transmission range indication signal |
DESCRIPTION
- This system is equipped with wide-angle cameras on the front, rear and right and left door mirrors.
- Images from front view, rear view, front-side view (RH side), and birds-eye view are displayed to monitor the vehicle surroundings.
- Around view monitor control unit expands the image received from each camera to create each view.
- The sonar indicator is displayed on display (superimposed on the camera image) in combination with the camera assistance sonar system to warn of the approach of an obstacle.
- Camera image is displayed on the display unit when an obstacle is detected by sonar system.
- In front view and rear view, the vehicle width, distance lines and predictive course lines are displayed.
- In front-side view, the vehicle distance guiding line and vehicle width guiding line are displayed.
- Birds-eye view converts the images from the cameras into an overhead view and displays the status of the vehicle on the display unit. The vehicle icon that is displayed in the birds-eye view is depicted by the around view monitor control unit.
- Moving Object Detection (MOD) is adopted and detects moving objects according to camera image and notifies the detection result to the driver.
AROUND VIEW MONITOR DISPLAY
The around view monitor combines and displays travel direction view (front or rear), front-side view and birds-eye view.
OPERATION DESCRIPTION
- The around view monitor operates by pressing the CAMERA switch on the multifunction switch or by shifting the shift lever switch to the R (reverse) position.
- When the shift lever switch is in any position other than R (reverse) and the CAMERA switch is pressed, the screen displays front travel direction view and birds-eye view. Pressing the CAMERA switch again changes birds-eye view to front-side view
- When the shift lever switch is placed in R (reverse), the screen displays rear travel direction view and birds-eye view. Pressing the CAMERA switch changes birds-eye view to front-side view
- In birds-eye view, the blind spot area is displayed in black to show the border of the camera images. In addition, red fixed lines are displayed in the 4 corners of the vehicle icon. After pressing the CAMERA switch for the first time or placing the shift lever switch in R (reverse) for the first time, the blind spot area is highlighted in yellow for 3 seconds and the red fixed lines blink five times.
- With the shift lever switch in any position other than R (reverse), the around view monitor screen display is canceled 3 minutes after pressing the CAMERA switch. The screen returns to the display unit display.
- With the shift lever switch in R (reverse) position, the around view monitor screen display remains on constantly. To return to the display unit display, place the shift lever switch in any position other than R (reverse).
- If camera image calibration is incomplete, the applicable camera position is indicated as an error on the birds-eye view display.NOTE:
Calibration is necessary when replacing each camera or when replacing around view monitor control unit.
Around view monitor screen transition
Front View
- The front view image improves the visibility of obstacles in front of the vehicle and assists driving by displaying images from birds-eye view and front-side view.
- The front view image displays the vehicle width guiding line and vehicle distance guiding line, in addition to the predictive course line according to the steering angle.
- If the steering angle is within approximately 90 degrees, the predictive course lines on the left/right side are displayed. If the steering angle exceeds approximately 90 degrees, only the predictive course line on the outside is displayed (opposite side of steering direction).
- The around view monitor control unit receives the steering angle signal from steering angle sensor via CAN communication, and controls the direction and distance of the predictive course line.
- ON/OFF setting of predictive course line can be performed using CONSULT.
Front view guiding lines
Rear View
- The rear view image improves the visibility of obstacles in the rear of the vehicle and assists backing and parking by displaying images from birds-eye view and front side view.
- The rear view image displays the vehicle width guiding line and vehicle distance guiding line, in addition to the predictive course line according to the steering angle.NOTE:
- The around view monitor control unit receives the steering angle signal from steering angle sensor via CAN communication, and controls the direction and distance of the predictive course line.
- ON/OFF setting of predictive course line can be performed using CONSULT.Rear view guiding lines
Front-side View
- The front-side view image improves the visibility of obstacles on the front RH side of the vehicle and assists backing and parking.
