413-13B Parking Aid - Vehicles With: Active Park Assist	2013 - 2014 Fusion
Description and Operation	Procedure revision date: 08/29/2012

Parking Aid - System Operation and Component Description

System Operation

Parking Aid - Active Park Assist

System Diagram

Network Message Chart

Parking Aid Module (PAM) Network Input Messages

Broadcast Message	Originating Module	Message Purpose
ABS event in progress	ABS module	Disables the active park assist system if an ABS activation occurs.
Ambient air temperature	FCIM	Used to temperature compensate the active park assist sensor inputs.
Door ajar status	BCM	Disables the active park assist system when any door except the driver door is ajar.
Selector lever (PRNDL) status ( HEV and PHEV only)	TCM	Used to generate appropriate active park assist drive messages.
Selector lever (PRNDL) status (except HEV and PHEV )	PCM	Used to generate appropriate active park assist drive messages.
Stability control active	ABS module	Disables the active park assist system if a stability control system activation occurs
Steering angle status	ABS module	Used to determine the current steering angle.
Steering column torque	PSCM	Used to detect driver torque input and to disable active park assist system if driver intervenes by applying rotational torque to steering wheel during and active park assist maneuver.
Turn signal status	SCCM	Used to determine which side of the vehicle the intended parking space is located on.
Vehicle speed	PCM	Used to disable the parking aid if the vehicle speed exceeds a preset threshold.
Wheel speed and rotation data	ABS module	Used to confirm vehicle movement and calculate distance traveled during active park assist maneuvers.
Yaw Rate	RCM	Used to disable the active park assist system in the event that a loss of vehicle control is detected (excessive yaw rate)

PSCM Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Steering angle request	Parking Aid Module (PAM)	Used to command the steering angle during active park assist maneuvers.

IPC Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Parking aid chime request	Parking Aid Module (PAM)	Used to command audible tones during active park assist maneuvers.

APIM Network Input Messages

Broadcast Message	Originating Module	Message Purpose
Active park assist messages	Parking Aid Module (PAM)	Used to generate driver instructions through the FDIM during active park assist maneuvers.

Active Park Assist Operation

The Parking Aid Module (PAM) communicates with several modules to control the functions of the active park assist system. The active park assist system utilizes steering angle inputs, vehicle wheel rotation count and direction, active park assist sensor inputs, vehicle speed and transmission selection to calculate vehicle position and distance in relation to the parking space. The inputs are used by the Parking Aid Module (PAM) to command the steering system to assist with the steering wheel control to maneuver the vehicle into the parking space.

When the active park assist switch is pressed, the FDIM displays the message Searching For Parking Space On Left/Right Side. The multifunction switch turn signal input determines the side of vehicle in which the driver is searching for a parking space. If the turn signal is not active, the active park assist system defaults to searching on the passenger side of the vehicle.

The system measures the available parking spaces and its surroundings as the operator drives by to determine if the vehicle can be maneuvered into the available parking space. The Parking Aid Module (PAM) uses inputs from the active park assist sensors and the wheel speed and rotation data message to find an acceptable parking space. After a space has been located, a chime sounds through the audio system and the FDIM displays a message informing the driver that a parking space has been located on the left or right side and requesting the driver to pull forward to park. After the driver moves the vehicle forward to the appropriate start position, as determined by the Parking Aid Module (PAM), the system will request the driver to stop, shift to the transmission into reverse and remove hands from the steering wheel. After the transmission is in reverse and no driver input torque on the steering wheel is detected (driver has removed their hands from the wheel), the active park assist system takes control of the steering and prompts the driver to begin backing into the parking space. The active park assist system sounds audio tones and issues commands through the FDIM instructing the driver to back up and pull forward as necessary while the system controls the steering to position the vehicle within the detected parking space. The operator maintains full control of the gear shifting, accelerator and brakes during active park assist maneuvers.

If an input module fault or other system malfunction is present, the active park assist system is disabled or prevents the system from activating. The message Active Park Assist Fault is displayed by the FDIM and a DTC is set in the Parking Aid Module (PAM).

Certain conditions can cause the active park assist system to incorrectly align the vehicle in the parking space:

A spare tire installed or one of the tires on the vehicle has significantly more or less treadwear than the other tires.
The vehicle has been equipped with various accessories (cycle rack, trailer) which are not recognized by the active park assist system.
The factory-installed tire size is not used on the vehicle.
Poor ambient weather conditions such as heavy rain or snow.
The active park assist sensors are damaged or obstructed.
The curb along the parking space is irregular.
The vehicle or objects bordering the space are not positioned correctly.
The parking space dimensions or parked objects position have changed after the vehicle has initially passed the parking space.
The ambient temperature changes quickly such as the vehicle driven from a heated garage into the cold or just leaving a car wash before the system was activated.
One of the surrounding parked vehicles has a high or overhanging attachment, such as a salt spreader or a large truck bed, that the sensors cannot detect.

