Hyundai Santa Fe (TM): Front View Camera System

Hyundai Santa Fe TM 2019-2023 Service Manual / Advanced Driver Assistance System (ADAS) / Front View Camera System

Description and operation

Description and Operation

Blcok Diagram

•	This system monitors the driving situations through the radar and the camera. Thus, for a situation out of the sensing range, the system may not normally operate.

The System may be limited when :

•	The radar sensor or camera is blocked with a foreign object or debris.

•	The camera lens is contaminated due to tinted filmed or coated windshield, damaged glass, or stuck of foreign matter (sticker, bug, etc.) on the glass.

•	Inclement weather such as heavy rain or snow obscures the field of view of the radar sensor or camera.

•	The target in front is too small to be detected

•	The vehicle in front is an oversize vehicle or trailer that is too big to be detected by the camera recognition system (for example a tractor trailer, etc.).

•	The camera's field of view is not well illuminated (either too dark or too much reflection or too much backlight that obscures the field of view)

•	The vehicle in front does not have their rear lights ON or their rear lights are located in an unsual location (modified).

•	The windshield glass is fogged up and the clear view of the road has been obstructed.

System Function

The front camera (FR_CMR) supports the following functions by using the data recognized by the front camera (lane / light source / vehicle / pedestrian / motorcycle), and car signals (CAN communication).

Forward Collision-Avoidance Assist (FCA): This driving safety system sends warning to the driver for possible dangers and assists the braking of the vehicle to help avoid collision with any kind of obstacles that are in front of the car while driving. The FCA recognizes the position and the speed of the front obstacles (vehicle / pedestrian / two-wheeled vehicle) using the front camera / forward radar, sends visual / audible warning to the driver when a collision with the front obstacle is expected and helps the driver to avoid the collision by assisting to control the brake. However, the driver must keep an eye on the forward for safety because the front camera / forward radar may not operate normally in certain situations where the obstacles cannot be easily recognized.

Lane Keeping Assist (LKA): This driving safety system sends warning to the driver for possible dangers and controls the steering wheel when the system judges that the car is off the lane , reducing the risk of getting into an accident while driving. The LKA sends the driver the visual / audible / tactical warning by using the data about lanes, which is obtained by the front camera, the operational status of the turn signal lights, and helps the driver to avoid the collision by assisting to control the steering wheel. However, the front camera may not operate normally in certain situations where the locations or the boundaries of the lanes are hard to be identified.

Driver Attention Warning (DAW): This system warns the driver to avoid accidents if it judges that the driver is driving inadvertently. The DAW sends the driver visual and audible warnings if an inadvertent driving is detected by analyzing the driving pattern of the driver in consideration of the lane condition recognized by the front camera and the data on the speed / steering wheel angle / brake operation of the vehicle. However, the front camera may not operate normally in certain situations where the camera fails to obtain data about surroundings.

High Beam Assist (HBA): This system controls the operation of high beam to improve sight distance as much as possible by minimizing glare from other vehicles when driving at night or with no or less light. By using a forward camera, the HBA identifies where the light comes from, (whether it is from a vehicle in the front / across or a street). When there is light, the system turns the high beam OFF and when there is no light, it turns the high beam ON. However, the front camera may not operate normally in certain situations where the camera fails to obtain data about surroundings.

Lane Following Assist (LFA): This system is designed to improve passenger convenience by controlling the steering wheel to keep the vehicle at the center of the lane, helping to reduce operating load while driving. The LFA helps control the steering wheel to keep the car at the center of the lane by using the data about lanes and road boundaries obtained by the front camera. However, the driver must keep an eye on the forward for safety because the system may not operate normally in certain situations where the front camera fails to obtain information about front view.

Highway Driving Assist (HDA): This system is a driving convenience system that reduces driver burden while driving on highway or motorway by controlling the vehicle’s steering, acceleration and deceleration to maintain the speed set by the driver, keep a safe distance from the vehicle directly ahead, and keep the vehicle in the center of its current lane.

