QV FCA System Manual 2018.10.17 Writer :
EE Laboratory DAS System Design Team FCA Outline
- Provide notifications and stop the vehicle when front sensor has recognized crash risk ahead.
- Primary components: Sensor (MOBIS radar [MAR320], MOBIS camera [MAC110], WABCO brake [EBS.ABS]
FCA (Forward Collision Avoidance Assist) MOBIS camera MOBIS radar independent logic
(Extra ECU) WABCO tire pressure VDC EE DAS 1 page FCA System Composition
- FCA System Composition MAC110 EBS Extra ECU MAR320 EE DAS 2 page FCA System Composition
- Features for each sensor Chassis CAN FCA Controller (Extra ECU) Sensor Fusion Radar/Camera Sensor Fusion Drive path operation Private CAN FCA Drive path operation Crash risk target selection Notice/ Stopping point Target deceleration decision making calculation FCA Target deceleration Brake VDC MOBIS camera Recognition Vehicles Traffic lane MOBIS radar Recognition Stopping/Moving targets Decision Objects Private CAN Diagnose/Fail safe Diagnose logic EE DAS 3 page FCA Operating Condition Classification Commercial Vehicle FCA Operating Speed (Moving Vehicle) Partial braking(*0.35g) : 0~178km/h Full-braking(0.6g) : 0~84km/h Riding Vehicle/Pedestrian/Bicycle FCA Partial braking(0.2~0.4g) : 0~180km/h Full-braking(0.8~1.0g) : 0~80km/h Control Entry Speed Over 8km/h (FCA Default ON) Alarm Point 1st notification(FCW) : Available to select alarm point via USM 2nd notification(Pre-braking) and 3rd notification(Full-braking) : single point of view HMI Notice Type Alarm sound and dashboard warning message (Caution for front Collision warning Emergency Braking) System OFF When system off selected, light a same warn ing light * asun sdeysr teminv brokestigatioen li ngh(t0.35g0.3g or less) Regulations for commercial vehicle have to follow the regulations in gray boxes Steps Target Model 1step
(pre-
confirm) 347/2012 2step
(pre-
confirm) 347/2012 2step
(confirm) 2015/562 M3 N2 >8t N3 M3 N28t N3 N28t M2 *) amount decelera of tion Over10 km/h Stationary target Alarm Point Moving target Alarm Point 1st 2nd 1st 2nd Minimum 1 EA Minimum 2 EA Minimum 1 EA Minimum 2 EA EBP start Before 1.4sec
(sense of hearing/touch) EBP start Before 1.4sec
(sense of hearing/touch) EBP start Before 0.8sec
(sense of hearing/touch/sight) In 0.8sec before EBP starts
(sense of hearing/touch/sight) In 0.8sec before EBP starts
(sense of hearing/touch/sight) 1.4sec before EBP starts
(sense of hearing/touch In 0.8sec before EBP starts (sense of hearing/touch/sight) Over20 km/h 1.4sec before EBP starts(sense of hearing/touch 0.8sec before EBP starts(sense of hearing/touch/sight) Before EBP starts
(sense of hearing/touch/sight) Over10 km/h 0.8sec before EBP starts(sense of hearing/touch Before EBP starts
(sense of hearing/touch/sight) amount of deceler ation collisio n prevent ion collisio n prevent ion collisio n prevent ion 322km/h 122km/h 672km/h Speed of front vehicle Row EE DAS 1 2 4 page FCA Cancel Control Condition/Critical Situation Classification Operating Specification Vehicle AEB Cancel Control Condition Critical Situation Drivers normal cancelation
- When AEBS OFF is selected
- When ABS/VDC switch first gear is selected for OFF Drivers movement cancelation
- When FCA operating speed is under 8ph
- When FCA operating speed is above 178kph
- In condition of sudden steering control (Over SAS 172 deg/sec and 115 deg)
- When gear is P or R
- When gas pedal is above 80% or driver Kick-down it
- When road curve radius is under 50m System error cancelation
- When radar/camera is broken-down
- When related other module or CAN telecommunication is broken-down Abiotic Factors
- Bad weather conditions
- , When camera is not operated because of counter light or reflected light
- Contamination of camera or radar Camera or radar detection limit
- Vehicle or pedestrian suddenly cut in front
- If width of front object is narrow
- If taillight of front vehicle is asymmetry or not operated at night
- oncoming vehicles or oncoming vehicles with backward state EE DAS 5 page Cluster Operation while FCA is Operating Warning Messages Caution for front Caution for collision Emergency Braking Emergency Braking OFF Dashboard Imeages Explanation Warning from first step to three step warning message + OFF 8Hz recurring sound 8Hz recurring sound Continual sound EE DAS 6 page Radar Specification MAR320(Independent MRR) System Specification Normal Voltage Using Frequency Range Size(mm) Weight Feature Mode Performance 12V 76 ~ 77GHz 73 x 70 x 15 (TBD)
<150g High Speed FMCW If power is connected, antenna is eradiated as single mode 97) 70 91 73 Extra Controller Front Radar EE DAS reverse gear AEBS switch 7 page Extra ECU Specification QV FCA ECU
- FE RSPA (18. 1) Controller based HW design for suitability of commercial product (24V power available) Purpose: communication (CAN, CAN-FD, LIN) based controller for controlled calculation.
- RADAR product power supply feature added
<QV FCA Extra ECU Exterior>
MCU
# of Cores 3 Core Lockstep-core + Single-core Divisions Items Specifications Note Rated Voltage Operating DC 24 V0.4V DC 16V ~ 32V ECU Operating Temperatures
-40 ~ 85 IGN Power usage operation PCB Size [mm]
110 76 1.6 Material: FR-4(6L), Plating: with gold ECU Size [mm]
129.6 86 25 PP-(CF+CB)20 -> TBD Core 32bit Dual-core Operating Frequency 200Mhz HS-CAN/CAN-FD J1939 3 Ch. (reserve 1Ch.) CAN-FD communication speed: Max. 2Mbps Common use CAN J1939 support COM LIN SPI
(reserve 4 Ch. ) LIN 2.1 support 2 Ch. SPI (PMIC, EEPROM) Memory EEPROM 64Kbit with SPI INDI. AEBS SW INDI. OUT_LED2 Max. 30mA Max. 30mA Switch LED PWM output Switch LED PWM output (reserve) AEBS SW IN Open/Short type AEBS Switch signal input In put/Out put Reverse SW IN 24V/Open type Open/Short type Reverse information signal input Switch signal input 3 (reserve)
<QV FCA Extra ECU Exterior>
EE DAS SW IN_3 Radar Sensor Power Exterior Sensor Power(reserve) Max. 1.5A Dual-ch. HS Power IC External sensor 12V power supply 8 page Information RF Exposure Statement (MPE) The antenna(s) must be installed such that a minimum separation distance of at least 20 cm is maintained between the radiator (antenna) and all persons at all times. This device must not be co-located or operating in conjunction with any other antenna or transmitter. Contact Address: HYUNDAI MOBIS Co., Ltd. 203, Teheran-ro, Gangnam-gu, Seoul, 135-977, Korea EE DAS 9 page