ACC/Pilot Assist Modification precautions

[IMAY2023]

And as I mentioned before, things like weight distribution and power are important details when automating a car.  How do we know there isn't some value here changing the maximum brake force applied or estimated stopping time/distance for an XC90 vs C40?  I wouldn't want to be behind the wheel (or driving in front of) an XC90 in ACC that thinks it's a C40 in ACC.

I dunno, just seems not worth the changes unless you know for sure they are adding a benefit.  I'll keep the Curve Speed Assist because I have actually seen it work and add benefit compared to what it was before.

You are right everything is designed to be modular. Because I have been deep in the weeds to develop OrBit, I have gotten some idea of how the systems work. There is some sort of "model" of the car defined, based on dimensions. It looked related to the parking sensor system but that model may be used or duplicated elsewhere for the other safety systems. That probably allows a pretty universal system across all the current and future models, a new model would only need to have the physical model defined.

I would not worry much about the PA/ACC levels, these appear to be different levels of functionality. There is more info in this thread, I just updated based on the research I did to implement Config Presets for the PA/ACC settings. OrBit will know pick the "right" settings for the car. Overall the settings appear to go with the hardware capabilities of the car, regardless of the model.

Something like "braking" is contained within the BCM/BCM2 module it has the calibration, and the configuration of the specific brakes, read from the centra config of course. It knows the torque output of the brakes, accelerometer data, calculated tire slip etc. at all times. There is no need for the PA/ACC programming to account for those things with a configuration for "level", if it were needed to know which model, it could simply read the configuration item for the model code of the car, that's the benefit of a central config system. In the older cars the ASDM (Active Safety Domain Manager) ties all the dynamics systems together, the VCU1 (Vehicle Computational Unit) in the newer cars. That's where the magic of drivetrain, safety and driver aids come together i think, that may be where the physics model of the car exists. I'm far from an expert, just been messing with the Volvo stuff for a while ;-)

I have sensors #1, 2, 3, 4. Let us call left side sensor L and right side sensor R.
Now I have four separate signals from 1, 2, 3, and 4.
I would like to somehow connect L to 1 (so the system would respond no matter which one is beeping) and R to 4.
As a result, CEM would think there are 4 sensors, but I will have information from 6: 1+L, 2, 3, 4+R.

Is that even possible? I would like not to screw everything, and I suspect there are complications related to voltage etc.
Any ideas? Thanks.

To keep it short...what you propose is far more complicated to achieve than: install the extra sensors, wired as factory (as the accessory install would), and enable Park Pilot Assist with OrBit. You will have the side sensors installed and functional.

Not quite. I did installed the park assist pilot in addition to already existing front & rear 8 total parking sensors to my 2019 S60.  Each sensor has 3 wires, 2 of those are common connected to 2 CEM pins. Then you have 8 individual wires from each sensor to CEM on 8 different pins.  When you add 4 additional side sensors they also use the same 2 shared wires and pins on the CEM but each sensor on the sides, has it's own pin on the CEM. So, in total you have 12 sensors connected to CEM in 14 pins. (12 individual and 2 common).  As a result, it is not possible connecting 4 additional sensors in parallel.