System Description Navigation (Twin Monitor)

SYSTEM


MULTI AV SYSTEM : System Description

Multi AV system means that the following systems are integrated.






COMMUNICATION SIGNAL
- AV control unit function by transmitting/receiving data one by one with each unit (slave unit) that configures them completely as a master unit by connecting between units that configure MULTI AV system with two AV communication lines (H, L).
- Two AV communication lines (H, L) adopt a twisted pair line that is resistant to noise.
- AV control unit is connected by CAN communication, and it receives data signal from ECM, unified meter and A/C amp. It computes and displays fuel economy information value with the obtained information.
- AV control unit is connected with display and serial communication, and it transmits the required signal of display and display control and receives the response signal from display.

NAVIGATION SYSTEM FUNCTION

Description
- The AV control unit controls navigation function while GPS tuner has built-in map data, GYRO (angle speed sensor), on the HDD (Hard Disk Drive).
- The AV control unit inputs operation signal with communication signal, through display (touch panel) and multifunction switch and steering switch.
- Guide sound is output to front speaker through BOSE amp. from AV control unit when operating navigation system.
- A vehicle position is calculated with the GYRO (angle speed sensor), vehicle sensor, signal from GPS satellite and map data stored on HDD (Hard Disk Drive), and transmits the map image signal (RGB image, RGB area, RGB image synchronizing) to the display.

Position Detection Principle





The navigation system periodically calculates the current vehicle position according to the following three types of signals.
- Travel distance of the vehicle as determined by the vehicle speed sensor
- Vehicle turning angle determined by the gyroscope (angular speed sensor)
- The travel direction of the vehicle determined by the GPS antenna
(GPS information)
The current position of the vehicle is then identified by comparing the calculated vehicle position with map data, which is stored in the HDD
(Hard Disk Drive) (map-matching), and indicated on the screen with a current location mark. More accurate data is used by comparing position detection results from GPS to the map-matching.





The current position is calculated by detecting the travel distance from the previous calculation point, and its direction change.
- Travel distance
The travel distance is generated from the vehicle speed sensor input signal. The automatic distance correction function is adopted for preventing a miss-detection of the travel distance because of tire wear etc.
- Travel direction
The gyroscope (angular velocity sensor) and GPS antenna (GPS information) generate the change of the travel direction. Both have advantages and disadvantages as per the following descriptions.





Input signals are prioritized in each situation. However, this order of priority may change in accordance with more detailed travel conditions so that the travel direction is detected more accurately.

Map-matching





Map-matching repositions the vehicle on the road map when a new location is judged to be more accurate. This is done by comparing the current vehicle position (calculated by the normal position detection method) from the map data stored in the HDD (Hard Disk Drive).
There is a possibility that the vehicle position may not be corrected in the following case, and when vehicle is driven over a certain distance or time in which GPS information is hard to receive. Correct manually the current location mark on the screen.





- In map-matching, several alternative routes are prepared and prioritized in addition to the road judged as currently driving on.
Therefore, due to errors in the distance and/or direction, an incorrect road may be prioritized, and the current location mark may be repositioned to the incorrect road.
If two roads are running in parallel, they are of the same priority.
Therefore, the current location mark may appear on either of them alternately, depending on maneuvering of the steering wheel and configuration of the road, etc.





- Map-matching does not function correctly when road on which the vehicle is driving is new, etc. and not recorded in the map data.
Also, map-matching does not function correctly when road pattern stored in the map data and the actual road pattern are different due to repair, etc.
Therefore, the map-matching function judges other road as a currently driving road if the road is not in the map, and displays the current location mark on it. Later, the current location mark may be repositioned to the road if the correct road is detected.
- Effective range for comparing the vehicle position and travel direction calculated by the distance and direction with the road data is limited. Therefore, correction by map-matching is not possible when there is an excessive gap between current vehicle position and the position on the map.

