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Home >> Lexus >> 2021 >> ES 250 Base >> Repair and Diagnosis (Single Page) >> Accessories & Equipment >> Drivers Assistance Systems - ADAS >> Panoramic View Monitor System (Except Hybrid) - Diagnostics - Introduction >> PANORAMIC VIEW MONITOR SYSTEM (for Gasoline Model) >> System Description [06/2018 - 09/2022] >> System Description [06/2018 - 09/2022]

System Description [06/2018 - 09/2022]

  1. GENERAL 
    1. This system has front, passenger side, driver side and rear television camera assemblies mounted around the vehicle to display around the vehicle on the multi-display assembly. The display panel also shows a composite view consisting of the area behind the vehicle and parking guidelines to assist the driver in parking the vehicle by monitoring the area around the vehicle.
    2. This system consists of the following components:
      1. Parking assist ECU
      2. Panoramic view monitor switch (No. 2 combination switch assembly)
      3. Rear television camera assembly
      4. Front television camera assembly
      5. Side television camera assembly LH
      6. Side television camera assembly RH
      7. Multi-display assembly
      8. Network gateway ECU
      9. Steering Sensor
      10. Skid control ECU
      11. Main body ECU (multiplex network body ECU)
      12. Clearance warning ECU assembly
      13. ECM
      14. Blind spot monitor sensor
      15. Radio receiver assembly
    3. This system is equipped with a self-diagnosis system, which is operated from a designated window that appears on the multi-display assembly, just as in the audio and visual system*1 or navigation system*2.
      1. *1: w/o Navigation System
      2. *2: w/ Navigation System
  2. FUNCTION OF COMPONENTS 
    GTY780094Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    GTY794890Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    1. The parking assist ECU controls the system by using information from the following components.
      Item Function
      Rear Television Camera Assembly
      • Generates a video feed showing the rear side of the vehicle and transmits the video to the parking assist ECU
      • Transmits a camera detection buzzer request signal to the blind spot monitor sensor via CAN communication.
      Front Television Camera Assembly Generates a video feed showing the front side of the vehicle and transmits the video to the parking assist ECU
      Side Television Camera Assembly LH Generates a video feed showing the left side of the vehicle and transmits the video to the parking assist ECU
      Side Television Camera Assembly RH Generates a video feed showing the right side of the vehicle and transmits the video to the parking assist ECU
      Parking Assist ECU
      • Turns the panoramic view monitor system ON and OFF according to the display conditions, based on the received panoramic view monitor switch (No. 2 combination switch assembly) signals, shift position signals, and vehicle speed signals
      • Sends the display request signals for the panoramic view and wide front view screen, panoramic view and side clearance view screen, panoramic view and rear view screen, panoramic view and wide rear view screen, see through view screen, or moving view screen to the radio receiver assembly according to the display conditions, based on the received panoramic view monitor main switch signals, shift position signals, and vehicle speed signals
      • Sends the display switching request signals for the panoramic view and wide front view screen, panoramic view and side clearance view screen, panoramic view and rear view screen, panoramic view and wide rear view screen, see through view screen, or moving view screen to the radio receiver assembly according to the display conditions, based on the received outer mirror retraction signals
      • Displays the composite image of the surrounding area images taken by each camera and the image calculated from vehicle status information such as the steering angle signals on the multi-display assembly screen
      • Renders each configuration page in the diagnosis window and outputs the screen to the multi-display assembly
      • Stops displaying the buttons and guidelines on the panoramic view and rear view monitor screen, or panoramic view and wide back view monitor screen when the screen is being displayed and a luggage compartment door open status signal is received
      • Stores each configuration setting from the diagnosis window
      Panoramic View Monitor Switch (NO. 2 Combination Switch Assembly) Transmits switch operation signals to the parking assist ECU
      Multi-display Assembly Displays image information received from the parking assist ECU.
      Radio Receiver Assembly
      • Displays the video signal from the parking assist ECU on the multi-display.
      • Sends the screen status to the parking assist ECU, such as when the screen display mode switches and the automatic display mode turns on and off.
      Steering Sensor Transmits the steering angle signals and sensor status signals to the parking assist ECU via the CAN communication
      Skid Control ECU Transmits the vehicle speed signals, drive type signals, and system status signals to the parking assist ECU via the CAN communication
      ECM
      • Transmits the engine model signals, and system status signals to the parking assist ECU via the CAN communication
      • Transmits the shift position signals to the parking assist ECU via the CAN communication
      Park/Neutral Position Switch Assembly Sends the shift position signal to the parking assist ECU and ECM.
      Main Body ECU (Multiplex Network Body ECU)
      • Sends the luggage compartment door courtesy light switch signal to the parking assist ECU via the CAN communication system.
      • Sends the mirror retract request signal to the parking assist ECU via the CAN communication system
      Clearance Warning ECU Assembly Transmits information from each sonar via the CAN communication
      Blind Spot Monitor Sensor Transmits the RCTA information signal via CAN communication
  3. PANORAMIC VIEW SCREEN DISPLAY 
    1. See-through view screen
      1. The entire area surrounding the vehicle is displayed.
        GTY802117Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Vehicle interior view *b Upper view
    2. Moving view screen
      1. The entire area surrounding the vehicle is displayed.
        GTY824490Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Slant upper view *b Upper view
    3. Panoramic view and Cornering view screen (Models with 12.3 Inch Multi-display)
      GTY818962Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a When turning left *b When turning right
      PANORAMIC VIEW AND CORNERING VIEW SCREEN DESCRIPTION