HDA uses navigational information to determine whether the vehicle is on highway or motorway. When the vehicle is on highway or motorway, HDA maintains the central position in the lane and the safe distance from the vehicle ahead by controlling steering and acceleration/deceleration in consideration of the lane information detected by the front camera and the relative position/speed detected by the front camera/radar from the vehicle ahead.

HDA is canceled when a driver presses the LFA button or SCC button or applies brake.

Also, HDA alerts the driver with visual/audible warnings when it judges that driver takes hands off the steering wheel for more than certain time and if the driver still does not hold the steering wheel after the hands-off warning, HDA will be canceled.

System operation

Front camera operating speed by each system :

		Warning [km/h]	FULL Braking [km/h]
Camera FCA	Stationary	5 - 200	5 - 75
	Moving vehicle	5 - 200	5 - 85
	Pedestrians	5 - 85	5 - 65

System	Start [km/h]		Stop [km/h]
System	MIN	MAX	MIN	MAX
LKA	60	200	55	210
DAW	-	200	-	210
HBA	40	175	25	180
LFA	-	180	-	190
HDA	-	180	-	190

The operating conditions of the front camera are as follows when the USM of the following system is ON and the required operating speed is satisfied.

FCA, Forward Collision-Avoidance Assist :

1)	ESC (Electronic Stability Control unit) must be ON

2)	It operates when a collision with another vehicle or a pedestrian in front is expected.

LKA, Lane Keeping Assist :

1)	The lane must be clearly identified and both lanes from the opposing directions must be detected.

2)	The driver should keep its hands on the steering wheel. The system is released if the steering wheel assist system ignores the force of the steering wheel.

3)	The system starts operating when the lane change is made arbitrarily while the turn signal lights and emergency light switch are being turned OFF.

4)	If the vehicle exceeds a predetermined width of the vehicle, the system judges that the vehicle moves from one lane to another, and this ends the system.

5)	The LKA may not work properly in the following conditions when • The car drives on a steep curve •There is a sudden braking or a sudden lane change. • The ESC / VSM is in operation • The width of the lane is too wide or too narrow.

DAW, Driver Attention Warning :

Inadvertent driving warning

1)	The DAW (Driver Attention Warning ) system may not work properly in the following conditions when

•	The car frequently and deliberately crosses over the lanes or is driven aggressively.

•	The car has to drive on an extremely curving road or uneven surface.

•	If the vehicle is controlled by other lane keeping systems such as ADAS.

Front Vehicle Departure Warning

1)	When the front vehicle starts running, the system displays a message on the instrument panel along with a beep.

2)	The Front Vehicle Departure Warning may not work properly in the following conditions when

•	Pedestrians or bicycles are in front.

•	Other vehicle cuts the line.

•	The vehicle standing at the front makes a sudden start or U turn.

•	과The vehicle is pulled over at a speed bump, ramp, shoulder, rest area, parking lot.

•	The vehicle stops running while making the right turn or driving on the curved road.

•	The front road condition is unpredictable (ex, a decrease of the number of driving lanes).

HBA, High Beam Assist :

1)	To activate the system, turn the light switch to the 'AUTO' position and slide it towards the instrument panel (High beam : ON).

The following explains the detailed operation of the High Beam Assist (HBA) System which is controlled by the switch.

When the high beam switch is pushed to the instrument cluster, the operation of the high beam switches to a 'Constant Turned ON' mode and the system ends.

When the light switch is pulled without the high beam being turned OFF, the high beam is turned ON without ending the HBA system.

(When hands are released, the switch moves to the center and turns the high beam OFF.)

When the light switch is pulled with the high beam being turned ON by the HBA, the high beam is turned OFF and the system ends.

The switch of the headlight switch from "Auto" to the "Headlight" turns the high beam OFF and ends the system.

3)	The high beam is automatically turned OFF when any of the following conditions occurs while the headlight is turned ON by the HBA.HBA

4)	The system detects the headlight of the other approaching car or the tail light of the front car.

5)	The system detects the headlight or tail light of bicycles or motorbikes.

6)	The light condition is bright enough not to turn the headlight ON.

7)	There is street light or other light in front.

8)	The light switch is not in the AUTO (auto light) position.

