PRE-CRASH SAFETY SYSTEM

FUNCTION OF MAIN COMPONENTS

Item		Function
Combination Meter Assembly	PCS Warning Light (PCS OFF Indicator Light)	Flashes or illuminates to warn the driver in accordance with signals from the driving support ECU assembly. Flashes when the system is malfunctioning. Illuminates when the system is temporarily disabled. Illuminates when the pre-crash safety system is disabled. Illuminates when pre-crash brake and pre-crash brake assist operation is disabled.
	Multi-information Display	Displays a warning message to inform or warn the driver of the system condition in accordance with signals from the driving support ECU assembly. Disables the pre-crash safety system operation when selected PCS OFF mode in setting display function. Changing the pre-crash warning timing when selected Far/Middle/Near in setting display function.
	Master Warning Light	Illuminates to warn the driver in accordance with signals from the driving support ECU assembly.
	Buzzer	Sounds to warn the driver in accordance with signals from the driving support ECU assembly when the system is malfunctioning.
Combination Meter Mirror ECU*		Shows a warning message to warn the driver to headup display.
Millimeter Wave Radar Sensor Assembly		Radiates millimeter wave radar forward, uses the reflected millimeter waves for detecting the presence of a vehicle ahead, the vehicle-to-vehicle distance, and the relative speed, and then transmits this information to the driving support ECU assembly.
Forward Recognition Camera (Camera Sensor)		Acquires a video of the area in front of the vehicle , and performs image processing to recognize obstacles or vehicles ahead, and then transmits this information to the driving support ECU assembly. Operates the camera heater (forward recognition hood with heater sub-assembly) to prevent condensation on windshield in front of the forward recognition camera (camera sensor).
Camera Heater (Forward Recognition Hood with Heater Sub-assembly)		Heats the sheet heater in accordance with the current from the forward recognition camera (camera sensor).
Driving Support ECU Assembly		Determines whether a collision is imminent based on the information received from the sensors. It then outputs a brake assist standby request signal and pre-crash brake request signal if required.
Brake Actuator Assembly	Master Cylinder Pressure Sensor	Detects the master cylinder pressure and transmits a signal to the skid control ECU assembly.
Skid Control ECU Assembly		Receives a brake assist standby request signal from the driving support ECU assembly and switches the brake assist to standby mode. When a master cylinder pressure signal is input, it activates the brake assist. Receives a pre-crash brake request signal from the driving support ECU assembly, and then applies the brakes. Transmits vehicle speed signals to the driving support ECU assembly.
Speed Sensor		Detect the wheel speed of each of the 4 wheels and transmits the signals to the skid control ECU assembly.
Yawrate Sensor		Detects the yaw rate and lateral/longitudinal deceleration of the vehicle and transmits the signal to the skid control ECU and the driving support ECU assembly.
Steering Sensor		Detects the angle and direction of steering and transmits a signal to the skid control ECU and the driving support ECU assembly.
Steering Pad Switch Assembly	Meter Control Switches	The multi-information display is operated using the meter control switches
VSC OFF Switch		Disables the pre-crash brake and pre-crash brake assist operation when VSC OFF mode.
Skid Control Buzzer Assembly		Sounds to warn the driver in accordance with signals from the driving support ECU.
Stop Light Switch Assembly		Detects if the brake pedal is depressed and transmits a signal to the skid control ECU and driving support ECU.
Engine Room Relay Block and Junction Block Assembly	Integration Relay - Stop Light Control Relay	Receives a stop light turn on request signal from the skid control ECU, and turns on the stop lights.
Main Body ECU (Multiplex Network Body ECU)		Outputs the specification signal of the vehicle to driving support ECU.
Central Gateway ECU		Transmits the signal between the CAN communication bus.
Air Conditioning Amplifier Assembly		Transmits ambient temperature signals to the forward recognition camera (camera sensor).
Thermistor Assembly		Detects ambient temperature and outputs it to the air conditioning amplifier assembly.

*: Models with headup display

FUNCTION

Tech Tips

Depending on the region in which the vehicle was sold, the pedestrian detection function and pre-crash braking function may not be available.