      Signal Name Color
      (1) Front distance guide line Blue
      (2) Front wheel ground contact line Gray
      (3) Vehicle width parallel line Gray
      (4) Forward estimated course line Yellow
    4. Panoramic view and wide front view screen
      GTY786882Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Estimated course line display mode *b Distance guide line display mode
      PANORAMIC VIEW AND WIDE FRONT VIEW SCREEN DESCRIPTION

      Signal Name Color Panoramic View and Wide Front View Screen
      Estimated course line display mode Distance guide line display mode
      (1) Front distance guide line Blue Displayed Displayed
      (2) Front forward estimated course line Yellow Displayed Not displayed
    5. Panoramic View and Side Clearance View Screen (Models with 12.3 Inch Multi-display)
      GTY779957Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a When the outer rear view mirror assembly is deployed. - -
      PANORAMIC VIEW AND SIDE CLEARANCE VIEW SCREEN DESCRIPTION

      Signal Name Color
      (1) Front distance guide line Blue
      (2) Front wheel ground contact line Gray
      (3) Vehicle width parallel line Gray
    6. Panoramic view and rear view screen
      GTY837515Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Estimated course line display mode *b Parking guide line display mode
      *c Distance guide line display mode *d Display mode switching button

      HINT: 

      The screen changes to the wide rear view screen when the display mode switch button or rear view screen is selected.

      PANORAMIC VIEW AND REAR VIEW SCREEN DESCRIPTION

      Signal Name Color Panoramic View and Rear View Screen
      Estimated course line display mode Parking guide line display mode Distance guide line display mode
      (1) Front distance guide line Blue Displayed Displayed Displayed
      (2) Rear distance guide line Red Displayed Displayed Displayed
      (3) Rear vehicle width extension line Blue Displayed Displayed Not displayed
      (4) Parking guide line Blue Not displayed Displayed Not displayed
      (5) Rear distance guide line Blue Displayed Not displayed Not displayed
      (6) Side estimated course line Yellow Displayed Not displayed Not displayed
      (7) Rear estimated course line Yellow Displayed Not displayed Not displayed
      (8) Vehicle center line Blue Displayed Displayed Not displayed
    7. Panoramic view and rear view screen
      GTY816258Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Estimated course line display mode *b Parking guide line display mode
      *c Distance guide line display mode *d Display mode switching button

      HINT: 

      In the rear view screen, the screen display mode can be switched by pressing the guide line display mode switching button or rear view screen on the screen.

      PANORAMIC VIEW AND REAR VIEW SCREEN DESCRIPTION

      Signal Name Color Panoramic View and Rear View Screen
      Estimated course line display mode Parking guide line display mode Distance guide line display mode
      (1) Front distance guide line Blue Displayed Displayed Displayed
      (2) Rear distance guide line Red Displayed Displayed Displayed
      (3) Rear vehicle width extension line Blue Displayed Displayed Not displayed
      (4) Parking guide line Blue Not displayed Displayed Not displayed
      (5) Rear distance guide line Blue Displayed Not displayed Not displayed
      (6) Side estimated course line Yellow Displayed Not displayed Not displayed
      (7) Rear estimated course line Yellow Displayed Not displayed Not displayed
      (8) Vehicle center line Blue Displayed Displayed Not displayed
    8. Side view screen (Models with 12.3 Inch Multi-display)
      GTY799269Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Side view and wide front view screen *b Side view and rear view screen
      *c Side view and wide rear view screen - -

      HINT: 

      Refer to the content of panoramic view and rear view screen and panoramic view and wide front view screen for information about the rear view and wide front view screens.

