Evasive Steering Assist, Function - GF30.30-P-0022FG
Model 213
up to model year 2021
with code 23P (Drive package)
Function requirements, general
- No undervoltage or overvoltage
- System fault-free (no faults detected by function-specific error management)
- Engine running or drivetrain operational
- Stereo multifunction camera soiling and function test completed successfully
The stereo multifunction camera performs a soiling and function test to ensure proper operation after each engine start. The function test requires an object to be located in the detection area (this object is used as a reference value). If a malfunction is established or if there are no objects in the detection area, the Steer Assist cannot be activated. The stereo multifunction camera sends the status via the suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
- Short and long range radar sensor soiling and function test completed successfully
Object recognition (e.g. vehicle moving directly ahead) via the radar sensor system is based on the radar measuring procedure. The short and long range radar sensor performs a soiling and function test to secure its perfect function after every engine start. The function test requires an object to be located in the detection area (this object is used as a reference value). If a malfunction is established or if there are no objects in the detection area, the Steer Assist cannot be activated. When functioning properly, the short and long-range radar sensor transmits the status "radar sensor system operational" to the Mercedes-Benz Intelligent Drive control unit via the suspension FlexRay.
- Electronic Stability Program (ESP®) not switched to passive mode
- No active ESP® intervention recognized (vehicle not in sliding movement)
- Gear range "D" engaged (vehicle not in backward movement)
- Vehicle speed between 20 and 70 km/h
- Straight-ahead driving
- Pedestrian recognized
The Evasion-Steer-Assist, general points
The Evasion-Steer-Assist function supports the driver in cases of imminent collisions with pedestrians. If the Evasive Steering Assist detects the driver's intention to evade the collision in this situation, the system supports the evasive maneuver by providing additional steering torque (steering rack force) and makes it easier to straighten the vehicle after the evasive maneuver. The support is always initiated by the driver. The driver specifies the direction of evasion. The driver can therefore either follow the system activity or override the system.
The Evasion Steer Assist has no menu of its own; it is activated with other functions over the Active Brake Assist menu. The following options are available for navigation in the operating menu of the headunit:
- Except code 446 (Touchpad only), navigation in the operating menu can be performed with the Audio/COMAND control panel. The Audio/COMAND control panel sends the control signals via telematics CAN to the head unit.
- With code 446 (Touchpad only) or code 448 (Touchpad), navigation in the operating menu can be performed with the Touchpad. The touchpad sends the operation signals over the telematics CAN to the head unit.
- With code 531 (COMAND APS), navigation in the operating menu can be performed via voice control. To do this, the head unit evaluates the voice commands via the driver's hands-free system microphone.
- Navigation in the operating menu can also be performed with the head unit finger navigation pad and the "Back" button on the steering wheel. The steering wheel electronics read in the operation signals from the head unit finger navigation pad and the "Back" button and transmit them via the steering LIN (up to model year 2019) or steering wheel CAN (from model year 2019), the steering column tube module control unit, suspension FlexRay, electronic ignition lock control unit and user interface CAN to the head unit.
- The operating menu can be called up over vehicle button the upper control panel control unit (with code 246 (Analog clock)). The upper control panel control unit reads in the status of the "Vehicle" button and transmits it via the LCP-LIN, Audio/COMAND control panel (except code 446 (Touchpad only)) or touchpad (with code 446 (Touchpad only)) and telematics CAN to the head unit.
The head unit sends the Evasive Steering Assist status via the user interface CAN, electronic ignition lock control unit, and suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
The Evasion Steer Assist cannot be used in AHB.
The Mercedes-Benz Intelligent Drive control unit evaluates the traffic situation in front of the vehicle via the stereo multifunction camera and the short and longrange radar sensor.
Evasive Steering Assist
The following information, among others, is evaluated by the Mercedes-Benz Intelligent Drive control unit:
- Engine running or drivetrain operational
- Evasion-Steer-Assist status
- Status of the brake and the ESP®
- Vehicle in forward movement, vehicle speed
- Straight-ahead driving
- Electric power steering, status
- Steering wheel angle
- Driving stage engaged
- Turning angle and current steering wheel torque
- Tire pressure of all wheels within the tolerance range (run-flat mode not active) (with CODE 475 (Tire pressure monitor) or CODE 477 (Tire pressure loss warning))
- Status of AHB (with code 550 (Trailer hitch))
Engine running or drivetrain operational:
The CDI control unit or the ME-SFI [ME] control unit sends the "Engine running" or "Drivetrain operational" signal to the Mercedes-Benz Intelligent Drive control unit via drive CAN, powertrain control unit and suspension FlexRay.
