Part 2
Parking Aid
CONTROL DIAGRAM
NOTE:
A = Hardwired; D = High Speed CAN Bus: N = Medium Speed CAN Bus
PROXIMITY CAMERA SYSTEM
Proximity Camera Component Location
OVERVIEW
The proximity camera system provides the driver with a visual-aid when maneuvering the vehicle at low speeds. The system uses a dedicated control module to capture the camera data and display the resulting images on the TSD (Touch Screen Display), providing the driver with a 360° view around the vehicle. The camera system is also supported by various driving-aid features where graphical information and warnings are superimposed onto the images displayed on the TSD.
The proximity camera system uses five VGA (Video Graphic Array) resolution cameras:
- two mounted in the front bumper
- one mounted in each door mirror
- one mounted in the rear tailgate handle assembly.
Camera Coverage Zones
SYSTEM DESCRIPTION
Proximity Camera Control Module
The proximity camera control module is located under the left-hand-front seat; connections to the module include:
- medium speed CAN network
- five camera inputs
- video signal output to the TSD
- power supply and ground.
The control module gathers the camera images and analyses and alters them by adjusting perspectives and applying corrections. The resulting processed images are then relayed to the touch screen display via the NTSC (National Television System Committee) analogue video line.
The control module also adds guidance and warning overlays to the camera images to create the various driving-aid features supported by the camera proximity system; for example, visual direction is made available when reversing the vehicle.
The module communicates with each individual camera via the LIN (local interconnect network) bus connection. This data link transmits diagnostic information, for example camera serial numbers and fault notifications to the control module. Camera adjustments, for instance a correction to color-balance are also communicated via the LIN bus link to the camera.
Image signals are relayed to the control module via the LVDS (Low Voltage Differential Signal) lines. The system uses the LVDS communication protocol to enable fast, interference-free data transmission. Data transmission speeds run in the region of 800 Mbps, this however is dependant on image content.
This LVDS communication link features a twisted pair of wires carrying a 'high' signal and a 'low' signal, similar to the high speed CAN with regard to a 'mirrored' signal. The voltage differential level operates between 250 - 450 mV.
LVDS Signal
In addition to the data lines the camera receives a power supply and a ground from the control module.
NOTE:
Care must be taken when routing, disconnecting and reconnecting the camera harnesses.
Cameras
The system uses five VGA resolution cameras, permanently powered whenever the ignition is 'on'. Each camera provides an image covering a zone approximately 130° wide by 112° deep and is capable of capturing approximately thirty frames per second.
The cameras employ high-quality digital, HDR (High Dynamic Range) imaging, which is a set of techniques that allows a greater range of luminance between light and dark areas of an image scene. This allows HDR to more accurately represent the varying intensity levels found in the image scenes that can range from direct sunlight to deep shadows.
HDR Image Comparisons
NOTE:
Reversing lights are crucial to successful night operation of the rear view camera.
Camera mounting
To reduce the cost of accident repair the mounting of the front bumper cameras feature a 'snap free' bracket. On impact, the bracket will release the camera preventing damage to the camera itself. Depending on the severity of the accident it may also be possible to reuse the brackets as they are manufactured from a memory type plastic.
The front cameras are not 'handed' so therefore interchangeable. This is also applicable for the door-mirror cameras, although these cameras do feature the approach lighting LED integral within the camera body.
The positioning accuracy of all the cameras is crucial for the successful operation of the proximity camera system. The camera housings are manufactured using metal to maintain a structural stability in high-ambient temperatures. Without this stability a loss of image focus would be a possibility, therefore care must be taken when mounting the cameras in ensuring they sit correctly into their locations. Secure mounting of the cameras provides an initial 'build up' tolerance accurate to 2mm. In the event of camera replacement a calibration routine must be performed.
Camera obstruction detection
In the instance of soiling of the camera lens, the system has the capability to detect obstructions and notify the driver that the lens requires cleaning via a prompt in the TSD. The obscured camera scene is highlighted with an amber arrow.
Camera obstruction detection operates by the system looking for non-moving particles on the captured image. The level of obstruction has to reach approximately 85% coverage of the lens before the obstruction notification is issued. To achieve this level of obstruction at the camera, the general vehicle soiling level will be very high and therefore obstruction of the camera is to be expected.
CONTROL DIAGRAM
NOTE:
A = Hardwired; N = Medium Speed CAN; O = LIN Bus; AD = NTSC Signal; AE = LVDS Signal.