    9. Rear camera detection function screen
      GTY781865Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Panoramic view and rear view screen *b Panoramic view and wide rear view screen
      *c Rear camera detection icon - -
    10. Side View and Wide Front View Screen (Models with 8 Inch Multi-display)
      GTY796890Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a When the outer rear view mirrors are retracted - -
      Item Description
      (1) Wide Front View An image captured by the front television camera assembly of the area in front of the vehicle.
      (2) Side View (Right Side) An image of the area to the right of the vehicle captured by the side television camera assembly RH.
      (3) Intuitive Parking Assist Information If a stationary object is detected when the intuitive parking assist is activated, the approximate distance between the vehicle and the stationary object is displayed.
      (4) Vehicle Width Parallel Line (Blue) A vehicle width guide line including the outer rear view mirror assembly.
      (5) Front Tire Contact Line (Blue) A guide line showing the front right tire contact position.
      (6) Rear Tire Contact Line (Blue) A guide line showing the rear right tire contact position.
    11. Side View and Rear View Screen (Models with 8 Inch Multi-display)
      GTY793308Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a When the outer rear view mirrors are retracted - -
      Item Description
      (1) Rear View An image captured by the rear television camera assembly of the area to the rear of the vehicle.
      (2) Side View (Right Side) An image of the area to the right of the vehicle captured by the side television camera assembly RH.
      (3) Intuitive Parking Assist Information If a stationary object is detected when the intuitive parking assist is activated, the approximate distance between the vehicle and the stationary object is displayed.
      (4) Vehicle Width Parallel Line (Blue) A vehicle width guide line including the outer rear view mirror assembly.
      (5) Front Tire Contact Line (Blue) A guide line showing the front right tire contact position.
      (6) Rear Tire Contact Line (Blue) A guide line showing the rear right tire contact position.
    12. Two-side View Screen (Models with 8 Inch Multi-display)
      GTY831705Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a When the outer rear view mirror assembly is deployed. - -
      Item Description
      (1) Side View (Front Left Side) An image captured by the side television camera assembly LH of the area to the front left side of the vehicle.
      (2) Side View (Front Right Side) An image captured by the side television camera assembly RH of the area to the front right side of the vehicle.
      (3) Front Distance Guide Line (Red) These lines are distance guide lines showing the distance forward from the edge of the front bumper. (Approximately 0.5 m (1.6 ft.))
      (4) Vehicle Width Parallel Line (Blue) A vehicle width guide line including the outer rear view mirror assembly.
      (5) Auto Mode Button Can be used to turn the automatic display mode on and off. When the automatic display mode is on, an indicator inside the button illuminates.
      (6) Front Tire Contact Line (Blue) A guide line showing the front tire contact position.
      (7) Camera Direction Display Vehicle Icon Indicates that the "side simultaneous view" is displayed.
      (8) Warning Message Warns the driver according to the message on the display.
      (9) Intuitive Parking Assist Information
      • If a stationary object is detected when the intuitive parking assist is activated, the approximate distance between the vehicle and the stationary object is displayed.
      • When the intuitive parking assist system detects an obstacle, the distance and direction to the obstacle is superimposed on the screen.
  4. PANORAMIC VIEW SCREEN DESCRIPTION 
    1. Manual display mode
      1. When the panoramic view monitor switch is pressed with the engine switch on (IG) or the engine started, the panoramic view monitor system switches to a screen shown below according to the shift lever position

        Screen Transition Chart (Manual Display Mode with 12.3 Inch Multi-display) 

        GTY789035Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Shift position in any position other than P or R. *b Shift position in P and intelligent clearance sonar system on
        *c Shift position in R *d Panoramic view and wide rear view screen
        *e Panoramic view and side clearance view screen *f Navigation screen, etc.
        *g See-through view screen *h Moving view screen
        *i Panoramic view and rear view screen - -
        SCREEN TRANSITION CONDITIONS (MANUAL DISPLAY MODE WITH 12.3 INCH MULTI-DISPLAY)

        No. Screen Transition Conditions
        (1) Panoramic view monitor main switch is pressed
        (2) Shift position is moved to R
        (3) Shift position is moved to other than P or R
        (4) Shift position is moved to other than P or R and operation (1) is performed
        (5) "MAP/VOICE" switches, etc. on the multi-display assembly are pressed
        (6) Operation (1) is performed with the shift position in P
        (7) Shift position is moved to P
        (8) Display mode switching button or wide rear view screen is selected
        (9) Display mode switching button or rear view screen is selected
        (10) Moving view switch button is selected
        (11) See through view switch button is selected

