Kia Sedona: Description and Operation

Third generation YP (2014-2024) / Kia Sedona YP Service Manual / Body Electrical System / Front / Rear Parking Assist System / Description and Operation

System Configuration

PAS consists of 8 sensors (4 front & 4 rear) that detect obstacles and transmit the result separately in three warning levels, the first, second and third to IPM (BCM) by LIN communication. IPM (BCM) decides the alarm level by the transmitted communication message from the slave sensors, and then operates the buzzer or transmits the data for display.

Block Diagram

System Operation Specification

Initial mode - Front sensor

(1)	System initializing time is 500ms after IGN1+ initial D Gear + below 10 Km/h .

(2)	PAS recognizes LID and sets the sensor ID up during initialization.

(3)	PAS activates each sensor and then executes the diagnosis after finishing initialization of IPM(BCM).

(4)	PAS Starting buzzer is in normal condition when sensor does not send an error message after finishing error diagnosis.

(5)	If any failure is received from any sensors, PAS Starting Buzzer will not work, however, the failure alarm will operate momentarily. If there is a display option, a warning sign will be displayed.

(6)	Buzzer for sensor failure operates only once whereas the display is shown continuously until fully repaired.

(7)	IPM (BCM) remembers the completed initialization status of front sensor until IGN 1 is OFF and will not activate initialization during the next D gear input.

(8)	In case of PAS SW OFF, system initialization is not activated.

(9)

If PAS switch is ON as in the status below, it activates initializing.

–	PAS switch OFF when IGN1 is On.

–	PAS switch ON when vehicle speed is below 10 km/h

(10)	Initializing has nothing to do with parking brake operation.

Initial mode - Rear sensor

(1)	System initializing time is 500ms after IGN1+ initial R Gear.

(2)	PAS recognizes LID and sets the sensor ID up during initialization.

(3)	PAS activates each sensor and then executes the diagnosis after finishing initialization of IPM(BCM).

(4)	PAS Starting buzzer is in normal condition when sensor does not send an error message after finishing error diagnosis.

(5)	If any failure is received from any sensors, PAS Starting Buzzer will not work, however, the failure alarm will operate momentarily. If there is a display option, a warning sign will be displayed.

(6)	Buzzer for sensor failure operates only once whereas the display is shown continuously until fully repaired.

(7)	IPM (BCM) remembers the completed initialization status of front sensor until IGN 1 is OFF and will not activate initialization during the next D gear input.

(8)	Initializing has nothing to do with parking brake operation.

Normal mode - Front sensor

(1)	LIN communication starts and keeps the routine after IGN1 ON+D gear + below 10 km/h.

(2)	After initializing, the routine starts at once without PAS starting warning sound.

(3)

Alarms for obstacles consist of three levels of 1, 2, and 3 steps where alarms 1 & 2 sound intermittently and alarm 3 sounds continuously. However, there is no alarm sound for alarm level 1 in the front ultrasonic sensor.

–	Types with display

•	Alarm level 2 : Display only without alarm.

•	Alarm level 3 : Display + Alarm

–	Type without display : Alarm only

(4)	In case of display, data from each sensor is sent from IPM (BCM) to display such as the cluster. Data is transmitted by CAN communication at the maximum gateway time of 50 ms.

(5)	The efficient vehicle speed of RPAS operation is under 10 km/h.

(6)	It doesn''t work at PAS SW OFF.

(7)	It has nothing to do with parking brake operation.

(8)	Operation doesn''t start or stops at gear N, P.

Normal mode - Rear sensor

(1)	LIN communication starts and keeps the routine after IGN 1 ON + R gear.

(2)	To check the initial status of the system, BCM sends a message of operating request to each sensor and four sensors will response at once. If there is no problem, the alarm starts after 500 ms of shifting to R gear at 300 ms intervals.

(3)	After initialization, normal mode starts after delaying 100 ms on finishing alarm output.

(4)	There are three alarm levels for obstacles. The first and second alarms sound intermittently and the third alarm sounds continuously.

(5)	In case of display, data from each sensor is sent from BCM to display such as the cluster. Data is transmitted by CAN communication at a maximum gateway time of 50ms.

(6)	It has nothing to do with vehicle speed.

(7)	When PAS SW is OFF, if gear R signal is inputted, PAS SW is changed to ON.

(8)	It has nothing to do with parking brake operation.

(9)	Operation doesn''t start or stops at gear N, P.

Sensing Area

1.	Measurement condition – PVC pole (diameter 75mm, length 3m), normal temperature

Distance range detected objects (Measured directly in front of sensor)

Position	Level	Distance range
Position	Level	cm	inch
Front	1st	61 ~100 (±15)	24.0 ~ 39.4 (±5.9)
	2nd	31 ~ 60 (±15)	12.2 ~ 23.6 (±5.9)
	3rd	Less than 30 (±10)	Less than 11.8 (±3.9)
Rear	1st	61 ~120 (±15)	24.0 ~ 47.2 (±5.9)
	2nd	31 ~ 60 (±15)	12.2 ~ 23.6 (±5.9)
	3rd	Less than 30 (±10)	Less than 11.8 (±3.9)

Horizontal Sensing Area

Vertical Sensing Area

Distance Measurement

Direct Measurement

Transmission and Reception are executed by one sensor.

(Executed for each sensor of FL, FCL, FCR, FR, RL, RCL, RCR, RR)

Indirect Measurement

(FCL → FL, FCL → FCR, FCR → FCL, FCR → FR, RCL → RL, RCL → RCR, RCR → RCL, RCR → RR Execution in order)

With two or three sensors, one of them sends the transmission and the others get the reception.

