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Traffic Safety System: Overview Saab 9-5 II

Collision/avoidance ~4252 words

Object Detection Description and Operation (Traffic Sign Assist)

The traffic sign assistant is a convenience detects designated traffic signs via the vehicle direction camera control module and displays them in the driver information center.

The traffic sign assistant is made up of the following components

  1. Vehicle direction camera control module
  2. Instrument Panel Cluster

Traffic Sign Assist Operation

The following traffic signs will be detected

  1. Speed limit
  2. End of speed limit
  3. No overtaking for passenger cars
  4. End of no overtaking for passenger cars
  5. End of all restrictions
  6. Speed limit on zone
  7. End of speed limit zone
  8. LED signs

No passing signs have priority above speed limits. Combinations of both signs in the driver information center are possible.

The traffic sign assist will be active and ready to assist, if the vehicle speed is higher than 10 km/h (6 MPH). It will remain active at day until a speed of 200 km/h (124 MPH). At night the visibility of traffic signs is decreased at higher speed. Therefore the traffic sign assist will be deactivated at night when the speed is above 140 km/h (87 MPH).

If the system is deactivated because of too low or too high speed, the speed limit information is cleared and the blank page is shown. Even if the system is active again, it will show the blank page until the next valid traffic sign is detected. As soon as the speed becomes slower than 55 km/h (34 MPH) the display also will be reset and the content of the traffic sign page will be cleared.

The content of the traffic sign page is also cleared during driving by pushing the SET/CLR button on the turn signal lever.

When one of the following conditions are met, the system does not operate correctly

  1. The area of the windshield, where the camera is located, is not clean.
  2. Traffic signs are completely or partially covered or badly discernible.
  3. There are bad environmental conditions like strong rain, snow, direct sun or shadows.
  4. Traffic signs are incorrectly mounted or damaged.
  5. Traffic signs do not comply with the Vienna Convention on traffic signs.

Object Detection Description and Operation (Parking Assist with Parallel Parking)

The ultrasonic parking assist system is designed to identify and notify the driver of an object in the vehicle's path when moving forward or reversing at speeds of less than 8 km/h (5 MPH). The distance and location of the object is determined by eight object sensors: four located in the rear bumper and four located in the front bumper. The parking assist system will notify the driver using an audible beep signal through the radio.

The parallel parking assist system uses two additional sensors located on the front fascia, just ahead of the wheel opening. These sensors face toward the side of the vehicle and are used to aid the driver in positioning the vehicle in a parallel parking maneuver.

Parking Assist Operation

When an object is within the measuring range of the sensor, the ultrasonic pulse is reflected and is received by the sending or a neighboring sensor. The sensor converts this signal into a voltage signal and sends this signal to the parking assist control module. The parking assist control module evaluates the received sensor signals. As soon as an object is within the measuring range, the parking assist control module sends a message via CAN-Bus to the radio in order to give out the acoustic distance signal.

The measuring range of the front object alarm sensors is between 30-120 cm (11.8-47.2 in). From a distance of 120 cm (47.2 in), the acoustic signal is active. The frequency of the beep sound increases with decreasing distance. From a distance less than 30 cm (11.8 in), the sound becomes continuous.

The measuring range of the rear object alarm sensors is between 30-250 cm (11.8-98.4 in). From a distance of 250 cm (98.4 in), the acoustic signal is active. The frequency of the beep sound increases with decreasing distance. From a distance less than 30 cm (11.8 in), the sound becomes continuous.

The parking assist can be activated and deactivated by pressing the parking assist switch. By engaging the reverse gear the parking assist can also be activated. By subsequently pressing the parking assist switch the parking assist can be disabled again.

The parking assist control module carries out a self test and monitors the sensors for electrical and mechanical faults. Monitored is the power supply of each sensor and the sensor signals, which need to alter when the vehicle moves. If this is not the case, the sensor is acoustically blocked or faulty. Mud, ice and snow may cause obstruction of the function of the sensors. Besides that the parking assist control module checks whether the correct type of sensor is installed. If any of these tests fails, a DTC with corresponding symptom is set, the parking assist is deactivated and the parking assist indicator in the instrument panel cluster is activated.

Parallel Parking Assist Operation

The parallel parking assist system aids the driver when attempting a parallel parking maneuver. The parking assist control module uses the two parallel parking assist sensors located in the front fascia, along with the four front and four rear park assist sensors, to guide the driver into a parking space.

The parallel parking assist switch is used to initiate the parallel parking assist system. While driving along a row of vehicles in which the driver wishes to parallel park, the parallel parking assist switch is pressed. This will enable the parallel parking assist system and the parking assist control module will begin measuring potential parking spots using the parallel parking assist sensor.