        Screen Transition Chart (Manual Display Mode with 8 Inch Multi-display) 

        GTY821299Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Shift lever not in P or R *b Shift lever in P and intelligent clearance sonar system system on
        *c Shift lever in R *d Panoramic view and wide front view screen
        *e Two-side view screen *f Audio screen, etc.
        *g See-through view screen *h Moving view screen
        *i Panoramic view and rear view screen *j Wide rear view screen
        *k Narrow rear view screen - -
        SCREEN TRANSITION CONDITIONS (MANUAL DISPLAY MODE WITH 8 INCH MULTI-DISPLAY)

        No. Screen Transition Conditions
        (1) Panoramic view monitor switch is pressed
        (2) Shift lever is moved to R
        (3) Shift lever is moved to other than P or R
        (4) Shift lever is moved to other than P or R and operation (1) is performed
        (5) "HOME" switches, etc. on the multi-display assembly are pressed
        (6) Operation (1) is performed with the shift lever in P
        (7) Shift lever is moved to P
        (8) Display mode switching button or rear view screen is selected
        (9) Display mode switching button or wide rear view screen is selected
        (10) Display mode switching button or narrow rear view screen is selected
        (11) Moving view switch button is selected
        (12) See through view switch button is selected

        HINT: 

        If the panoramic view monitor main switch is pressed at a vehicle speed of approximately 12 km/h (7 mph) or lower, the panoramic view monitor system screen is displayed. If the vehicle speed exceeds approximately 12 km/h (7 mph), the display switches to the navigation screen or information settings screen.

    2. Screen transition chart (automatic display mode)
      1. When the shift position is not in P or R, in addition to switching screens by pressing the panoramic view monitor main switch, the automatic display mode can be selected by pressing the automatic display mode switching button.
        GTY807524Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Panoramic view and wide front view screen *b Panoramic view and side clearance view screen
        *c Automatic display mode switching button - -
        Automatic Display Mode Switching Button
        (Indicator in Button)        		 Screen Switching Mode
        ON
        (Illuminated)        		 Automatic display mode
        OFF
        (Not illuminated)        		 Manual display mode

        HINT: 

        • In the automatic display mode, press the panoramic view monitor switch or panel switch to switch screens in the same way as the manual display mode.
        • When switching to the audio screen, etc. in the automatic display mode, the display switches to the screen that was displayed last. However, the display switches to the panoramic view and wide front view screen if the shift lever is not in P or R after the engine switch is turned from off to on (IG).
      2. The automatic display mode automatically switches the display according to the vehicle status.

        Screen Transition Chart (Automatic Display Mode) 

        GTY828769Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Shift position in any position other than P or R. *b Panoramic view and wide front view screen
        *c Panoramic view and side clearance view screen *d Navigation screen, etc.
        SCREEN TRANSITION CONDITIONS (AUTOMATIC DISPLAY MODE)

        No. Screen Transition Conditions
        (1) Panoramic view monitor switch is pressed
        (2) Current location switches, etc. on the multi-display assembly are pressed
        (3) Vehicle speed changes from above approximately 10 km/h (6 mph) to approximately 10 km/h (6 mph) or lower. The screen that was last displayed is displayed on the multi-display assembly.*
        (4) Vehicle speed changes from approximately 12 km/h (7 mph) or lower to above approximately 12 km/h (7 mph)

        *: The panoramic view and wide front view screen is the first screen displayed after the engine switch was turned off.

    3. Panoramic View Zoom Function (Models with 12.3 Inch Multi-display)
      1. When detail within the image on the panoramic view screen is too small and difficult to see, the user can magnify the image by selecting one of the 2 areas on the panoramic view screen.

        Screen Transition 

        GTY788011Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Panoramic view and wide front view screen displayed while shift lever is not in P or R *b Panoramic view and rear view screen displayed
        *c Panoramic view and wide front view screen *d Panoramic view and wide front view screen (Front view magnified)
        *e Panoramic view screen *f Panoramic view and rear view screen
        *g Panoramic view and rear view screen (Front view magnified) - -
        SCREEN TRANSITION CONDITIONS

        No. Screen Transition Conditions
        (1) Any of the 2 areas on the panoramic view screen is selected while the vehicle speed is approximately 12 km/h (7 mph) or less and the intelligent clearance sonar system is turned on.
        (2) The panoramic view zoom screen is selected, or either of the following conditions is met:
        • The vehicle speed changes from approximately 12 km/h (7 mph) or less to over approximately 12 km/h (7 mph).
        • The intelligent clearance sonar system is turned off.
    4. Panoramic View Zoom Function (Models with 8 Inch Multi-display)
      1. When detail within the image on the panoramic view screen is too small and difficult to see, the user can magnify the image by selecting one of the 4 areas on the panoramic view screen.