The pre-crash safety system uses a millimeter wave radar sensor assembly and forward recognition camera (camera sensor) to detect vehicles and pedestrians in front of your vehicle.
When the system determines that the possibility of a frontal collision with a vehicle or pedestrian is high, a warning operates to urge the driver to take evasive action and the potential brake pressure is increased to help the driver avoid the collision.
If the system determines that the possibility of a frontal collision with a vehicle or pedestrian is imminent, the brakes are automatically applied to help avoid the collision or help reduce the impact to the vehicle occupants and the vehicle in the collision.
1. Pre-crash warning
  - When the system determines that the possibility of a frontal collision is high, a buzzer will sound and a warning message will be displayed on the multi-information display and headup display* to urge the driver to take evasive action.
    
    Tech Tips
    
    *: Models with headup display
2. Pre-crash brake assist
  - When the system determines that the possibility of a frontal collision is high, the system applies greater braking force in relation to how strongly the brake pedal is depressed.
3. Pre-crash braking
  - When the system determines that the possibility of a frontal collision is high, the system warns the driver. If the system determines that the possibility of a frontal collision is extremely high, the brakes are automatically applied to help avoid the collision or reduce the impact of the collision.
Conditions under which the system may operate even if there is no possibility of a collision
1. In some situations such as the following, the system may determine that is a possibility of a frontal collision and operate.
  - When passing a vehicle or pedestrian
  - When changing lanes while overtaking a vehicle ahead
  - When overtaking a vehicle ahead that is changing lanes
  - When overtaking a vehicle ahead that is making a right/left turn
  - When passing a vehicle in an oncoming lane that is stopped to make a left/right turn
  - When driving on a road where relative location to vehicle ahead in an adjacent lane may change, such as on a winding road
  - When a vehicle ahead suddenly decelerates
  - If the front of the vehicle is raised or lowered, such as when the road surface is uneven or undulating
  - When approaching objects on the roadside, such as guardrails, utility pales, trees, or walls
  - When there is a vehicle, pedestrian, or object by the roadside at the entrance of a curve
  - When driving on a narrow path surrounded by a structure, such as in a tunnel or on an iron bridge
  - When there is a metal object (manhole cover, steel plate, etc.), steps, or a protrusion on the road surface or roadside
  - When a crossing pedestrian approaches very close to the vehicle
  - When passing under an object (billboard, etc.) at the top of an uphill road
  - When rapidly closing on an electric toll gate barrier, parking area barrier, or other barrier that opens and closes
  - When using an automatic car wash
  - When driving through or under objects that may contact the vehicles, such as thick grass, tree branches, or a banner
  - When the vehicle is hit by water, snow, dust, etc. from a vehicle ahead
  - When driving through steam or smoke
  - When there are patterns or paint on the road or a wall that may be mistaken for a vehicle or pedestrian
  - When driving near an object that reflects radio waves, such as a large truck or guardrail
  - When driving near a TV tower, broadcasting station, electric power plant, or other location where strong radio waves or electrical noise may be present

Warning Indication

The combination meter assembly uses the multi-information display, master warning light, PCS warning light and multi buzzer to provide the driver with pre-crash safety system warnings and indications.

Text in Illustration
*A	F SPORT	*B	Except F SPORT
*1	Combination Meter Assembly	-	-
*a	PCS Warning Light	*b	Master Warning Light
*c	Multi-information Display	*d	VSC OFF Indicator Light

If the driving support ECU assembly determines that the possibility of a collision is high, it sends a signal to the combination meter assembly. Upon receiving this signal, the combination meter assembly indicates a warning using the multi-information display, master warning light, PCS warning light and multi buzzer. Details are indicated below.

When there is a high possibility of a collision
Multi-information Display	Headup Display*	PCS Warning Light	Skid Control Buzzer Assembly
BRAKE !	BRAKE !	-	Sounds Intermittently

Tech Tips

*: Models with headup display

When the system is not available, the following warning occurs to warn the driver.

When a system malfunction is detected
Multi-information Display	Detail	Master Warning Light	PCS Warning Light	Buzzer	DTC
Pre-Crash Safety System Malfunction Visit Your Dealer	This message appears when the driving support ECU assembly detects a system malfunction.	Illuminates	Flashes	Sounds once	Repair is required DTCs are stored
Pre-Crash Safety System Unavailable	Millimeter wave radar sensor assembly is misaligned	-	Flashes	-	-
Pre-Crash Safety System Unavailable Clean Sensor	Dirty center mark of upper radiator grille or millimeter wave radar sensor assembly	-	Flashes	-	-
Forward Camera System Unavailable Clean Windshield	Dirty windshield glass over the camera sensor	-	Illuminate	-	-
Forward Camera System Unavailable	Temperature or power supply of camera sensor is abnormality	-	Flashes	-	-
VSC Turned Off Pre-Crash Safety Brake System Unavailable	VSC and TRAC operation have been disabled	-	Illuminate	-	-

The pre-crash safety system can be turned ON/OFF at setting display of the multi-information display.