GPS (Global Positioning System)





GPS (Global Positioning System) is developed for and is controlled by the US Department of Defense. The system utilizes GPS satellites (NAVSTAR), transmitting out radio waves while flying on an orbit around the earth at an altitude of approximately 21,000 km (13,049 mile).
The receiver calculates the travel position in three dimensions (latitude/longitude/altitude) according to the time lag of the radio waves that four or more GPS satellites transmit (three-dimensional positioning). The GPS receiver calculates the travel position in two dimensions (latitude/longitude) with the previous altitude data if the GPS receiver receives only three radio waves (two-dimensional positioning). GPS position correction is not performed while stopping the vehicle.
Accuracy of the GPS will deteriorate under the following conditions:
- In two-dimensional positioning, GPS accuracy will deteriorate when altitude of the vehicle position changes.
- The position of GPS satellite affects GPS detection precision. The position detection may not be precisely performed.
- The position detection is not performed if GPS receiver does not receive radio waves from GPS satellites.
(Inside a tunnel, parking in a building, under an elevated highway etc.) GPS receiver may not receive radio waves from GPS satellites if any object is placed on the GPS antenna.

NOTE:
- The detection result has an error of approximately 10 m (32.81 ft) even with a high-precision three dimensional positioning.
- There may be cases when the accuracy is lowered and radio waves are stopped intentionally because the
GPS satellite signal is controlled by the US trace control center.

AUDIO FUNCTION
The audio system is equipped with the following functions. Each function is operated with multifunction switch, preset switch, touch panel, steering switch or audio recognition. Operation status of audio is indicated at display.






Operating Signal
Audio system operation can be performed with multifunction switch, preset switch, steering switch, touch panel function or voice recognition function.
- Operating signal is transmitted to AV control unit with AV communication when it is operated by multifunction switch or preset switch. The disk ejection operating signal is performed by hard wire.
- Operating signal is transmitted to AV control unit with steering switch signal when it is operated by steering switch.

Screen Display
Switching of display is performed with serial communication between front display unit and AV control unit.

AM/FM Radio Mode
- AM/FM radio tuner is built into AV control unit.
- Audio signal is received by rod antenna, next it is amplified by antenna amp., and finally it is input to AV control unit. Audio signal is input to BOSE amp., and BOSE amp. outputs to each speaker.

Satellite Radio Mode
- Satellite radio tuner is built into AV control unit.
- Audio signal (satellite radio) is received by satellite antenna, and it is input to AV control unit. AV control unit outputs audio signal to BOSE amp. The signal is also outputted from BOSE amp. to both woofer and each speaker.

CD Mode
- CD function is built into AV control unit.
- AV control unit outputs audio signal to BOSE amp., and BOSE amp. outputs to each speaker when CD is inserted to AV control unit.

BluetoothTM Audio Mode
- BluetoothTM audio function is built into AV control unit.
- BluetoothTM audio can play music data in the portable audio by means of BluetoothTM communications between the portable audio and the AV control unit.
- AV control unit outputs audio signal to BOSE amp., and BOSE amp. outputs to each speaker.

Music Box Mode
- Music CD data is stored on HDD that is built into AV control unit, and it can be played.
- AV control unit outputs music (sound signal) that is stored on HDD to BOSE amp., and BOSE amp. outputs to each speaker.

Driver's Audio Stage
- Driver's Audio Stage controls the speaker's output characteristic by BOSE amp. so that the driver's seat is to be the center of sounds.
- ON/OFF signals of Driver's Audio Stage are transmitted from AV control unit to BOSE amp. using mode change signal.

DVD PLAY FUNCTION
- DVD is played by inserting DVD into the AV control unit.
- DVD image signals are transmitted to the front display unit and video distributor, and DVD sound signals are transmitted to BOSE amp. and rear display unit.
- DVD image signals are transmitted to rear display unit via video distributor.