When a parking spot of suitable size is found, the parking assist control module will display a stop message on the driver information center. The parking assist control module will then instruct the driver to begin reversing. Using the parallel parking assist sensor, the parking assist control module will determine the appropriate time to begin turning the steering wheel to enter the parking spot and again when to turn the steering wheel in the opposite direction to fully enter the parking spot. Each time the steering wheel is to be turned, a message instructing the driver to do so is displayed on the driver information center. Once in the spot, the parking assist control module uses the front and rear park assist sensors to center the vehicle in the parking spot.

If the parallel parking assist system is unable to complete a parallel parking maneuver, a message indicating that the maneuver has been aborted will be displayed on the driver information center.

Object Detection Description and Operation (Parking Assist)

The ultrasonic parking assist system is designed to identify and notify the driver of an object in the vehicle's path when moving forward or reversing at speeds of less than 8 km/h (5 MPH). The distance and location of the object is determined by eight object sensors: four located in the rear bumper and four located in the front bumper. The parking assist system will notify the driver using an audible beep signal through the radio.

When an object is within the measuring range of the sensor, the ultrasonic pulse is reflected and is received by the sending or a neighboring sensor. The sensor converts this signal into a voltage signal and sends this signal to the parking assist control module. The parking assist control module evaluates the received sensor signals. As soon as an object is within the measuring range, the parking assist control module sends a message via CAN-Bus to the radio in order to give out the acoustic distance signal.

The measuring range of the front object alarm sensors is between 30-120 cm (11.8-47.2 in). From a distance of 120 cm (47.2 in), the acoustic signal is active. The frequency of the beep sound increases with decreasing distance. From a distance less than 30 cm (11.8 in), the sound becomes continuous.

The measuring range of the rear object alarm sensors is between 30-250 cm (11.8-98.4 in). From a distance of 250 cm (98.4 in), the acoustic signal is active. The frequency of the beep sound increases with decreasing distance. From a distance less than 30 cm (11.8 in), the sound becomes continuous.

The parking assist can be activated and deactivated by pressing the parking assist switch. By engaging the reverse gear the parking assist can also be activated. By subsequently pressing the parking assist switch the parking assist can be disabled again.

The parking assist control module carries out a self test and monitors the sensors for electrical and mechanical faults. Monitored is the power supply of each sensor and the sensor signals, which need to alter when the vehicle moves. If this is not the case, the sensor is acoustically blocked or faulty. Mud, ice and snow may cause obstruction of the function of the sensors. Besides that the parking assist control module checks whether the correct type of sensor is installed. If any of these tests fails, a DTC with corresponding symptom is set, the parking assist is deactivated and the driver information center displays SERVICE PARK ASSIST.

Object Detection Description and Operation (Lane Departure Warning)

The lane departure warning system is a convenience feature that issues a warning when the system detects that the vehicle has unintentionally crossed a lane marking. The lane departure warning system is controlled by a camera located behind the windshield which looks out at the road ahead and detects any lane markings. When the vehicle unintentionally leaves a detected lane, a visual and audible alert is given to the driver.

The lane departure warning system is made up of the following components

  1. Vehicle direction camera control module
  2. Lane departure warning switch
  3. Instrument Panel Cluster
  4. Radio

Lane Departure Warning Operation

System operation can be describe by the following modes

  1. Disabled: The system has disabled by the operator, using the lane departure warning switch. The lane departure warning LED will not be illuminated.
  2. Not Ready To Assist: The system is enabled and the lane departure warning LED is illuminated, but not ready to assist when any of the following conditions is true: Vehicle speed is less than 56 km/h (35 MPH) or vehicle speed has dropped below 48 km/h (30 MPH) when the system initially was in the ready to assist mode. The system is designed to function at speeds greater than 56 km/h (35 MPH). The system cannot detect lane markings. This may be because there are no lane markings, as on a country road or that the lane markings cannot be determined due to snow, rain, or other driving conditions. The windshield area in front of the camera or the camera lens is blocked by fog, dirt, damage to the windshield or other elements that may prevent the camera from detecting lane markings.
  3. Ready To Assist: The system is enabled and ready to warn of the unintentional lane crossing. The system is ready to assist when the green lane departure warning indicator is illuminated on the instrument cluster.

Object Detection Description and Operation (UFT)

The side blind zone alert system is designed to detect vehicles or other objects that may be located in the vehicles blind spots. This detection is performed by two side object sensors, located behind the rear fascia on each side of the vehicle. When an object is detected in a blind spot, an indicator in the outside rearview mirror will illuminate, notifying the driver that it is unsafe to change lanes.