        Screen Transition 

        GTY797550Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Panoramic view and wide front view screen displayed while shift lever is not in P or R *b Panoramic view and rear view screen displayed
        *c Panoramic view and wide front view screen *d Panoramic view and wide front view screen (Front right view magnified)
        *e Panoramic view screen *f Panoramic view and rear view screen
        *g Panoramic view and rear view screen (Front right view magnified) - -
        SCREEN TRANSITION CONDITIONS

        No. Screen Transition Conditions
        (1) Any of the 4 areas on the panoramic view screen is selected while the vehicle speed is approximately 12 km/h (7 mph) or less and the intelligent clearance sonar system is turned on.
        (2) The panoramic view zoom screen is selected, or either of the following conditions is met:
        • The vehicle speed changes from approximately 12 km/h (7 mph) or less to over approximately 12 km/h (7 mph).
        • The intelligent clearance sonar system is turned off.
    5. When the outer rear view mirror assembly is retracted
      1. When the outer rear view mirrors are retracted, the screen changes according to the current screen display, as follows.
        GTY777071Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a See through view screen *b Moving view screen
        *c Panoramic view and wide front view screen *d Panoramic view and side clearance view screen
        *e Panoramic view and rear view screen *f Panoramic view and wide rear view screen
        *g Two side view and wide front view screen *h Two side view and rear view screen
        *i Two side view and wide rear view screen - -
        SCREEN TRANSITION CONDITIONS

        No. Screen Transition Conditions
        (1) When outer rear view mirror assembly is retracted
  5. COMMUNICATION SYSTEM OUTLINE 
    1. CAN communication system
      1. The panoramic view monitor system uses CAN communication for data communications between the parking assist ECU and each ECU.
      2. If a problem occurs in the CAN communication line, the parking assist ECU outputs a CAN communication malfunction DTC. (To check, use the Techstream.)

        Refer to DTC CHECK / CLEAR [06/2018 - 09/2022] 

      3. If a problem occurs in the CAN communication line, the parking assist ECU outputs a CAN communication malfunction DTC. (To check, use the multi-display assembly diagnosis screen.)

        Refer to DIAGNOSIS SYSTEM [06/2018 - 09/2022] 

      4. If a CAN communication line malfunction DTC is output, repair the malfunction in the communication line and troubleshoot the panoramic view monitor system when data communication is normal.
      5. Since the CAN communication line has its own length and route, it cannot be repaired temporarily with a bypass wire, etc.
  6. VIDEO SIGNALS 
    1. Video signal circuit
      GTY796545Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      1. Video signals from the front television camera assembly are input into the parking assist ECU via analog communication lines (vehicle wire harness).
      2. Video signals from the side television camera assembly LH are input into the parking assist ECU via analog communication lines (vehicle wire harness).
      3. Video signals from the side television camera assembly RH are input into the parking assist ECU via analog communication lines (vehicle wire harness).
      4. Video signals from the rear television camera assembly are input into the parking assist ECU via analog communication lines (vehicle wire harness).
      5. Video signals from the parking assist ECU are input into the multi-display assembly via GVIF cable.
    2. Screen display
      1. Video signals input from each camera are processed in the parking assist ECU and displayed on the multi-display assembly as the panoramic view monitor system screen.
  7. DIAGNOSTIC FUNCTION OUTLINE 
    1. This panoramic view monitor system has a diagnostic function displayed in the multi-display assembly. This function enables the calibration (adjustment and verification) of the panoramic view monitor system.

      Refer to DIAGNOSIS SYSTEM [06/2018 - 09/2022] 

    2. The panoramic view monitor system can check the following items by using the Techstream.
      Item Proceed to
      DTC Refer to DTC CHECK / CLEAR [06/2018 - 09/2022] 
      Data List / Active Test Refer to DATA LIST / ACTIVE TEST [06/2018 - 09/2022] 
  8. CALIBRATION 
    1. Use the panoramic view monitor system diagnosis screen for calibration and checking of the panoramic view monitor system.

      Refer to DIAGNOSIS SYSTEM [06/2018 - 09/2022] 

      NOTE:

      Part replacement and work performed during servicing may require calibration of the panoramic view monitor system and other systems.

      Refer to CALIBRATION [06/2018 - 09/2022] 

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