9)	The USM is OFF or does not meet the required operating speed.

10)	The system may not operate in a day time even though all conditions for HBA operation are met.

LFA, Lane Following Assist :

1)	Press the button of the LFA(Lane Following Assist) system on the steering wheel remote to activate the system.

2)	The system starts operating when the vehicle is located inside the lane, the lanes of both directions are recognized and there is no sudden turn of the steering wheel by the driver.

3)	If the lane is not recognized, the system assists the steering wheel control at a limited degree by adapting to different conditions depending on the presence of the other vehicle in front and the running state of the vehicle ahead.

4)	A hands-off warning occurs when the driver continues to drive the vehicle with his hands-off. The system ends when the driver continues to ignore the warning.

5)	The LFA system may not work properly in the following conditions, when •The vehicle drives on an extremely curving road. • The vehicle stops abruptly or makes a sudden lane change. • The ESC / VSM is in operation. The width of the lane is too wide or too narrow.

Highway Driving Assist (HDA) :

Fitted without ADAS_DRV

It will work automatically when a vehicle is being driven on the highway or motorway and the Smart Cruise Control is operating.

It will work automatically when a vehicle enters the main lane on highway or motorway while Smart Cruise Control is operating.

The system is canceled when pressing the lane keeping assist button while HDA is operating.

A hand-off warning is generated when the driver continues to take off hand from the steering wheel and the system is canceled if the driver does not continue to hold the steering wheel during the hand-off warning.

It can respond to cut-in vehicles coming from a short distance.

▶ NSCC auto speed setting mode

1)	When NSCC operating conditions are met and the driver's set speed and the speed limit on highway are matched, it will enter the auto speed setting mode. (Setting speed and 'AUTO' symbol is displayed in green, audible warning sounds)

2)	The setting speed changes automatically to the changed speed limit with an audible warning in the section where the speed limit is changed on the highway.

3)	When a driver changes setting speed randomly, 'AUTO' symbol will disappear and the auto speed setting mode is canceled.

4)	It may not operate or operate abnormally in the following cases

•	When a vehicle is out of main lane such as IC, JC or there is open type tollgate

•	When navigation map information has not been updated

•	When map information is not received by overload as navigations performs various functions simultaneously.

•	When navigation map is different to the actual road due to the map data error or GPS signal is not received.

•	If a driver travels differently than the guided route and navigation does not research the route automatically

Components and components location

Components Location

1. Front camera
2.Speaker (Cluster)

3. Lane keeping assist swtich

Repair procedures

Variant Coding

When you need variant coding:

–	Replace Front View Camera with a new one

※ EOL Variant Coding and calibration required for new replacement

Front View Camera Variant Coding

Front view camera variant coding makes it possible to operate functions for each vehicle type. If the variant coding differs from the vehicle specification, the "variant coding error" DTC is displayed.

Procedure for coding variants

(1)	You should read the specification information for the front view camera that is installed in the vehicle before replacing it with a new front view camera.

(2)	Connect the cable of Diagnostic tool to the data link connector in driver side crash pad lower panel, and turn on the Diagnostic tool.

(3)	Select the 'S/W Management' and 'Car model'.

(4)	Select "System Identification".

(5)	Select "Variant Coding".

(6)	Enter the value of the specification read in procedure(4) in the new front view camera.

Service Point Target Auto Calibration (SPTAC)

When you need calibration:

–	Front view camera is removed and mounted

–	Replace front view camera with a new one

–	Windshield glass changed

–	front view camera coupler of the windshield glass is deformed

Service Point Target Auto Calibration (SPTAC)

Front view camera SPTAC provides the method for the service technician to calibrate the camera by aligning the calibration target (SST: 09890-3V100) with the vehicle on a level ground.

If the calibration is not completed within the specified tolerance front view camera "System Out of Calibration" DTC is indicated.

Method for Correct Alignment of Calibration Target

In order to complete the calibration of the front view camera successfully, install the calibration target as follows:

–	Install the target (SST: 09890-3V100) vertical to the ground and from the camera referring to the below tolerance angle.

