Electrical Function Schematic For 360 Degree Viewing System - GF54.65-P-0007GR

MODEL 166 up to model year 2016 with CODE 501 (360 degree camera) 

Function requirements, general 

• Terminal 15 ON
• Vehicle speed v < 30 km/h
• Function of 360° camera enabled through the control menu of the COMAND controller unit

The electronic ignition lock control unit sends the status of circuit 15 over the chassis CAN 2 to the 360° camera control unit.

The vehicle speed and direction of travel are determined via the wheel speeds and wheel rotation directions. The Electronic Stability Program control unit sends this information via chassis CAN 1, electronic ignition lock control unit and chassis CAN 2 to the 360 degree camera control unit and also to the instrument cluster. The instrument cluster calculates the vehicle speed to be displayed and sends this over chassis CAN 2 to the 360° camera control unit.

360° camera system, general 

The 360° camera system consists of four digital cameras. There is one camera each on the radiator grille, in the outside mirror housings and in the liftgate. The 360° camera control unit uses the picture data from the cameras to calculate a virtual picture ("Virtual viewpoint"). On the Audio/COMAND display, the vehicle and its surroundings (s = 3 m to front and rear and s = 2.5 m on the sides as measured on the ground) are displayed as a "Vehicle top view" (bird's eye view). Overall, seven divided views and two full screens view of the vehicle surroundings can be displayed, but only a maximum of two views simultaneously. The "Vehicle top view" and one additional detail view (e.g. the picture taken by the camera, rear 360° camera after engaging gear range "R").

Camera lenses with a horizontal angle of vision of > 180° and a vertical angle of vision of > 123° record the required field. Dynamic and static guide lines, which represent the vehicle dimensions and driving trajectories (driving path) based on the steering angle, are displayed on the picture to assist the driver. With the help of these representations, the driver is provided assistance especially during parking and 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 camera cover (model 166.8, model 166.0 as of 01.07.2013) 
• 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 corresponding softkeys or the favorite button on the Audio/COMAND control panel or automatically by engaging gear range "R".

Activating/deactivating manually:

The Audio/COMAND control panel sends the corresponding control signals (softkey, favorite button) to the COMAND controller unit over the telematics CAN. The COMAND controller unit evaluates them and sends the status of the 360° camera to the 360° camera control unit via interior CAN, electronic ignition lock control unit and chassis CAN 2.

The 360° camera control unit then sends the request "Display 360° camera" to the COMAND controller unit via chassis CAN 2, electronic ignition lock control unit and interior CAN and switches the cameras on.

Automatic activating/deactivating:

The automatic activation or deactivation of the 360° camera system must be enabled via the corresponding operating level of the COMAND controller unit. The COMAND controller unit sends the status of the function via interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

Gear range "R" is engaged through the fully integrated transmission control unit. The fully integrated transmission control unit then sends the status "gear range R engaged" to the electronic ignition lock control unit via the drive train CAN, CDI control unit or ME-SFI [ME] control unit and chassis CAN 1. The electronic ignition lock control unit uses this to generate the "Reverse gear engaged" status and sends this over the chassis CAN 2 to the 360° camera control unit.

When shifting to the neutral position, the previously shown picture continues to be shown.

Function sequence for actuating camera cover (model 166.8, model 166.0 as of 01.07.2013) 

The camera lens of the rear 360° camera is protected against dust by a camera cover. The camera cover is opened or closed depending on the status of the 360° camera at the rear (activated or deactivated).

The camera cover is opened and closed depending on the request from the 360° camera control unit. The 360° camera control unit sends them over chassis CAN 2, the electronic ignition lock control unit and the interior CAN to the rear control unit. The rear control unit then actuates the rear camera cover motor directly. The status of the camera cover (open or closed) is registered by the switch for the rear camera cover motor. The rear control unit reads in the status of the rear camera cover motor switch directly and sends it over the interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

To clean the camera lens, the camera cover can be opened manually using the control menu of the COMAND controller unit. The COMAND controller unit sends the request "service mode" over the interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit. Further course of signals corresponds to the opening and closing of the camera cover.

The camera cover is closed as from a speed of v > 30 km/h or after circuit 15 is deactivated.

Function sequence for picture recognition, picture output 

The pictures recorded by each camera are read in by the 360° camera control unit over an LVDS line and processed. Depending on the use case, the 360° camera control unit calculates guide lines to be shown on the displayed pictures taking into account the recorded pictures, the steering 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 transfers these processed picture signals to the COMAND controller unit via a CVBS line. The COMAND controller unit then sends a switch-on request to the Audio/COMAND display over the telematics CAN. The processed picture signals are transferred by the COMAND controller unit over the LVDS line to the Audio/COMAND display, where they are displayed.

