DYNAMIC RADAR CRUISE CONTROL SYSTEM


  1. FUNCTION OF MAIN COMPONENTS


    1. The main components in the dynamic radar cruise control system have the following functions:

      Component Function
      Cruise Control Switch ON-OFF Button Turns the cruise control system on and off.
      MODE Switch Switches the control mode between constant speed control mode and vehicle-to-vehicle distance mode.
      CANCEL Switch A cancel signal is output to the driving support ECU assembly when this switch is operated.
      +RES Switch The acceleration function and resuming of a preset speed can be performed by operating this switch. A signal is output to the driving support ECU assembly when this switch is operated.
      -SET Switch The deceleration function and vehicle speed setting resume signals are output to the driving support ECU assembly when this switch is operated.
      Steering Pad Switch Assembly Vehicle-to-vehicle Distance Control Switch While the system is in vehicle-to-vehicle distance control mode, the driver can operate the distance control switch to select the vehicle-to-vehicle distance in three levels: long, middle and short.
      Stop Light Switch Assembly Detects brake pedal depression and transmits a signal to the driving support ECU assembly.
      Windshield Wiper Motor Assembly Transmits the windshield wiper switch assembly information to the driving support ECU assembly.
      Millimeter Wave Radar Sensor Assembly Radiates millimeter radar waves forward, uses the reflected waves to detect the presence of a vehicle ahead, the vehicle-to-vehicle distance, the relative speed and direction then transmits this information to the driving support ECU assembly.
      Driving Support ECU Assembly

      • Calculates the motive force required to achieve the target vehicle speed/target vehicle-to-vehicle distance based on signals from switches, sensors and ECUs and transmits motive force request signals to the hybrid vehicle control ECU assembly assembly (to accelerate the vehicle in accordance with the motive force request) and the skid control ECU assembly (to decelerate the vehicle in accordance with the motive force request).

      • Determines presence of a preceding vehicle based on information from the millimeter wave radar sensor assembly.

      • Transmits control status display request signals, warning display request signals and diagnosis signals for the dynamic radar cruise control system.
      Combination Meter Assembly Cruise Control Indicator (Constant Speed Control Mode)*1

      • Based on a cruise control indicator operation signal sent by the driving support ECU assembly, the combination meter assembly illuminates the cruise control indicator when the cruise control system has been turned on using the ON-OFF switch on the cruise control switch and constant speed control mode has been selected.

      • Turns off if a malfunction occurs during constant speed control mode control.
      Radar Cruise Control Indicator (Vehicle-to-vehicle Distance Control Mode)*1

      • Based on a cruise control indicator operation signal sent by the driving support ECU assembly, the combination meter assembly illuminates the cruise control indicator when the cruise control system has been turned on using the ON-OFF switch on the cruise control switch and vehicle-to-vehicle distance control mode has been selected.

      • Turns off if a malfunction occurs during vehicle-to-vehicle distance control mode control.
      Cruise Control SET Indicator*1 Illuminates when the vehicle speed is set.
      Multi-information Display*1, *2

      • While the system is in vehicle-to-vehicle distance control mode, the multi-information display receives signals from the driving support ECU assembly in order to display system conditions in the graphic area.

      • If the driving support ECU assembly detects a malfunction signal while the vehicle is operating under cruise control, a warning message will be displayed in the warning area to inform the driver.
      Multi-information Display*2 Cruise Control Indicator (Constant Speed Control Mode)

      • Based on a cruise control indicator operation signal sent by the driving support ECU assembly, the combination meter assembly illuminates the cruise control indicator when the cruise control system has been turned on using the ON-OFF switch on the cruise control switch and constant speed control mode has been selected.

      • Turns off if a malfunction occurs during constant speed control mode control.
      Radar Cruise Control Indicator (Vehicle-to-vehicle Distance Control Mode)

      • Based on a cruise control indicator operation signal sent by the driving support ECU assembly, the combination meter assembly illuminates the cruise control indicator when the cruise control system has been turned on using the ON-OFF switch on the cruise control switch and vehicle-to-vehicle distance control mode has been selected.

      • Turns off if a malfunction occurs during vehicle-to-vehicle distance control mode control.
      Cruise Control SET Indicator Illuminates when the vehicle speed is set.
      Buzzer If the driving support ECU assembly detects automatic cancel or warning signals while the vehicle is operating under cruise control, this buzzer sounds once to inform the driver.
      Steering Sensor Detects the angle and direction of steering and transmits signals to the driving support ECU assembly.
      Yawrate Sensor Detects the yaw rate of the vehicle and transmits signals to the driving support ECU assembly.
      Brake Actuator Assembly Skid Control ECU

      • Actuates the brakes in accordance with the signals from the skid control ECU assembly.

      • Performs brake control in accordance with motive force request signals from the driving support ECU assembly while the system is operating in vehicle-to-vehicle distance control mode.

      • Transmits signals such as a wheel speed and estimated vehicle acceleration to the driving support ECU assembly.
      ECM

      • Increases and decreases the motive force in accordance with the motive force request signals transmitted by the driving support ECU assembly.

