Hyundai Palisade: Forward Collision-Avoidance Assist (FCA) System / Repair procedures

Hyundai Palisade (LX2) 2020-2024 Service Manual / Brake System / Forward Collision-Avoidance Assist (FCA) System / Repair procedures

Inspection
Driver Setting
The ON/OFF for FCA is included in the USM (User Setting Menu) and the default is ON.
While IGN is On, it stays at ON, however, the driver's settings do not last next time when IGN is newly On.
When VDC is OFF, FCA is also turned OFF.
Inspection procedure for vehicle with Forward Collision-Avoidance Assist system failure
1.
Check the bumper appearance for accident (check the vehicle appearance visually and see bumper replacement history).
→ In case of the vehicle was involved in an accident, there is a high possibility that the FCA radar is out of the original default position.
2.
Check for contamination of the radar sensor cover of the bumper.
→If contaminated, there is a high possibility that the FCA system is deactivated during operation due to the foreign substances.
3.
After turning on the engine, check the FAC warning lamp and DTC.
(Refer to the DTC diagnosis guide.)
Removal
Hyundai Palisade. Repair procedures   
Be careful not to damage the parts located under the vehicle (floor under cover, fuel filter, fuel tank and canister) when raising the vehicle using the lift.
(Refer to General Information - "Lift and Support Points")
[FCA Radar]
1.
Turn ignition switch OFF and disconnect the negative (-) battery cable.
2.
Remove the front bumper cover.
(Refer to Body - "Front Bumper Assembly")
3.
Disconnect the FCA rader connector (A).
4.
Remove the FCA rader (B) after loosening the FCA rader mounting nuts.
Tightening torque :
3.9 - 4.3 N.m (0.40 - 0.44 kgf.m, 2.9 - 3.2 lb-ft)

Hyundai Palisade. Repair procedures

[Lane Keeping Assist (LKA) Unit]
FCA, contrary to SCC w/ S&G has to work on a stationary car so the system uses the Fusion Target system to combine radar and camera.
1.
Turn ignition switch OFF and disconnect the negative (-) battery cable.
2.
Remove the lane keeping assist (LKA) unit.
(Refer to Body Electrical System - "Lane Keeping Assist (LKA) Unit")
Installation
[FCA Radar]
Hyundai Palisade. Repair procedures   
Put the vehicle on the level ground.
Take out heavy luggage from the vehicles’ seats or trunk.
Set all tires according to the specified pressure.
Check wheel alignment.
Check that the front surface of the front radar is clean.
1.
Check the last 2 digits of Lot. No (A) on label at rear side before installing the front radar.
Hyundai Palisade. Repair procedures   
The meaning of Lot. No (A) is the vertical deviation angle of front radar inner side.

Hyundai Palisade. Repair procedures

2.
Install the front radar (B) by tightening the nuts.
Tightening torque :
3.9 - 4.3 N.m (0.40 - 0.44 kgf.m, 2.9 - 3.2 lb-ft)
3.
Connect the front radar connector (A).

Hyundai Palisade. Repair procedures

4.
If replaced the front radar with a new one, perform variant coding procedure by using the GDS.

Hyundai Palisade. Repair procedures

5.
Check and align the front radar mounting angle.
(1)
Perform the "inspection/correction of the front-radar mounting angle" using the GDS.

Hyundai Palisade. Repair procedures

Hyundai Palisade. Repair procedures

(2)
Input 2 digits of value in the code input box, then press "OK"

Hyundai Palisade. Repair procedures

(3)
Check the vertical angle which is compensated error on KDS.
Hyundai Palisade. Repair procedures   
The result value is final goal vertical angle which is compensated inner error of criteria vertical installation angle -1°.

Hyundai Palisade. Repair procedures

(4)
Check the front radar vertical angle by using the vertical protractor (tiltmeter).

Hyundai Palisade. Repair procedures

Hyundai Palisade. Repair procedures   
Make sure to perform zero setting before using vertical protractor. (perform this procedure periodically)
Be noticed about indicated +/- differently by the way to indicate of vertical protractor.
(5)
Adjust to "target vertical angle" by turning adjusting screw of front radar.
turning clockwise : adjusting (+) angle
turning counterclockwise : adjusting (-) angle
Hyundai Palisade. Repair procedures   
There is a chance to be transformed of bracket if adjusting screw with over strength.
Must recheck with vertical protractor if vertical angle is right after adjusting.

Hyundai Palisade. Repair procedures

Hyundai Palisade. Repair procedures

of adjustment screw rotation
Correction angle
Clockwise
Counter clockwise
0.5
+ 0.5°
- 0.5°
1
+ 1.0°
- 1.0°
1.5
+ 1.5°
- 1.5°
2
+ 2.0°
- 2.0°
2.5
+ 2.5°
- 2.5°
3
+ 3.0°
- 3.0°
3.5
+ 3.5°
- 3.5°
4
+ 4.0°
- 4.0°
4.5
+ 4.5°
- 4.5°
5
+ 5.0°
- 5.0°