To change the enabled or disabled of the pre-crash safety system using the multi-information display and the steering pad switch assembly (meter control switches), display the setting display screen.

On the setting display screen, select PCS icon and then press on Enter/Set switch on the steering pad switch assembly.

Select [PCS] and then press on Enter/Set switch the steering wheel. Each time is pressed, the system will be enabled/disabled.

Text in Illustration
*1	Combination Meter Assembly	*2	Steering Pad Switch Assembly
*a	Enter/Set Switch	*b	PCS Warning Light
*c	Multi-information Display	-	-

Tech Tips

If the system is disabled, the PCS warning light will turn on and a message will be displayed on the multi-information display.
The system is automatically enabled each time the engine switch is turned to ON mode.

The pre-crash warning timing can be changed on setting display of the multi-information display.

On the setting display screen, select PCS icon and then press on Enter/Set switch on the steering pad switch assembly.

Select [Sensitivity] and then press on Enter/Set switch the steering wheel. Each Enter/Set switch is pressed, operation timing (Far/Middle/Near) of the pre-crash safety system will be changed.

Text in Illustration
*1	Combination Meter Assembly	*2	Steering Pad Switch Assembly
*a	Enter/Set Switch	*b	Multi-information Display
*c	Far	*d	Middle
*e	Near	-	-

OPERATING CONDITION

Availability of the pedestrian detection function and pre-crash braking function depend on the region the in which the vehicle was sold.

Regions	Function availability
Regions A	The pedestrian detection function and pre-crash braking function are available
Regions B	The pedestrian detection function is not available and the pre-crash braking function is available
Regions C	The pedestrian detection function and pre-crash braking function are not available

Region A (The pedestrian detection function and pre-crash braking function are available)
1. The pre-crash safety system is enabled and the system determines that the possibility of a frontal collision with a vehicle or pedestrian is high. Each function is operational at the following speeds:
  - Vehicle speed is approximately 7 mph (10 km/h) or more. (For detecting a pedestrian, vehicle speed is between approximately 7 and 50 mph (10 and 80 km/h).)
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 7 mph (10 km/h) or more.
  - Vehicle speed is approximately 30 km/h (19 mph) or more.
  - The relative speed between your vehicle and the vehicle ahead is approximately 30 km/h (19 mph) or more.
  - Vehicle speed is approximately 19 mph (30 km/h) or more. (For detecting a pedestrian, vehicle speed is between approximately 19 and 50 mph (30 and 80 km/ h).)
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 19 mph (30 km/h) or more.
  - Vehicle speed is approximately 7 mph (10 km/h) or more. (For detecting a pedestrian, vehicle speed is between approximately 7 and 50 mph (10 and 80 km/h).)
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 7 mph (10 km/h) or more.
  - Vehicle speed is approximately 16 mph (25 km/h) or 112 mph (180 km/h).
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 13 mph (20 km/h) or 112 mph (180 km/h).
  - Vehicle speed is approximately 16 mph (25 km/h) or 112 mph (180 km/h).
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 13 mph (20 km/h) or 112 mph (180 km/h).
2. The system may not operate in the following situations:
  - If a battery terminal has been disconnected and reconnected and then the vehicle has not been driven for a certain amount of time
  - If the shift lever is in R
  - If VSC is disabled (only the pre-crash warning function will be operational)
  - If the PCS warning light is flashing or illuminated
Region B (The pedestrian detection function is not available and the pre-crash braking function is available)
1. The pre-crash safety system is enabled and the system determines that the possibility of a frontal collision with a vehicle is high. Each function is operational at the following speeds:
  - Vehicle speed is approximately 10 mph (15 km/h) or more.
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 7 mph (10 km/h) or more.
  - Vehicle speed is approximately 19 mph (30 km/h) or more.
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 19 mph (30 km/h) or more.
  - Vehicle speed is approximately 10 mph (15 km/h) or more.
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 7 mph (10 km/h) or more.
  - Vehicle speed is approximately 19 mph (30 km/h) or 112 mph (180 km/h).
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 25 mph (40 km/h) or 112 mph (180 km/h).
  - Vehicle speed is approximately 19 mph (30 km/h) or 112 mph (180 km/h).
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 25 mph (40 km/h) or 112 mph (180 km/h).
2. The system may not operate in the following situations:
  - If a battery terminal has been disconnected and reconnected and then the vehicle has not been driven for a certain amount of time
  - If the shift lever is in R
  - If VSC is disabled (only the pre-crash warning function will be operational)
  - If the PCS warning light is flashing or illuminated
Region C (The pedestrian detection function and pre-crash braking function are not available)
1. The pre-crash safety system is enabled and the system determines that the possibility of a frontal collision with a vehicle is high. Each function is operational at the following speeds:
  - Vehicle speed is approximately 10 mph (15 km/h) or more.
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 7 mph (10 km/h) or more.
  - Vehicle speed is approximately 19 mph (30 km/h) or more.
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 19 mph (30 km/h) or more.
2. The system may not operate in the following situations:
  - If a battery terminal has been disconnected and reconnected and then
  - If the shift lever is in R
  - If VSC is disabled (only the pre-crash warning function will be operational)
  - If the PCS warning light is flashing or illuminated