Direct and Indirect Measurement at once

With two or three sensors, one sensor performs both transmission and reception, and the others perform only reception.

RPAS alarm system

When the RPAS sensor detects the object, warning is given from an audible alarm device such as buzzer. RPAS sensor sends data to BCM via LIN communication and BCM gives an audible warning for each RPAS SENSOR by priority. It then performs a role of gateway only when it sends visible alarm to display device such as Cluster.

–

When information is received from RL/RR sensors, the BCM directly handles information of each sensor according to display and buzzer output functions. For the buzzer output of CL/CR sensors, the BCM handles the integrated information of both sensors by priority. However, when displaying the failure information, the BCM sends information of each sensor to the cluster.

System operation Spec - Front sensor

In case no error is found, it sounds every 500ms afterward. However, when error is found even in one sensor, it sounds buzzer corresponding to faulty sensor instead of the initial starting alarm. When PAS ON switch is OFF, system doesn''t work. Function for normal mode entrance is as follows.

* In the initial mode, IPM (BCM) judges only sensor failure.

When the gear is on D, system function is as follows.

When gear is released from D, system function is as follows.

System Operation Spec - Rear sensor

When the system is powered (after IGN ON and R gear), MICOM checks every sensor channel. In case no error is found, it sounds buzzer every 300ms and then 500ms afterward. However, when error is found even in one sensor, it sounds buzzer corresponding to faulty sensor instead of initial starting alarm. Function for normal mode entrance is as follows.

When the gear is on R, system function is as follows.

When gear is released from R, system function is as follows.

※ acceptable error range of waveform ±10%

Alarm Output Specification classified by distance between sensors

Condition of logic according to priority of alarm level is as follows (when identical sensors are used).

*α value definition

1.	low priority sensor off : α = 0ms

2.	low priority sensor is 1st warning level : α < 340ms

3.	low priority sensor is 2nd warning level : α < 170ms

*β value definition

1.	low priority sensor is 1st warning level : β = 1700ms

2.	low priority sensor is 2nd warning level : β = 1700ms

3.	low priority sensor is 3rd warning level : β = 700ms

Alarm control by sensing distance is as follows:

1.	First warning area (Front: 61cm(24in) ~ 100cm(39.4in), Rear: 81cm(31.9in) ~ 120cm(47.2in) )

2.	Second warning area (Front: 31cm(12.2in) ~ 60cm(23.6in), Rear: 41cm(16.1in) ~ 80cm(31.5in) )

3.	Third warning area (Front: less than 20cm(7.9in). Rear: less than 40cm(15.7in))

Period of fault alarm

(1)	With visible display

Visible Alarm Indicator Specification.

Front alarm display

When the system operates, cluster lights on the indicator according to the following figures.

When the system detects an object, it immediately lights on the indicator.

Alarm level per distance - Front sensor

–	First warning : 61 - 100 cm (24 - 39.4 in)

–	Second warning : 31 - 60 cm (12.2 - 23.6 in)

–	Third warning : Less than 30 cm (11.8 in)

* It only displays the position of detected obstacle.

* Indicator blinks every 1 second when third warning is activated.

Rear alarm display

Alarm level per distance - Rear sensor

When the gear is placed on R, the cluster lights on the indicator according to the following figures. When the system detects an object, it lights on the indicator immediately. However, when there is no object, the indicator turns on the no alarm status for two seconds and then off on detecting an object. (When the third warning is changed to no alarm status, it turns on the third warning for two seconds and then turns off.)

–	First warning : 61 - 120 cm (24 - 47.2 in)

–	Second warning : 31 - 60 cm (12.2 - 23.6 in)

–	Third warning : Less than 30 cm (11.8 in)

* It only displays the position of detected obstacle.

* Indicator blinks every 1 second when third warning is activated.

* Integrated display(FCL/FCR, RCL/RCR)

Error Handling

LIN BUS Off error case

Section	Error recognition condition	Error releasing condition
Initial Routine	LIN BUS OFF is sensed once	Error is not released in initial mode.
Normal Routine	LIN BUS OFF is sensed four times in a row	The fault is released when BCM or LIN Master senses LIN BUS ON four times in a row in normal mode

※ Remark :

1.	When counting fault, output message or signal should be transmitted in the Last Valid value.

2.	If an Error occurs in initial mode, fault buzzer (BCM) and fault display (Cluster) are operated.

3.	If an Error occurs in normal mode, fault is displayed only on Cluster without buzzer.

Sensor fault (LIN Msg : 0x08)

Section	Error recognition condition	Error releasing condition
Initial Routine	Sensor fault Message is sensed once	Error is not released in initial mode.
Normal Routine	Sensor fauly Message is sensed four times in a row	The fault is released when BCM or LIN Master senses LIN BUS ON four times in a row in normal mode

※ When displaying fault, RCR/RCL indicator is displayed individually.

※ Remark :

1.	When counting fault, output message or signal should be transmitted in the Last Valid value.

2.	If an Error occurs in initial mode, fault buzzer (BCM) and fault display (Cluster) are operated.

3.	If an Error occurs in normal mode, fault is displayed only on Cluster without buzzer.

4.	If an Error occurs in direct condition, the sensors send the same status of error as in indirect condition.

* Indicator blinks every 1 second.

Communication Standard

This section defines the communication between RPAS and BCM.

RPAS sends a detecting result of object and sensor diagnosis result to BCM according to this document, and BCM takes the role of activating the alarm.

Indicator shows the transmitted position and alarm data. As for alarm data, it determines the data with shortest distance and alerts it first.

(e.g. If RL is the first step alarm and RR is the third step, RR alarm has priority.)

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