MOBILE ENTERTAINMENT SYSTEM
The passengers can enjoy watching DVD in the rear seat with the rear display unit. They can also listen to a
DVD and AUX in the rear seat independently by cordless headphones.

Operating Signal
The mobile entertainment system can be controlled by the rear seat remote controller.
It receives the operation signal of the rear seat remote controller by the remote control receiver and rear display unit, and then transmits it to the video distributor.

Headphone Sound
- Headphone sound signals are transmitted to rear display unit via AV control unit.
- Headphone sound signals are transmitted to wireless communication between rear display unit and headphone.

Screen Rear Display
- Switching of display is performed with serial communication between rear display unit and video distributor.
- The rear display unit receives the DVD/AUX/USB (video data) image signal and RGB image signal from the video distributor.

Screen Front Display
- Switching of display is performed with serial communication between front display unit and AV control unit.
- The front display unit receives the DVD/AUX/USB (video data) image signal from the AV control unit.
- The front display unit receives the RGB image signal from the AV control unit.

HANDS-FREE PHONE FUNCTION
- AV control unit includes hands-free phone function.
- Hands-free communication can be operated by connecting using BluetoothTM communication with cellular phone.
- Operation is performed by steering switch, and operating condition is indicated on display.
- Guide sound that is heard during operation is input from AV control unit to BOSE amp., and is output from front speaker and center speaker.

When A Call Is Originated
Spoken voice sound output from the microphone (microphone signal) is input to AV control unit. AV control unit outputs to cellular phone with BluetoothTM communication as a TEL voice signal. Voice sound is then heard at the other party.

When Receiving A Call
Voice sound is input to own cellular phone from the other party. TEL voice signal is output to door speaker, and the signal is input to BOSE amp. via AV control unit by establishing BluetoothTM communication from cellular phone.

AUXILIARY INPUT FUNCTION
- Image and sound can be output from an external device by connecting a device with auxiliary input jacks.
- AUX image signals are transmitted to the front display unit and video distributor via the AV control unit, and
AUX sound signals are transmitted to BOSE amp via AV control unit.

USB CONNECTION FUNCTION
- Connecting iPod� or USB memory allows the driver to play iPod� music files or USB memory-stored music files, video data, and image viewer data.
- Sound signals of music files stored in iPod� or USB memory are transmitted from the USB connector to the
AV control unit. The AV control unit transmits the sound signals to the woofer and each speaker via BOSE amp.
- Video signals and image viewer file signals are transmitted from the USB connector to the AV control unit.
The data and files are displayed on the front display unit screen.
- iPod� is recharged when connected to USB connector.
- Only files that meet the following conditions will be played.






NOTE:
- iPod� is a trademark of Apple inc., registered in the U.S. and other countries.
- Image signals cannot be received from iPod�.
- Use the enclosed USB harness when connecting iPod� to USB connector.

VOICE RECOGNITION FUNCTION
- Each operation of multi AV system can be performed by inputting sound to microphone.
- Start of sound recognition system can be performed by steering switch.

TOUCH PANEL SYSTEM
Each operation of multi AV system can be performed by directly touching a front display.

AROUND VIEW MONITOR FUNCTION
- This system is equipped with wide-angle high-resolution cameras on the front and rear of the vehicle and on both right and left door mirrors. The images from front view, rear view, front-side view (RH side), and bird's-eye view that shows the view from the top of the vehicle are displayed to monitor the vehicle surroundings.
- Around view monitor control unit cuts out and expands the image received from each camera to create each view.
- The sonar indicator is displayed on display (superimposed on the camera image) in combination with the camera assistance sonar system to warm of the approach of an obstacle.
- In front view and rear view, the vehicle width, distance lines and predictive course lines are superimposed and displayed. In front-side view, the vehicle distance guiding line and vehicle width guiding line are displayed.
- The Birds-Eye view converts the images from 4 cameras into the overhead view and displays the status of the vehicle on display. The vehicle icon and sonar indicator that are displayed on the Birds-Eye view display are rendered by around view monitor control unit.