The side blind zone alert system is made up of the following components

  1. Left side object sensor
  2. Right side object sensor
  3. Driver outside rearview mirror
  4. Passenger outside rearview mirror

Side Blind Zone Alert Operation

When the vehicle is started, the indicators located in the outside rearview mirror will briefly illuminate to indicate that the system is operating. The side object sensors cover a zone of approximately one lane over from both sides of the vehicle, 3.5 m (11 ft). This zone starts at each side mirror and goes back approximately 5.0 m (16 ft). The height of the zone is approximately between 0.5 m (1.5 ft) and 2.0 m (6 ft) off the ground. When a vehicle or object is detected in this area, the appropriate indicator will be illuminated, indicating to the driver that it is unsafe to change lanes. If a turn signal is activated while the indicator is illuminated, the indicator will flash as a more urgent warning that a lane change may be unsafe.

Foul weather may affect the operation of the side blind zone alert system. Occasional missed alerts can occur under normal circumstances and will increase in wet conditions. The number of missed alerts will increase with increased rainfall or road spray. Heavy rainfall, as well as mud, dirt, snow, ice, or slush build-up on the rear fascia, will completely disable the system.

If the vehicle is towing a trailer or has an object, such as a bicycle rack, attached to the rear of the vehicle, the side blind zone alert system may not function properly and the indicators will remain illuminated at all time.

Rear vision camera system, operation

The components used in the rear vision camera system are the camera, which is located at the rear of the vehicle, and the navigation radio.

When the vehicle is placed in REVERSE, the body control module sends a 12 V signal to the rear vision camera. This signal indicates that rear vision camera operation is required. Upon receipt of this signal, the camera will begin the power up cycle. The navigation radio also receives a serial message that indicates that reverse gear is engaged. When the radio receives the message it initiates the display start cycle. The rear vision camera transmits the video signal to the navigation radio through discrete + and - signal circuits. A metallic foil encases the video signal circuits and is tied to a shield ground circuit. This shield is designed to reduce electronic interference which may degrade the video signal and cause a distorted or otherwise degraded image.

If desired, the rear vision camera may be manually disabled through the navigation system menu. Refer to the navigation system owners manual for instructions on manually disabling and enabling the rear vision camera system. The following conditions may cause a degraded rear vision camera image

  1. Ice, snow, or mud has built up on the rear vision camera
  2. Dark conditions
  3. Extreme light conditions, such as glare from the sun or the headlights of another vehicle
  4. Damage to the rear of the vehicle
  5. Extreme high or low temperatures or extreme temperature changes

If a malfunction is detected in the system, Service Rear Vision Camera may be displayed on the navigation radio as an indicator to the customer that a problem exists that requires service.

DTCDescription
DTC B0954Parking Aid Front Sensor Left Corner Circuit
DTC B0955Parking Aid Front Sensor Left Middle Circuit
DTC B0956Parking Aid Front Sensor Right Middle Circuit
DTC B0957Parking Aid Front Sensor Right Corner Circuit
DTC B0958Parking Aid Rear Sensor Left Corner Circuit
DTC B0959Parking Aid Rear Sensor Left Middle Circuit
DTC B0960Parking Aid Rear Sensor Right Middle Circuit
DTC B0961Parking Aid Rear Sensor Right Corner Circuit
DTC B0967Parking Aid On/Off Switch Circuit Short to Ground
DTC B0968Parking Aid On/Off Switch Indicator Circuit
DTC B096BParking Aid Switch Parallel Parking Circuit Short to Ground
DTC B096CParking Aid Side Sensor Left
DTC B096DParking Aid Side Sensor Right
DTC B0987Vehicle Direction Camera Indicator Circuit High Voltage/Open
DTC B0988Vehicle Direction Camera Control Module Malfunction
DTC B1015Vehicle Identification Number Information Malfunction
DTC B1405Control Module Voltage Reference Output 2 Circuit
DTC B356AVehicle Direction Warning Switch Circuit

TRAFFIC SAFETY SYSTEM DTC INDEX

Circuit/System Description

The object sensors are 3-wire sensors that are used to determine the distance between the vehicle and an object of interest. The parking assist control module supplies 8 V to the object sensors via the 8 V reference circuit and provides ground via the low reference circuit. The parking assist control module triggers the sensors in a sequential loop. After each sensor transmits, the parking assist control module uses the sensor echo received through the signal circuit to calculate the distance and position of an object.

Description and Operation

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The object sensors are 3-wire sensors that are used to determine the distance between the vehicle and an object of interest. The parking assist control module supplies 8 V to the object sensors via the 8 V reference circuit and provides ground via the low reference circuit. The parking assist control module triggers the sensors in a sequential loop. After each sensor transmits, the parking assist control module uses the sensor echo received through the signal circuit to calculate the distance and position of an object.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The parking assist can be activated/deactivated by pressing the parking assist switch. By engaging the reverse gear the parking assist can also be activated. By subsequently pressing the parking assist switch the parking assist can be disabled again.