6.
Install the front bumper assembly.
(Refer to Body - "Front Bumper Assembly")
7.
Perform the FCA radar inspection/correction procedure by using the SST.
(Refer to FCA Radar - "Adjustment")
[Lane Keeping Assist (LKA) Unit]
FCA, contrary to SCC w/ S&G has to work on a stationary car so the system uses the Fusion Target system to combine radar and camera.
1.
Turn ignition switch OFF and disconnect the negative (-) battery cable.
2.
Remove the lane keeping assist (LKA) unit.
(Refer to Body Electrical System - "Lane Keeping Assist (LKA) Unit")
Adjustment
FCA Radar Installation Angle Checking/adjustment Overview
The front radar detects control subject in front, and recognize distance from the subject, comparing speed and etc,. For these reasons the direction of installation has to be on collinear with vehicle. Therefore, installing angle inspection and adjustment have to be done in case of the FCA radar removed and reinstalled caused by accident or install a new front radar. Accuracy of the front radar cannot be guaranteed if inspection and adjustment have not been done in case of mentioned situation before.
Front radar inspection/adjustment have to be done with either stop mode (C1) or drive mode (C2) using by GDS
Perform adjustment procedure with exclusive adjustment reflector (SST) for stop mode (C1).
Hyundai Palisade. Repair procedures   
after operating stop mode, the accuracy will be increased if the vehicle has driven more than 10 min.
(drive on straight lane which has metallic reflector.)
Operate adjustment on real road driving (drive on the road that has many metallic fixed reflector such as guard rail) for drive mode. (C2)
Hyundai Palisade. Repair procedures   
The cases that front radar installation angle checking/adjustment are needed.
Front radar has been replaced
Front radar has been removed and reinstalled.
Line up failed DTC has been occurred
Failure on front radar detecting and cognition function
failed to detect vehicle in front while functioning
often detecting error of side lane
often detecting error even though any object is not in front
How to Check/adjust Front Radar Installation Angle - Stop Mode
Hyundai Palisade. Repair procedures   
Preparation before the front radar alignment:
Put the vehicle on the level ground.
Take out heavy luggage from the vehicles’ seats or trunk.
Set all tires according to the specified pressure.
Check wheel alignment.
Check that the front surface of the front radar is clean.
Hyundai Palisade. Repair procedures   
Perform in an area with minimum clearance of 8m (26.2 ft) front, 4m (13.1 ft) sides, and 2 m (6.6 ft) above the vehicle.
Install the reflector exactly 2.5 m (8.2 ft) away from the Front Radar.
The reflector has to be installed at same place (height and angle) as front radar center.
(If height and angle are different, then adjustment can not be done correctly.)
Remove objects (metal plates, resins, etc.) that may cause electric signal interference from the area where front radar alignment is performed.
Make sure to use exclusive reflector (OK964-J5100)
Be sure that the vehicle is not moved and free from vibration when performing front radar alignment
(getting in/out or opening/closing doors).
IG has to be on when performing front radar alignment. (engine stop condition)
1.
Stop the vehicle horizontally at a flat place.

Hyundai Palisade. Repair procedures

2.
Mark the center point of emblem (A).

Hyundai Palisade. Repair procedures

3.
Mark the center point (B) after measuring the distance on top of wind glass.

Hyundai Palisade. Repair procedures

4.
Install the laser (09964-C1200) to the tripod (09964-C1300).

Hyundai Palisade. Repair procedures

5.
Place the laser (09964-C1200) at 2.5m (8.2 ft) to the front of the vehicle.

Hyundai Palisade. Repair procedures

6.
Match the vertical line of laser to (A) and (B) using the laser (09964-C1200).

Hyundai Palisade. Repair procedures

7.
Mark (C) at 2.5 mm (8.2 ft) from (A) in front of the vehicle.

Hyundai Palisade. Repair procedures

8.
Mark (D) at the place which is 7mm (0.276 inch) away from (C) to the right in vertical direction.

Hyundai Palisade. Repair procedures

9.
Remove the laser (09964-C1200) from the tripod (09964-C1300).

Hyundai Palisade. Repair procedures

10.
Mount the reflector (09964-C1100) onto the tripod (09964-C1300).

Hyundai Palisade. Repair procedures

11.
Mount the reflector adapter (0K964-J5100) to the reflector (09964-C1100).

Hyundai Palisade. Repair procedures

12.
Set the reflector horizontal using the leveler (A) which is built in the tripod (09964-C1300).

Hyundai Palisade. Repair procedures

13.
Align the vertical weight (A) of the reflector (0K964-J5100) with the point (D).

Hyundai Palisade. Repair procedures

14.
Set the height of the reflector adapter (0K964-J5100) to 401mm (15.78 inch).

Hyundai Palisade. Repair procedures

15.
Remove the vertical weight from the reflector (0K964-J5100).
Hyundai Palisade. Repair procedures   
It can be effected to adjustment if the vertical weight is still left.
16.
Check again the front radar and the surface of front bumper for the following items with the eyes.
Hyundai Palisade. Repair procedures   
Make sure that there is no debris, or reflecting object on the surface of the radar.
Make sure that there is no debris, or reflecting object on the radiator grill.
17.
Select C1 (stop mode) to inspect and adjust the front radar installation angle by following procedure on GDS screen.

Hyundai Palisade. Repair procedures

Hyundai Palisade. Repair procedures

Hyundai Palisade. Repair procedures

18.
In case of front radar inspection/correction failure, check the inspection/correction conditions.

    Schematic diagrams

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