SYSTEM CONTROL

Pre-crash Brake Assist
1. While the pre-crash safety system has determined that there is a high possibility of a collision, brake hydraulic pressure assistance is performed when the driver depresses the brake pedal. Also, the amount of brake hydraulic pressure assistance increases further when the system determines that there is an even higher possibility of a collision.
Pre-crash Braking
1. When the pre-crash safety system detects an object such as a vehicle or road structure in front of the vehicle and determines that the possibility of a collision is high, the system displays a warning message on the multi-information display and headup display*, and sounds the driving support buzzer (skid control buzzer) to warn the driver.
  
  Tech Tips
  
  *: Models with headup display
2. When the pre-crash safety system determines high possibility of collision, the system performs pre-crash brake control.

CONSTRUCTION

Millimeter Wave Radar Sensor Assembly
1. The millimeter wave radar sensor assembly consists of a millimeter wave radar circuit, signal processing circuit and CPU.
2. The reception antennas receive the millimeter wave radar waves that have been reflected.
3. The signal processing circuit detects the distance, relative speed, and the direction of the object by generating millimeter wave radar waves and calculating the signals received by the reception antennas. Then, it transmits this information to the driving support ECU assembly.

Forward Recognition Camera (Camera Sensor)

Forward recognition camera (camera sensor) is equipped with an internal monocular camera.

2 types of sensors such as the millimeter wave radar sensor and a monocular camera are used to ensure accurate and reliable detection.

Text in Illustration
*1	Forward Recognition Camera (Camera Sensor)	-	-
*a	Monocular Camera	-	-

Camera Heater

The camera heater is positioned in the forward recognition hood with heater sub-assembly. The camera heater prevents condensation on the windshield in front of the forward recognition camera (camera sensor).
The camera heater operates with the current from the forward recognition camera (camera sensor).
The camera heater is composed of the sheet heater (heating element) and temperature fuse, etc. Current is run through the sheet heater (heating element) to generate heat and warm the front portion of the forward recognition camera (camera sensor).

*1 Sheet Heater (Heating Element) *2 Temperature Fuse

When all of the following conditions have been met, the camera heater operates.

The power switch is turned on (IG).
The ambient temperature is 10°C (50°F) or less.
30 seconds or more have elapsed since the camera heater (forward recognition hood with heater sub-assembly) operation stopped.

After the camera heater (forward recognition hood with heater sub-assembly) operates, the operation will stop when a certain length of time has elapsed.

Tech Tips

Operating time will differ based on vehicle speed and ambient temperature.

DIAGNOSIS

Initial Check
1. The driving support ECU assembly performs an initial check on the system for approximately 3 seconds after the power switch has been turned on (IG).
Monitor Function
1. After completing the initial check, the pre-crash safety system becomes ready to operate. During this time, the driving support ECU assembly periodically monitors the system for any malfunctions.
Diagnostic Trouble Code (DTC)
1. If the driving support ECU assembly detects a malfunction in the pre-crash safety system, it stores a 5 digit Diagnostic Trouble Code (DTC) in memory.