The tolerance ± 1° for the left and right gradient is very important and is sensitive to the flatness of the ground.

Install the compensator vertically using the Level Laser (SST: 09958-3T060 or 09964-C1200).

Arrange the Level Laser (A) on the center of the vehicle by installing it on the roof center above the vehicle's front windshield (same for both short and long distance calibrations) .

Have the laser illuminate starting from the roof center and to all the way to the center of the target, passing through the emblem center.

The level laser must be set to 'ON' and the holding (locking) function is not used.

Target is mounted to rigid backer material to maintain flatness requirements.

–	Target has reflective (not faded or poorly painted) markings that are unlike from lane features.

–	Target is 30 cm wide and 100 cm tall.

–	Mounting area must NOT have cross hatch patterns or textual markings near the target.

–	Target should be well lit for optimal performance using non-fluctuating illumination. There shall be no continuous shadows cast on the target.

–	The light should be directed toward the target front and the target front should be brighter than the target rear and target.

Service Point Target Auto Calibration(SPTAC) Procedure

1)	It is recommended to check vehicle toe-in and tire pressure levels to ensure proper alignment of the camera to the "world" before proceeding with calibration. The vehicle to run the calibration routine is to be at nominal production loading capacity.

2)	Windshield must be clean and silk-screen checked so that there is no blockage of the camera.

3)	Service technician connects the diagnostic connector and starts the vehicle. The front view camera should not be activated by pressing the switch.

4)	The service calibration routine may not run correctly if any system level fault is active.

5)	If working with a replacement ECU: the service technician initiates the SPTAC Reset configuration.

Service technician either aligns the vehicle to the target or the target to the vehicle.

a. Locate the bottom of the target 90cm from the ground (max. tolerance: 1cm).

b. Locate so that the central axis of the target and the central axis of the vehicle match (max. tolerance: 3cm).

c. Locate the short-distance target (A) so that it adheres by 0cm (B) to the bumper front (max. tolerance: 5cm).

d. The location of the long-distance target (C) is 100cm (D) before the bumper (max. tolerance: 5cm).

7)	Select Camera Calibration under Option of Global Diagnosis System (Diagnostic tool).

8)	The technician should complete the short-distance calibration after checking the target location and "OK" message on the Diagnostic tool.

The technician should complete the long-distance calibration after checking the target location and "OK" message on the Diagnostic tool (conduct the calibration twice: short and long distances).

If the distance 100 ± 5 cm (39.4 ± 2 inch) is different from the distance indicated on the Diagnostic tool, calibrate it according to the value indicated on the Diagnostic tool.

Test Drive

–	Be sure to perform test drive to check for normal operation after performing calibration.

–	Drive on straight road (of longer than 500 m) with 2 white or yellow lane marks at speed of over 40mph(60km/h), and check for the alert as you intentionally steer close to the lane mark.

–	LKA operates properly if the lane mark segment space is less than 8 m.

–	Perform test drive on car-only road or on a highway.

•	The LKA is a system to prevent lane departure and assist steering. In any case, do not rely on the steering assist system, and the driver must take the necessary precautions to determine safety matters.

–	Driver is responsible for being aware of surroundings and steering the vehicle for safe driving practices.

–	Do not tinted window or attaching any types of coatings and accessories.

–	Do not allow any water or liquid to contact the front view camera.

–	Do not remove the front view camera parts and do not damage the front view camera by a strong impact.

–	Do not put objects that reflect light on the crash pad.

–	Excessive noise can make the LKA alarm sound unheard.

High Beam Asisst (HBA)

The system may not operate normally in the below conditions.

–	When the light from the oncoming or front vehicle is not detected because of lamp damage, hidden from sight, etc.

–	When the lamp of the oncoming or front vehicle is covered with dust, snow or water.

–	When the light from the oncoming or front vehicle is not detected because of exhaust fume, smoke, fog, snow, etc.

–	When the front window is covered with foreign matters such as ice, dust, fog, or is damaged.

–	When there is a similar shape lamp with the front vehicle’s lamps.

–	When it is hard to see because of fog, heavy rain or snow.