SYSTEM OPERATION
Automatic Operation
- With the ignition 'on' and either 'Park' or 'Neutral' selected the screen displays images of the area surrounding the vehicle.
- When either 'Drive' of 'Reverse' are selected the relevant camera view for the direction of movement is shown.
- Once the vehicle speed exceeds 18 km/h (11 mile/h) the images will automatically switch off.
- Once automatically switched off, the camera view will be disabled until:
- another ignition cycle occurs and the system is automatically functioned, or
- the camera system is manually selected on the Touch Screen Display (TSD).
Manual Operation
- The camera home page is accessed using the 'Cameras' icon on the 'Navigation' home screen on the TSD
- Camera views can be accessed when the vehicle is stationary with either 'Park' or 'Neutral' selected.
- Camera views can also be accessed when either 'Drive' or 'Reverse' are selected and will remain viewable when the vehicle is in motion.
Selecting Views
- Displayed on the home page are real-time images transmitted from each of the five cameras.
- Any two of the images can be selected and enlarged to view side-by-side on the screen.
- When viewing any two images, any single image can then be selected to view as a full screen image which can be zoomed and panned around using the magnifier and arrow icons.
Manual Proximity View
- Selecting proximity view from the camera home screen will display a combination of three images from the front passenger side cameras. These images provide the driver with an enhanced view of the area forward and opposite the driver.
Rear View Camera
The rear view camera provides additional information to the driver when reversing the vehicle. When reverse gear is selected the camera integrated into the tailgate handle assembly, automatically displays a wide-angle color image of the view from the rear of the vehicle onto the TSD.
The rear view images are overlaid with:
- Dashed lines representing the perimeter of the vehicle.
- Solid lines representing the predicted trajectory of the vehicle; calculated from the steering wheel angle sensor.
- Colored bars represent the amount of distance between the vehicle and the object being approached. Working in conjunction with the standard 'rear parking aid' this adds a visual representation to the existing audible warning. The distance data is received from the parking aid module via the medium speed CAN.
The reversing-aid graphics can be disabled for the current drive cycle in the settings menu.
Reversing Visual Warnings
The rear view image will not be displayed when any of the following apply:
- Drive is selected for longer than 15 seconds.
- Drive is selected and the vehicle speed is greater than 18 km/h (11 mile/h).
Special Views
The special views are a selection of pre-set views that provide the driver with some useful driving aids. These can be considered as a shortcut to some pre-determined images that have been developed to assist the driver in various situations:
- Curb view: downward view from the two door mirror cameras.
- Junction view: outward view from the two front cameras.
- Trailer view: rear camera view of trailer being towed.
System Calibration
To achieve viewing accuracy from the proximity cameras, strict tolerances are calibrated into the system when the vehicle is static. Continual dynamic adaptation of the system then takes place when the vehicle is in motion. This is an automated process performed by the proximity camera control module.
This level of accuracy must be maintained after any service procedures are performed on the vehicle that affects the proximity camera system. Should the control module or any one of the cameras require replacement, static re-calibration must be carried out using the approved Land Rover diagnostic equipment.
Camera replacement is detected by the proximity camera control module, through the recognition of a new serial number during the 'camera count' procedure that takes place during the 'ignition on' phase via the LIN (local interconnect network). This detection will log a DTC (diagnostic trouble code) advising a calibration routine should be performed.
Alignment adjustments to the cameras are performed using the diagnostic equipment and the vehicle's TSD (touch screen display). During the calibration procedure, setup software in the control module overlays fine colored lines on the TSD highlighting reference points on the bodywork. For example, the mirror camera image must capture the side repeater indicator, the shut-line of the doors and the lower sill trim.
Direction arrows are pressed to shift the image in the desired direction to meet the reference points viewed on the TSD.
Adjustments include:
- Up
- Down
- Left
- Right
- Rotation
When the reference points correspond exactly, the setting is saved and the calibration procedure is complete for that camera.
NOTE:
If body repairs are performed that affect the camera system, a calibration procedure must be executed after the repairs are completed.
System Fault
There are two possible types of fault relative to the cameras:
- Camera fault (no communication).
- Camera view obscured (see 'Camera Obstruction Detection' section for further information).
In the event of camera fault, a DTC (diagnostic trouble code) is logged in the proximity camera control module and an icon is presented to the driver on the TSD (touch screen display) where the camera image would normally be viewed.
Each camera view has an orientation icon displayed in the top left hand corner and has two color states:
- Blue - ok
- Amber - camera problem
TOW HITCH ASSIST
The rear view camera provides additional information to the driver when hitching a trailer to the vehicle. When reverse gear is selected the camera integrated into the tailgate handle assembly, automatically displays a wide-angle color image of the view from the rear of the vehicle onto the TSD (touch screen display).