Around View Monitor Screen
- Around view monitor combines and displays the travel direction view and "Birds-Eye view", "Front-Side view" and then it displays the sonar indicator on the "Birds-Eye view", "Front-Side view""Rear wide view" .
- AV control unit renders the "Change View" switch, view icon, warning message on display.
Screen constitution






Operation Description
- Around view monitor operates by pressing the "CAMERA" switch of multifunction switch and shifting the selector switch to the reverse position.
- When the selector lever is in any position other than the reverse position, the screen is switched to the around view monitor by pressing the "CAMERA" switch.
- The screen is switched to the around view monitor by shifting the selector lever to the reverse position.
- In the around view monitor, Birds-Eye view, Front-side view and rear wide view (rear only) can be switched by pressing the "CAMERA" switch.
- The around view monitor is cancelled 3 minutes after pressing the "CAMERA" switch, and then the screen returns to the screen before displaying the around view monitor when selector lever is in a position other than the reverse position.
- ON/OFF setting of sonar indicator display on the Front-Side view screen can be performed.
- In the Birds-Eye view, the invisible area is displayed on the image to specify the boundary of the 4 cameras.
The invisible area is displayed in yellow in the Birds-Eye view after turning the ignition switch ON.
- The sonar (both of buzzer and indicator) operates only when the camera screen is displayed.

NOTE:
The first, second, and third camera image displayed when switched to the camera image display depends on the settings of "Camera View Priority".
Around view monitor screen transition






FRONT VIEW
- The front view image is from the front camera.
- When the selector lever is in any position other than the reverse position, the front view is displayed by pressing the "CAMERA" switch. It improves the visibility of obstacles in front of the vehicle and helps driving by the images displayed from Birds-Eye view and Front-Side view.
- Display the vehicle width guiding line and vehicle distance guiding line in front view and display the predictive course line according to the steering angle.
- If the steering angle is within approximately 90 degrees, the predictive course lines on the left/right side are displayed. If the steering angle is exceeding approximately 90 degrees, only the predictive course line on the outside (in the opposite side of steering direction) is displayed.
- AV control unit is connected to the steering angle sensor and receives the steering angle signal via CAN communication. AV control unit is transmits steering angle signal to around view monitor control unit via AV communication.
- Around view monitor control unit controls the direction and distance of the predictive course line according to the sensor signal from steering angle sensor.
Front view guiding lines






REAR VIEW
- The rear view image is from the rear camera.
- When the selector lever is in the reverse position, the rear view is displayed. Backing and parking are improved by the images from Birds-Eye view and Front-Side view. The rear wide view function allows the display of an image with a 180� horizontal angle.
- Display the vehicle width guiding line and vehicle distance guiding line in Rear view and display the predictive course line according to the steering angle (except when using the rear wide view function).
- The predictive course line is not displayed at the steering neutral position.
- AV control unit is connected to the steering angle sensor and receives the steering angle signal via CAN communication. AV control unit is transmits steering angle signal to around view monitor control unit via AV communication.
- Around view monitor control unit controls the direction and distance of predictive course line according to the sensor signal from steering angle sensor.
Rear view guiding lines






FRONT-SIDE VIEW
- The front-side view image is from the side camera RH.
- In Front-Side view, display the vehicle distance guiding line and vehicle width guiding line.
- The infrared LED illumination is installed on the door mirror RH to illuminate around the front wheels.
Front-side view area and guiding line






BIRDS-EYE VIEW
- The image from the 4 cameras is cut out and converted into the overhead view, and the surroundings of the vehicle is displayed in birds-eye view.
- In Birds-Eye view, the invisible area is displayed on the image to specify the boundary of the 4 cameras.
- The invisible area is displayed in yellow in the Birds-Eye view after turning the ignition switch ON as an information for the user. (OFF setting can be performed)
Birds-Eye view display image