For a better representation of the pictures taken, 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 reads in the steering wheel angle sensor signals directly and sends them over the chassis CAN 1, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

The parking system control unit sends information on the parking system to the 360° camera control unit via chassis CAN 2.

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 over the chassis CAN 2, electronic ignition lock control unit and the interior CAN to the SAM control unit. The SAM control unit as the exterior lights master control unit then evaluates the ambient brightness. When it is dark, the 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.

Detailed information on the "ambient illumination" is contained in the "Headlamp switch-off delay" partial function of the "Headlamp switch-off delay (SWA) function" in the function description for the "Exterior lights function".

The background illumination for the Audio/COMAND display can be manually adapted to the ambient brightness. The background illumination can be adjusted through the COMAND controller 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 top view" also displays open doors or an open liftgate. The rear control unit sends the status of the liftgate (open or closed) via interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

The corresponding front door control unit or rear door control unit sends the status of the doors (open or closed) via interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit. The 360° camera control unit processed this information and correspondingly displays an open door and/or open liftgate in the "Vehicle top view". However, the area recorded by the camera in question is removed from the display.

The position of the outside mirror housing (folded out or in) is used by the 360° camera control unit to calculate the optimum display of the "Vehicle top view". The position of the outside mirror housing is sent by the left front door control unit or the right front door control unit over the interior CAN, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

While the outside mirror housings are being folded in/out, the "Vehicle top view" is temporarily removed from the display until the display is recomputed.

The 360° camera system is activated 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. If the vehicle speed drops to below v = 27 km/h, the 360° camera system is reactivated.

Information messages in Audio/COMAND display:

If the 360° camera is activated at a speed of v > 27 km/h, the "Pictures are hidden while driving to ensure that you are not distracted from the traffic situation" message is shown in the Audio/COMAND display. If the vehicle drops below a speed of v = 27 km/h, the recorded pictures are shown again. If the 360° camera is activated at a speed of v < 27 km/h and the vehicle is then accelerated to more than v = 30 km/h, the 360° camera differentiates as follows:

• The 360° camera was previously active for t < 6 s:

  The pictures recorded by the camera are hidden and a message is shown. If the vehicle then drops below a speed of v = 27 km/h, the recorded pictures are shown again.

• The 360° camera was previously active for t > 6 s:

The pictures recorded by the cameras are hidden. The last selected COMAND controller unit application is then shown on the Audio/COMAND display. A message is not shown.

During initial startup as well as after the exchange of a camera or upon removal/installation of the liftgate, the outside mirror housing or the radiator grille, the corresponding cameras must be recalibrated.

Additionally, a recoding of the 360° camera control unit is required.

With CODE 489 (AIRmatic (air suspension with level adjustment and adaptive damping system ADS)), the 360° camera control unit evaluates the current vehicle level, corrects the recorded pictures for distortion and calculates the optimum representation in the Audio/COMAND display. Information on the vehicle level is sent by the AIRmatic control unit over the chassis CAN 1, electronic ignition lock control unit and chassis CAN 2 to the 360° camera control unit.

The views can be switched over automatically as well as manually.

During gear range change, the system automatically switches 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 COMAND controller 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 top view and vehicle enlarged from top front
• Vehicle top view and vehicle enlarged from top rear
• 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

System limits:

The functions and representations of the 360° camera system are limited. Distortion and "blind spots" can occur.

In the "Vehicle top view", objects outside road level (e.g. vehicles) are displayed with distortion. Objects in the "Full screen forward/rearward field of view" (front 360° camera and rear 360° camera active) 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 position of the front 360° camera and of the rear 360° camera over the relevant bumper: The 360° camera loses the field of view immediately in front of and behind the vehicle here. On the other hand, they are system-related, particularly in the four overlapping areas of the field of view, when calculating a "Vehicle top 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 people are not shown roughly above knee height in the "Vehicle top view". In both cases, however, additional protection is provided by the parking system.

Shutoff criteria:

The following situations lead to a deactivation of the 360° camera:

• Vehicle speed v > 30 km/h
• Circuit 15 OFF
• Selection of gear range "P"

	Electrical function schematic for 360° camera		PE54.65-P-2060-97NAA
	Overview of system components of parking assistance systems		GF54.00-P-9997GR