Pressing and releasing the active park assist switch at anytime disables the active park assist system. If the system is disabled by the operator after the system starts to control the steering, a warning chime is sounded and the FDIM displays the message Active Park Assist Cancelled or Active Park Assist Deactivated.

Parking Aid System

The active park assist system uses input from the audible parking aid system when parking the vehicle. Input from the front and rear parking aid sensors helps the Parking Aid Module (PAM) determine the position of the vehicle in the parking space. For more information on the operation of the operation of the parking aid,
Refer to: Parking Aid - System Operation and Component Description (413-13A Parking Aid, Description and Operation).

EPAS Control

The PSCM controls the steering during active park assist maneuvers based on inputs received from the Parking Aid Module (PAM) through the High Speed Controller Area Network 1 (HS1-CAN), GWM and the High Speed Controller Area Network 2 (HS2-CAN). The PSCM also provides steering column torque data to the Parking Aid Module (PAM) to determine if the driver has grabbed the steering wheel while the active park assist system has control of the steering.

Active Park Assist Chimes

The active park assist audio system chimes are controlled by the IPC . Based the on the parking aid chime request message from the Parking Aid Module (PAM), the IPC will command the audio system to lower the current radio volume and sound a chime through the audio system speakers. In the event of an audio system fault, the IPC will sound the chimes through an integral speaker.
Refer to: Warning Chimes - System Operation and Component Description (413-01 Instrumentation, Message Center and Warning Chimes, Description and Operation).

Active Park Assist Message Display

Active park assist messages are displayed by the FDIM . Conditions that can cause the active park assist system to be temporarily unavailable or cause the current active park assist system maneuver to be cancelled are:

Cancellation Event	FDIM Message / Audio Chime
Driver grabbing steering wheel while the active park assist system has control of the steering.	Active Park Assist Cancelled By Driver Input followed by a chime
Vehicle speed above 29 kmh (18 mph) during the measuring/searching phase for 30 consecutive seconds.	Reduce Speed
Vehicle speed above 9.7 kmh (6 mph) when the active park assist system has control of the steering.	Active Park Assist Cancelled By High Speed followed by a chime
Deactivation of the Advance Trac® by the driver, an ABS system activation or an Advance Trac® system activation occurs while the active park assist system has control of the steering.	Active Park Assist Cancelled By Advance Trac or Active Park Assist Cancelled By Anti-Lock Brake System Event followed by a chime
Any vehicle door (except the driver's door) or decklid is opened when the active park assist system has control of the steering.	Active Park Assist Cancelled followed by a chime
The driver changes from reverse to drive before the vehicle is far enough inside the parking space.
The system cannot follow the intended steering path (obstruction detected by the sensors)
A vehicle attachment is detected by the reverse parking aid system, such as a trailer or bike rack.	Active Park Assist Not Available followed by a chime
Any door (except the driver's door) is ajar prior to attempting to activate the active park assist system.
Ambient air temperature sensor calibration concern (can be caused by a battery disconnect or recent service actions, refer to the PC/ED manual to diagnose ambient air temperature sensor concerns)

Component Description

Active Park Assist Sensors

The active park assist sensors are narrow beam ultrasonic sensors. The sensors continuously send out ultrasonic signals to detect an available parking space and communicate the information back to the Parking Aid Module (PAM). The sensors are active when the vehicle is moving regardless of whether the operator has pressed the active park assist switch. Only objects which reflect enough sound waves will be detected by the sensors. This varies due to the shape, surface properties and size of objects being detected. Incorrect sensor alignment, dirt covered sensors, heavy rain and snow can cause objects not to be recognized. Since ambient temperature affects the speed of sound, the Parking Aid Module (PAM) temperature compensates the sensor inputs.

Parking Aid Module (PAM)

The Parking Aid Module (PAM) is the controlling module for the active park assist system, processing the active park assist and parking aid sensor data and providing the steering angle commands to the PSCM and generating driver input requests through the FDIM . The Parking Aid Module (PAM) sets and stores Diagnostic Trouble Codes (DTCs) for the active park assist system.

Active Park Assist Switch

The active park assist switch is a normally open, momentary contact switch that provides a ground to the Parking Aid Module (PAM) when pressed, which enables and disables the active park assist system.