PRE-CRASH SAFETY SYSTEM

FUNCTION OF MAIN COMPONENTS

Item		Function
Driving Support ECU Assembly		Determines whether a collision is imminent based on the information received from the millimeter wave radar sensor assembly and forward recognition camera (camera sensor). It then outputs a brake assist standby request signal and pre-crash brake request signal if required. Sounds the driving support buzzer (skid control buzzer) to warn the driver.
Millimeter Wave Radar Sensor Assembly		Radiates millimeter wave 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).*1
Camera Heater (Forward Recognition Hood with Heater Sub-assembly)*1		Heats the sheet heater in accordance with the current from the forward recognition camera (camera sensor).
Brake Actuator Assembly	Skid Control ECU	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.
	Master Cylinder Pressure Sensor	Detects the master cylinder pressure and transmits a signal to the skid control ECU.
	Pump Motor	Receives an operation signal from the skid control ECU and generates hydraulic pressure for brake control.
Combination Meter Assembly	PCS Warning 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 pre-crash safety system is not available due to when the pre-crash safety system is turned OFF or pre-crash brake and pre-crash brake assist operation are disabled using the VSC OFF switch.
	Master Warning Light	Illuminates to warn the driver in accordance with signals from the driving support ECU assembly.
	VSC OFF Indicator Light	Illuminates when in the VSC OFF mode.
	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.
	Multi 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*2		Shows a warning message to warn the driver on the headup display.
ECM		Transmits an accelerator pedal position signal and shift position signal to the driving support ECU assembly.
Yawrate Sensor		Detects the yaw rate and lateral/longitudinal deceleration of the vehicle and transmits the signal to the driving support ECU assembly.
Network Gateway ECU		Relays and transmits each CAN communication data signal.
Spiral Cable with Sensor Sub-assembly	Steering Sensor	Detects the steering direction and angle of the steering wheel and transmits the signal to the driving support ECU assembly.
No. 2 Integration Relay		Illuminates the stop lights in accordance with the signals from the skid control ECU.
Driving Support Buzzer (Skid Control Buzzer)		Sounds to warn the driver in accordance with signals from the driving support ECU assembly.
Integration Control and Panel Assembly	VSC OFF Switch	Disables the pre-crash brake and pre-crash brake assist operation when the switch is turned on. The PCS warning light illuminates to show that the pre-crash brake and pre-crash brake assist operation is disabled. The pre-crash warning function can still operate.
Speed Sensor		Detects the wheel speed and transmits signals to the skid control ECU.
Stop Light Switch Assembly		Detects the depressing of the brake pedal and transmits a signal to the skid control ECU.
Accelerator Pedal Sensor Assembly		Detects the amount of pedal effort applied to the accelerator pedal and transmits the signal to the ECM.
Park/Neutral Position Switch Assembly		Detects the shift position and transmits a signal to the ECM.
Steering Pad Switch Assembly		Switch the display of multi-information display within combination meter assembly.
Absorber Control ECU		Receives an adaptive variable suspension (AVS) operation request signal from the driving support ECU assembly.
Air Conditioning Amplifier Assembly*1		Transmits ambient temperature signals to the forward recognition camera (camera sensor).
Ambient Temperature Sensor (Thermistor Assembly)*1		Detects ambient temperature and outputs it to the air conditioning amplifier assembly.

*1: Models with camera heater

*2: Models with headup display

FUNCTION

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.

Tech Tips

*: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.
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 extremely high, the brakes are automatically applied to help avoid the collision or help reduce the impact of the collision.

Tech Tips

*: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.
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*
  - If the system determines that the possibility of a collision is imminent, the brakes are automatically applied to help avoid the collision or reduce the impact.
  Tech Tips
  
  *: Depending on the region in which the vehicle was sold, the pre-crash braking function may not be available.
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 there is a possibility of a frontal collision and operate.
  - When passing a vehicle or pedestrian*
  - When changing lanes while overtaking a preceding vehicle
  - When overtaking a preceding vehicle that is changing lanes
  - When overtaking a preceding vehicle that is making a left/right 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 rapidly closing on a vehicle ahead.
  - 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 through a place with a low structure above the road (low ceiling, traffic sign, etc.)
  - 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
  Tech Tips
  
  *: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.

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:
  - Pre-crash warning:
  - Pre-crash brake assist:
  - Pre-crash braking:
  - Adaptive Variable Suspension (AVS) Control:
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
  - In case that zero point calibration has not been completed on steering sensor
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:
  - Pre-crash warning:
  - Pre-crash brake assist:
  - Pre-crash braking:
  - Adaptive Variable Suspension (AVS) Control:
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
  - In case that zero point calibration has not been completed on steering sensor
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:
  - Pre-crash warning:
  - Pre-crash brake assist:
  - Adaptive Variable Suspension (AVS) Control:
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
  - In case that zero point calibration has not been completed on steering sensor

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
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*2, and sounds the driving support buzzer (skid control buzzer) to warn the driver.
  
  Tech Tips
  
  *1: Depending on the region in which the vehicle was sold, the pre-crash braking function may not be available.
  
  *2: Models with Headup Display
2. When the pre-crash safety system determines high possibility of collision, the system performs pre-crash brake control.

DIAGNOSIS

Initial Check
1. The driving support ECU assembly performs an initial check on the system for approximately 3 seconds after the engine 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.