- The front-side view image displays the vehicle distance guiding line and vehicle width guiding line.
Front-side view area and guiding line
Birds-Eye View
- The birds-eye view image improves the visibility of obstacles all around the vehicle and assists backing and parking.
- The images from the four cameras are converted into an overhead view, and the surroundings of the vehicle are displayed.
- The blind spot area is displayed on the image to specify the boundary of the four cameras.
Birds-Eye view display area
Moving Object Detection (MOD)
- Moving Object Detection (MOD) is a function that notifies the driver of the presence of moving objects in the area around the vehicle. MOD detects moving objects from camera image and illuminates frame of view in yellow whenever "MOD" icon is displayed in blue.
- Around view monitor control unit superimposes yellow frame line on camera image signal and outputs it to display unit display when moving objects are detected.
- Around view monitor control unit detects moving objects from camera image according to an image recognition method called optical flow.
- MOD does not detect a background as a moving object when the vehicle moves (when whole screen moves) but detects a moving object when an actual moving object is displayed on screen.
- Color of "MOD" icon indicates whether or not MOD is operative. "MOD" icon is displayed as shown in the following table. When MOD is operative, "MOD" icon is displayed in blue. When MOD is not operative, "MOD" icon is displayed in gray.
View Shift position P or N position D position R position "MOD" icon display Birds-Eye view and rear view Birds-Eye view Blue - Gray Rear view Gray Blue Birds-Eye view and front view Birds-Eye view Blue Gray - Front view Gray Blue Side view and rear view Side view x - x Rear view Gray Blue Side view and front view Side view x x - Front view Gray Blue Front wide view Gray Blue - x: Icon is not displayed.
-: View is not displayed in each shift position (D position and R position).
- MOD illuminates frame of view in yellow when any of the conditions in the following table are satisfied:
Operation Condition View where MOD is operative Shift position Vehicle speed P or N position 0 km/h Birds-Eye view D position 0 km/h (0 MPH) or more - less than 8 km/h (5 MPH) - Front view
- Front wide view
R position 0 km/h (0 MPH) or more - less than 8 km/h (5 MPH) Rear view - MOD does not operate or stops operation when any of the conditions in the following table are satisfied:
Operation stop condition Note Door open - MOD does not stop operation for front view and front wide view.
- Operation stops for rear view while back door is open.
- Operation stops for Bird's-Eye view when any door is open.
CAMERA IMAGE OPERATION PRINCIPLE
- If the information written to around view monitor control unit and the information from the camera do not match, the applicable camera position is indicated as an error on the Birds-Eye view display. (Calibration operation is necessary when replacing each camera or when replacing around view monitor control unit.)
- Around view monitor control unit receives the camera switch signal from multifunction switch via CAN communication by pressing the "CAMERA" button.
- Around view monitor control unit that receives the camera button signal supplies the power to each camera and inputs the camera image from each camera.
- When the shift lever switch is in the reverse position, around view monitor control unit receives the reverse signal, supplies the power to each camera, and inputs the camera image from each camera.
- Around view monitor control unit that receives the camera image signal from each camera cuts out the required screen for each view, superimposes the camera image, vehicle icon, guiding lines, sonar indicator and "MOD" icon and outputs them to the display unit.
CAMERA ASSISTANCE SONAR FUNCTION
- Sonar sensors are installed on front and rear bumpers. When an obstacle is detected while Intelligent Around View Monitor is displayed, a sonar indicator display and buzzer sound notify the driver of the proximity of an obstacle. When an obstacle is detected while Intelligent Around View Monitor is not displayed, Intelligent Around View Monitor screen is displayed automatically, and then notification is similar as while Intelligent Around View Monitor is displayed.
- Approaching distance between bumper and obstacle is displayed in 3 stages according to the color of the sonar indicator in display and blinking cycle of indicator.
- Warning by buzzer sound notifies distance to obstacle according to a 3-stage cycle.