Birds-Eye view display area






Camera Image Operation Principle
- If the information writing to around view monitor control unit and the information from the camera are not matched, the applicable camera position is indicated as an error on the Birds-Eye view display. (Calibration operation is necessary when replacing each camera or when replacing around view monitor control unit.)
- Around view monitor control unit receives the camera switch signal from AV control unit via AV communication by pressing the "CAMERA" switch of multifunction switch.
- Around view monitor control unit that receives the camera switch signal supplies the power to each camera and inputs the camera image from each camera.
- When the selector lever is in the reverse position, around view monitor control unit receives the reverse signal, supplies the power to each camera, and inputs the camera image from each camera.
- Around view monitor control unit that receives the camera image signal from each camera cuts out the required screen for each view, superimposes the camera image, vehicle icon, guiding lines, sonar indicator, and outputs them to the front display unit.

CAMERA ASSISTANCE SONAR FUNCTION
- Install the corner sensor on the front bumper and rear bumper. It detects the obstacles around the vehicle when the around view monitor is displayed. It warns of the approach to the obstacles with the buzzer and indicator in the display linked with the around view monitor system.
- It displays the distance between the bumper and obstacle with the color of sonar indicator in the display and the blinking cycle of indicator in 3 stages.
- The buzzer warns of the distance to the obstacles with the cycle in 3 stages.

System Operation Description
- Around view monitor control unit transmits the sonar operation signal via AV communication to sonar control unit to control the operation of sonar indicator and sonar buzzer.
- Sonar control unit that receives the sonar operation signal from around view monitor control unit transmits the detection signal and detection distance signal according to the signal from corner sensor via AV communication to around view monitor control unit. Around view monitor control unit operates the applicable sonar indicator.
- When receiving a sonar operation signal from the around view monitor control unit, the sonar control unit converts a signal transmitted from the corner sensor into a detection distance signal and transmits it to the
AV control unit via AV communication. When receiving the detection signal, the AV control unit activates each speaker via BOSE amp.
- Sonar control unit has the diagnosis function. It can detect the corner sensor malfunction or sensor harness open circuit. It transmits the diagnosis results to around view monitor control unit and always displays the sonar indicator in red to inform the user.

Obstacle Detection Distance
- Sonar control unit changes the outputs of the sonar indicator and warning buzzer in 3 stages according to the obstacle detection distance from the corner sensor.
- The sonar control unit can change the setting of obstacle detection distance in 4 stages.
Obstacle detection image
















Sonar Indicator Display
- Around view monitor control unit that receives the detection signal and detection distance signal from sonar control unit displays the sonar indicator on display.
- Around view monitor control unit changes the color or blinking cycle of the indicator according to the detection distance.
Color and blinking cycle of sonar indicator






Sonar Buzzer Operation
- Each sonar sensor transmits a sensor signal to the sonar control unit when detecting an obstacle.
- The sonar control unit converts a signal received from each sonar sensor into distance and transmits detection distance signal to the AV control unit via AV communication.
- The AV control unit transmits a buzzer signal to the BOSE amp. corresponding to each sonar sensor based on the received signal.
- When receiving a buzzer signal, the BOSE amp. transmits the buzzer signal to the each speaker. When each speaker receives a buzzer signal, a buzzer sounds.
- When the front corner sensor detects an obstacle, a buzzer is heard from the speakers on the front side.
- When the rear corner sensor detects an obstacle, a buzzer is heard from the speakers on the rear side.
- It changes the buzzer cycle in 3 stages according to the detection distance.
Sonar buzzer cycle






VEHICLE INFORMATION FUNCTION
- Status of audio, climate control system, fuel economy, maintenance and navigation are displayed.
- AV control unit displays the fuel consumption status while receiving data signal through CAN communication from ECM, unified meter and A/C amp.
- AV control unit is connected to BCM via CAN communication transmitting/receiving for the vehicle settings function.