Evasion-Steer-Assist status:
The head unit sends the Evasive Steering Assist status via the user interface CAN, electronic ignition lock control unit, and suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Status of the brake and the ESP®:
The Electronic Stability Program control unit transmits the brake and the ESP® status to the Mercedes-Benz Intelligent Drive control unit via the suspension FlexRay.
Vehicle in forward movement, vehicle speed:
Forward movement is defined via the wheel rotation direction. The vehicle speed is calculated from the wheel speed. The Electronic Stability Program control unit sends this information to the Mercedes-Benz Intelligent Drive control unit via the suspension FlexRay.
Straight-ahead driving:
The acceleration/yaw rate is detected by the acceleration sensor integrated into the Supplemental Restraint System control unit. The Supplemental Restraint System control unit transmits the corresponding values via the vehicle dynamics CAN, Electronic Stability Program control unit and suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Electric power steering, status:
The electrical power steering control unit transmits information on the status of the electric power steering via the suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Steering wheel angle:
The steering wheel angle sensor detects/records the steering wheel angle. The steering column tube module control unit directly reads in the signals of the steering wheel angle sensor, and sends information to the Mercedes-Benz Intelligent Drive control unit via the suspension FlexRay.
Engaged gear range:
The fully integrated transmission control, control unit sends information about the selected drive range via drive CAN, powertrain control unit and suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Turning angle and current steering wheel torque:
The torque sensor of the electric power steering detects the wheel angle and the current steering wheel torque. The electric power steering control unit reads in the signals from the electric power steering torque sensor directly, and sends these via the suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Tire pressure of all wheels within the tolerance range (run-flat mode not active) (with code 475 (Tire pressure monitor) or code 477 (Tire pressure loss warning)):
For vehicles with code 475 (tire pressure monitoring system), the tire pressure monitoring system control unit sends information on the respective tire pressure to the Mercedes-Benz Intelligent Drive control unit via the user interface CAN, electronic ignition lock control unit, and suspension FlexRay.
On vehicles with CODE 477 (Tire pressure loss warning), the tire pressure is determined based on the rolling circumference. The tire pressure loss warning (RDW) system is functionally integrated in the Electronic Stability Program control unit. The Electronic Stability Program control unit transmits information on the tire pressure via the suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Status of AHB (with code 550 (Trailer hitch)):
When a trailer is detected, the trailer recognition control unit sends the "trailer detected" status to the Mercedes-Benz Intelligent Drive control unit via the interior CAN, electronic ignition lock control unit, and suspension FlexRay.
Stereo multifunction camera:
The MFK stereo is located in the upper area of the windshield.
The stereo multifunction camera consists of two high-resolution mono cameras and an integrated control unit for evaluation and a plausibility check of the supplied picture data. The laterally offset location of the two mono cameras creates a difference in perspective (parallax displacement) between the left and right optical path.
The data from both mono cameras is prepared by the integrated control unit, and sent to the Mercedes-Benz Intelligent Drive control unit via the suspension FlexRay.
Short and long-range radar sensor:
The short and long-range radar sensor detects pedestrians and can determine their position within a defined area, dependent on the distance to the pedestrian and the vehicle speed.
The short and long-range radar sensor sends corresponding information via the suspension FlexRay to the Mercedes-Benz Intelligent Drive control unit.
Recognition of an evasive maneuver:
The Mercedes-Benz Intelligent Drive control unit uses the data from the short and long range radar sensor, the stereo multifunction camera, the steering wheel angle sensor and the electrical power steering control unit to calculate the required steering torque. The Mercedes-Benz Intelligent Drive control unit transmits the corresponding requests via the suspension FlexRay to the electrical power steering control unit, which reacts by actuating the electric power steering actuator motor directly.
Warning tone:
The Evasive Steering Assist outputs a warning tone at the start of the support phase. The Mercedes-Benz Intelligent Drive control unit sends the corresponding request via the suspension FlexRay, electronic ignition lock control unit and the user interface CAN to the instrument cluster. The instrument cluster directly actuates the instrument cluster speaker.
| Electrical function schematic for Evasive Steering Assist | PE30.30-P-2071-97DBA | ||
| Overview of system components for driver assistance systems | GF54.00-P-9998FG |