The indicator in the parking assist switch shows the status of the parking assist. If the lamp is ON, the parking assist is activated.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The parallel parking assist can be activated/deactivated by pressing the parallel parking assist switch.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The object sensors are 3-wire sensors that are used to determine the distance between the vehicle and an object of interest. The parking assist control module supplies 8 V to the object sensors via the 8 V reference circuit and provides ground via the low reference circuit. The parking assist control module triggers the sensors in a sequential loop. After each sensor transmits, the parking assist control module uses the sensor echo received through the signal circuit to calculate the distance and position of an object.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The lane departure warning is enabled and disabled through a switch located in the multifunction switch at the center console. When enabled, the vehicle direction camera control module will illuminate the indicator located in the switch.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The vehicle direction camera control module will require a recalibration procedure after replacing.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

When the ignition is turned ON, the parking assist control module receives the vehicle identification number (VIN) from the body control module. The parking assist control module will compare the VIN received to the VIN stored in memory.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The object sensors are 3-wire sensors that are used to determine the distance between the vehicle and an object of interest. The parking assist control module supplies 8 V to the object sensors via the 8 V reference circuit and provides ground via the low reference circuit. The parking assist control module triggers the sensors in a sequential loop. After each sensor transmits, the parking assist control module uses the sensor echo received through the signal circuit to calculate the distance and position of an object.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The lane departure warning is enabled and disabled through a switch located in the multifunction switch at the center console. When enabled, the vehicle direction camera control module will illuminate the indicator located in the switch.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The ultrasonic parking assist system is designed to identify and notify the driver of an object in the vehicle's path when moving forward or reversing at speeds of less than 8 km/h (5 MPH). The distance and location of the object is determined by eight object sensors: four located in the rear bumper and four located in the front bumper. The parking assist system will notify the driver using an audible signal through the radio.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT).

The parallel parking assist system is able to guide the driver into a parking lot by giving instructions. The system consists of the 8 parking assist sensors from the normal parking assist located in the front and rear bumper, and two additional parallel parking assist sensors on the side of the vehicle. The additional parallel parking assist sensors are used to measure the parking lot size. The parallel parking assist system uses the 8 parking assist sensors to identify objects in the vehicle's path when moving into the parking lot.

The parallel parking assist is activated/deactivated by pressing the parallel parking assist switch. The activated parallel parking assist searches for an appropriate parking lot. If a lot is detected, feedback is given to the driver through the indicator in the driver information center. The driver accepts the decision by stopping the vehicle. The system calculates the optimal path into the parking lot and guides the driver into the lot by giving instructions.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

When the transmission is placed into REVERSE, a 12 V signal is sent to the rearview camera indicating that camera operation is requested. Ignition voltage and ground are supplied to the rearview camera. The rearview camera sends video information to the radio through a video signal + and a video signal - circuit. A grounded shielding also wraps the video signal circuits to reduce electronic interference which may degrade the video signal and cause a distorted or otherwise degraded image.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The side blind zone alert system uses side object sensors located behind the rear fascia at each of the vehicle's rear corners. Visual indicators located in the right and left outside rearview mirrors alert the driver to the presence of objects of interest within the corresponding blind spots, or zones, on each side of the vehicle. The system is controlled by the Vehicle Personalization settings located in the radio.

Each sensor receives battery power, ground, as well as serial data communications. The left and right sensors are identical, however an additional ground circuit is required to configure the sensor for operation on the right side. Communication is via a serial data and each sensor shares the serial data circuit in parallel, allowing continuation of communication between the sensors. The scan tool is able to communicate with each sensor independently. The side object sensors control corresponding mirror icons by sending power to the individual LED indicators.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

The lane departure warning system is controlled by the vehicle direction camera control module mounted on the windshield. The lane departure warning is enabled and disabled through a switch located in the multifunction switch at the center console. When enabled, the vehicle direction camera control module will illuminate the indicator located in the switch.

When the system is operating and can detect the lane markings, the vehicle direction camera control module will request via serial data communications that the instrument cluster illuminate the green lane departure ready-to-assist indicator. If the vehicle direction camera control module detects that the vehicle has crosses a lane marking without the turn signal being used, the module will request that the instrument cluster flash the yellow lane departure warning indicator. An audible warning will also sound three times when the yellow instrument cluster indicator is flashing.

OBJECT DETECTION DESCRIPTION AND OPERATION (TRAFFIC SIGN ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST WITH PARALLEL PARKING), OBJECT DETECTION DESCRIPTION AND OPERATION (PARKING ASSIST), OBJECT DETECTION DESCRIPTION AND OPERATION (LANE DEPARTURE WARNING) or OBJECT DETECTION DESCRIPTION AND OPERATION (UFT)

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