Within the settings menu the driver can activate the Hitch Guidance and Auto-towball Zoom feature. Hitch guidance provides a trajectory line indicating the path of the towball in relation to the steering angle applied to the vehicle. 'Auto-towball Zoom' initiates an automatic image zoom when the trailer is within 60cm of the towball to allow more accurate alignment of vehicle to trailer.
TOW ASSIST
Tow Assist aids the driver with the reversing of a trailer by displaying information on the TSD (touch screen display).
The system uses a tracking target sticker attached to the trailer to monitor and predict the direction of the trailer. Calculations are made by the proximity camera control module, based on the relationship of angles between the vehicle and trailer and the current steering wheel position.
Tow Assist becomes active when a trailer is attached to the vehicle and the trailer electrical plug is attached to the vehicle socket. The CJB (central junction box) detects the connection has been made and sends a message via the medium speed CAN (controller area network) to the proximity camera control module.
NOTE:
If the connection is not detected, setup can be manually prompted by touching the 'Tow Assist' icon on the 'Camera' menu.
Tow Assist - New Trailer
When the CJB detects the trailer electrical plug has been connected, the trailer setup screen is displayed automatically on the TSD with the question: 'Has a trailer been connected?'
Selecting 'Yes' will bring up the first of a number of trailer setup screens. On first use the setup screens take the user through a series of configuration options for the connected trailer. To configure a new trailer select 'Add New' and then 'OK'.
Trailer Setup - Step 1 of 6
- Choose from the list of generic trailer descriptive names for the trailer attached, then select 'Next'.
Trailer Setup - Step 2 of 6
- Position the trailer straight behind the vehicle, to allow more accurate positioning of the target. Stick the self adhesive tracking target to the front of the trailer within the orange highlighted zone as displayed, then select 'Next'.
- The highlighted zone will turn green when the target sticker is correctly positioned.
Tracking target sticker
Trailer Setup - Step 3 of 6
- Select the correct number of axles for the chosen trailer, then select 'Next'.
Trailer Setup - Step 4 of 6
- Select the preferred camera view for use with this trailer, then select 'Next'.
NOTE:
The Side Cameras view is more suited to tall and/or long trailers for example caravans. The Reverse Camera view is more suited to small and/or short trailers.
Trailer Setup - Step 5 of 6
- Using the numeric pad, enter the Hitch Length of the trailer, then select 'Next'.
NOTE:
Hitch Length is the distance from the hitch point to the pivot point of the trailer. The pivot point will vary depending on the number of axles, and will be:
- the center-line of the axle on a single axle trailer,
- the mid-point between the axles on a twin axle trailer,
- the center line of the center axle on a triple axle trailer.
Trailer Setup - Step 6 of 6
- Using the distance adjustment buttons, set the orange overlay graphics at the width of the trailer wheels, or trailer edges when a tall trailer is to be used, then select 'Finish'.
NOTE:
The orange overlay graphics determine the position of the trailer reverse guidance lines.
A confirmation message will appear to show that the trailer information has been retained.
Finally, highlight the trailer that has been memorized, and select 'OK'.
NOTE:
In order to learn the central position of the trailer, the vehicle must be driven forwards at less than 15mph with the steering wheel in the straight-ahead position. There is currently no confirmation for when this process has completed, however the status can be derived by selecting Reverse gear and noting the presence of message 'Trailer tracking in progress'. Whilst tracking feature is learning the central position, the trailer trajectory lines will appear in a light blue color, when process is complete they will change to a dark purple color.
The Tow Assist feature is now ready to use.
Tow Assist - Previously Saved Trailer
When the CJB detects the trailer electrical plug has been connected, the trailer setup screen is displayed automatically on the TSD with the question: 'Has a trailer been connected?'
Selecting 'Yes' from the previous screen brings a list of pre-set, or previously saved, trailers. Highlight the required trailer, and select 'OK'.
NOTE:
In order to learn the central position of the trailer, the vehicle must be driven forwards at less than 15mph with the steering wheel in the straight-ahead position. There is currently no confirmation for when this process has completed, however the status can be derived by selecting Reverse gear and noting the presence of message 'Trailer tracking in progress'. Whilst tracking feature is learning the central position, the trailer trajectory lines will appear in a light blue color, when process is complete they will change to a dark purple color.
The Tow Assist feature is now ready to use.