–	When the headlamp is not repaired or replaced at an authorized dealer.

–	When headlamp aiming is not properly adjusted.

–	When driving on a narrow curved road or rough road.

–	When driving downhill or uphill.

–	When only part of the vehicle in front is visible on a crossroad or curved road.

–	When there is a traffic light, reflecting sign, flashing sign or mirror.

–	When the road conditions are bad such as being wet or covered with snow.

–	When the front vehicle’s headlamps are off but the fog lamps on.

–	When a vehicle suddenly appears from a curve.

–	When the vehicle is tilted from a flat tire or being towed.

Forward Collision-avoidance Assist (FCA) / Highway Driver Assist

The Forward Collision-avoidance Assist (FCA) and the Highway Driver Assist may not operate properly in the following conditions, when

–	The sight of the objects in front is narrow (etc. motorcycle).

–	The car in front takes a round turn at the roundabout.

–	The car in front is a special-featured vehicle such as a special vehicle or a truck carrying a specific type of luggage or a trailer.

–	The rear part of the car in front is not properly identified. (ex it is turned or overturned).

Lane Keeping Assist (LKA) / Lane Keeping Assist (LFA) / Highway Driver Assist

The FCA/HDA may not activate properly in the following conditions.

The LKA may not activate properly when :

–	It is difficult to distinguish the lane from the road due to dust built up on the lane.

–	It is difficult to distinguish the color of the lane line from the road.

–	There is a mark that looks like a lane line near the line.

–	The lane line is indistinct or damaged.

–	The number of lanes increases or decreases or the lane lines are crossing (driving through toll plaza, toll gate, road merging or dividing area, etc.).

–	There are more than two lane lines.

–	The lane is very wide or narrow.

–	The lane is not visible due to snow, rain, stain, a puddle or other factors.

–	Shadows of objects (median strip, guard rail, noise barriers, etc.) surrounding the road are casted on the lane.

–	The lane is congested or it is replaced by a structure in a construction area.

–	There is a indication on the road surface such as crosswalk or road signs.

–	The lane inside the tunnel is covered with dust or oil.

–	There is a boundary structure.

–	Driving on the bus-only lane or on the left/right of the lane.

–	The lane suddenly disappears at certain locations such as at the intersection.

Front View Camera Unit. Schematic diagrams

Circuit Diagram

Front View Camera Unit. Repair procedures

Removal

1.	Disconnect the negative (-) battery terminal.

2.	Remove the inside rear view mirror cover (A) and front view camera cover (B).

3.	Disconnect the front view camera unit connector (A).

4.	Separate the fixed points (A) of coupler, remove the front view camera (B).

Installation

•	Perform the camera calibration in the following case. (Refer to Front View Camera System - "Repair Procedure")

–	If the front view camera is replaced with a new one.

–	If the front view camera is removed and mounted.

–	If the front view camera coupler of the windshield glass is deformed.

–	If the windshield glass is changed.

–	When a failure code (System Out of Calibration) occur.

1.	Install in the reverse order of removal.

2.	When if replacing the front view camera with a new one, perform the "Variant Coding" procedure by using the Diagnostic Tools.

3.	Perform the front view camera unit calibration. (Refer to Repair procedures - "Service Point Target Auto Calibration (SPTAC)")

Lane Safety Button. Schematic diagrams

Circuit Diagram

Lane Safety Button. Repair procedures

Removal

1.	Disconnect the negative (-) battery terminal.

2.	Remove the crash pad lower pannel. (Refer to Body - "Crash Pad Lower Panel")

3.	Loosen the mounting screw and remove the crash pad garnish [LH] (A).

4.	Disconnect the crash pad garnish [LH] connector (A).

5.	Loosen the mounting screws and remove the crash pad lower switch (A).

Installation

1.	Install the crash pad lower panel switch.

2.	Install the crash pad lower panel.

3.	Connect the negative (-) battery terminal.

Special service tools

Special Service Tools Tool Name / Number Illustration Description LKA Compensator (09890-3V100) Used for compensating front view camera unit Vertical measuring instrument (09964-C1200) Used to measure ...

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