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# Kia Soul EV: Parking Assist System / Description and Operation

Kia Soul EV (PS EV) 2015-2020 Service Manual / Body Electrical System / Parking Assist System / Description and Operation

System Configuration

PAS consists of 8 sensors (4 front & 4 rear) which detect the obstacles and transmit the result in 3 separate warning levels, the first, second and third to IPM (BCM) via Lin communication. IPM (BCM) determines the level of alarm based on the transmitted communication message from the slave sensors and then operates the buzzer or transmits the data for display.
Block Diagram

System Operation Specification

1. | Initial mode - Front sensor
(1) | System initializing time is 500 ms 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 operates when sensor does not send error messages after finishing error diagnosis.
(5) | If failure notification is received from any of the sensors, the PAS Starting Buzzer does not operate, however, the failure alarm momentarily operates.
(6) | The buzzer for sensor failure sounds only once while the failure notification is displayed continuously until it is completely repaired.
(7) | IPM (BCM) memorizes the complete initialized status of front sensor until IGN1 becomes OFF and will not initialize the next time gear is placed on D.
(8) | System will not initialize when PAS SW is OFF.
(9) | If PAS switch is ON as the following status, it will activate initializing.
– | PAS switch OFF when IGN1 is ON.
– | PAS switch ON when vehicle speed is below 10 km/h.
(10) | Initializing will be activated regardless of the parking brake operation.

2. | Initial mode - Rear sensor
(1) | System initializing time is 500 ms 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 operates when sensor does not send error messages after finishing error diagnosis.
(5) | If failure notification is received from any of the sensors, the PAS Starting Buzzer does not operate, however, the failure alarm momentarily operates. If you have display option, warning sign is also shown on it.
(6) | The buzzer for sensor failure sounds only once while the failure notification is displayed continuously until it is completely repaired.
(7) | IPM (BCM) memorizes the complete initialized status of front sensor until IGN1 becomes OFF and will not initialize the next time gear is placed on R.
(8) | Initializing will be activated regardless of the parking brake operation.

3. | 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 are distinguished by 3 levels (steps 1, 2 & 3) where 1 & 2 steps are notified by intermittent sounds and 3 step is notified by continuous sound. Level 1 alarm doesn''t exist in the front ultrasonic sensor.
– | Type with display
• | Level 2 alarm : Display only without alarm
• | Level 3 alarm : Alarm + Display
– | Type without display : Alarm only
(4) | When sending data to cluster display, for example, the data from each sensor is sent from IPM (BCM) to the display. CAN communication is used to transmit with the maximum gateway time of up to 50 ms.
(5) | The effective vehicle speed for the operation of RPAS is under 10 km/h.
(6) | It doesn''t operate when PAS SW is OFF.
(7) | It will operate regardless of the parking brake operation.
(8) | Operation will stop and cannot start when the gear is on N or P.

4. | Normal mode - Rear sensor
(1) | LIN communication starts and keeps the routine after IGN1 ON + R gear.
(2) | BCM sends a message to each sensor as an operating request to check the initial status of the system and four sensors will respond en bloc. If no problem is detected, the alarm starts after 500 ms of placing the gear on R shifting at intervals of 300 ms.
(3) | After initialization, normal mode starts after 100 ms from finishing alarm output.
(4) | Alarms for obstacles can be distinguished in 3 levels. The first and second alarms notify by intermittent sound and the third alarm notifies by continuous sound.
(5) | When sending data to cluster display, for example, the data from each sensor is sent from BCM to the display. CAN communication is used to transmit with the maximum gateway time of up to 50 ms.
(6) | It will operate regardless of the vehicle speed.
(7) | When PAS SW is OFF, it will automatically be changed to ON when it detects that the gear is placed on R.
(8) | It will operate regardless of the parking brake operation.
(9) | Operation will stop and cannot start when the gear is on N or P.

Sensing Area

1. | Measurement condition - PVC pole (diameter 75mm, length 3m), at room temperature

2. | Distance error range of detected objects (Measured directly in front of sensor)
Position | Level | Distance range
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.
(FL, FCL, FCR, FR, RL, RCL, RCR, RR each sensor execution)

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 of them performs both transmission and reception while 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
When the system has the power (after IGN ON and D gear), MICOM checks every sensor channel. 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).

*? value definition

1. | low priority sensor off : ? = 0ms

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

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

*? value definition

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

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

3. | low priority sensor is 3rd warning level : ? = 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))

4. | 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.

1. | 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

1. | 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.

##### Components and Components Location

Component Location 1. BCM2. Ultrasonic sensor ? Parking assist control unit function and buzzer are built in BCM (body control unit). ...

##### Parking Assist Sensor Schematic Diagrams

Circuit Diagram ...

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