      • Transmits the information about motive force that is actually generated and can be generated to the driving support ECU assembly.
      TCM*3 Performs downshifts and upshifts according to signals from the ECM.
      Throttle Body with Motor Assembly Throttle Control Motor Adjusts the throttle valve opening angle in accordance with signals from the ECM.
      Throttle Position Sensor Detects the throttle valve opening angle and outputs it to the ECM.
      Skid Control Buzzer Assembly Sounds upon receiving signals from the driving support ECU assembly.
      Speed Sensor Detects the wheel speed of each of the 4 wheels.
      Accelerator Pedal Sensor Assembly Detects the accelerator pedal depression angle and transmits it to the ECM.
      Park/Neutral Position Switch Assembly Detects the shift lever position and transmits signals to the ECM.
      Transmission Floor Shift Assembly Transmission Control Switch

      • Detects the shift lever position and transmits signals to the ECM.

      • Informs the ECM of driver upshift or downshift operations while the shift lever is in M mode.
      Shift Paddle Switch (Transmission Shift Switch Assembly) Informs the ECM of driver upshift or downshift operations.
      Combination Switch Assembly VSC OFF (TRC OFF) Switch Detects the VSC OFF (TRC OFF) signal and outputs it to the skid control ECU.
      SNOW Switch*4 Detects the switch operation signal and through the ECM transmits a signal to the driving support ECU assembly.

      *1: F SPORT

      *2: Except F SPORT

      *3: Models with 2GR-FSE engine

      *4: Models with snow switch

  2. SYSTEM CONTROL


    1. The driving support ECU assembly, millimeter wave radar sensor assembly and ECM control this system.

    2. The combination meter assembly informs the driver of the control conditions.

    3. Constant speed control mode is controlled by the driving support ECU assembly. The driving support ECU assembly increases and decreases the vehicle speed by controlling the engine through the motive force request signals.

      A01VQN4E06

    4. Vehicle-to-vehicle distance control mode is controlled by the millimeter wave radar sensor assembly and driving support ECU assembly. Thus, the signals are output to the actuators and the ECU while exchanging data as indicated below.

      A01VQPTE06
      *1 Millimeter Wave Radar Sensor Assembly
      *2 Driving Support ECU Assembly
      *3 CAN (Sub Bus 13)
      *4 CAN (Sub Bus 2)

  3. FUNCTION


    1. Function List


      1. The control of the dynamic radar cruise control system varies depending on the mode:

        A: Constant Speed Control Mode

        B: Vehicle-to-vehicle Distance Control Mode

        Function Outline Mode
        A B
        Constant Speed Control Controls the motive force through the ECM and skid control ECU and adjusts the vehicle speed to the set vehicle speed. ○ ○
        In constant speed control mode, constant speed control is performed by the driving support ECU assembly in the same way as conventional cruise control. ○ -
        In vehicle-to-vehicle distance control mode, constant speed control is performed by the millimeter wave radar sensor assembly and driving support ECU assembly. - ○
        Deceleration Control Performs engine and brake control in order to decelerate the vehicle so that the vehicle-to-vehicle distance between the driver's own vehicle and the vehicle ahead equals the set distance. - ○
        Follow-up Control After performing deceleration control, the driver's own vehicle follows the vehicle ahead in order to maintain the proper vehicle-to-vehicle distance in accordance with the vehicle speed. - ○
        Acceleration Control Accelerates the vehicle in order to attain the set vehicle speed if the vehicle ahead or the driver's own vehicle has changed lanes. - ○
        Set Control

        When the following conditions are met, and the cruise control switch is pressed to the -SET side and released, the driving support ECU assembly stores the vehicle speed and maintains the vehicle constantly at the current speed.


        • The cruise control system is on.

        • The shift lever is in D range selected.

        		 ○ ○
        The vehicle is being driven at a speed of approximately 50 km/h (32 mph) or more. ○ ○
        Low Speed Limit Control The low speed limit is the lowest speed that cruise control can be set at and it is designed to be approximately 40 km/h (25 mph). The cruise control system cannot be set below that speed. If the vehicle speed drops below that speed while driving using cruise control, speed control by the cruise control system will be canceled automatically. The set vehicle speed is kept in memory. ○ ○
        COAST Switch Control While the cruise control switch is held to the -SET side, the vehicle speed and the set vehicle speed change as follows, according to the mode: ○ ○

        • The vehicle decelerates constantly.

        • The set vehicle speed changes to the speed at which the switch is released.

        		 ○ -

        • The set vehicle speed decreases in increments of 5 km/h or 5 mph. (Example: 103 → 100 → 95 km/h [mph])

        • The vehicle decelerates rapidly due to ETCS-i. The vehicle will remain at the speed that the vehicle is traveling at when the COAST switch is released.

        		 - ○
        Tap Down Control When the cruise control switch is moved momentarily (approximately 0.6 seconds or less) to the -SET side, the vehicle speed and the set vehicle speed change as follows, according to the mode: ○ ○

        • The vehicle will decelerate in increments of approximately 1.6 km/h (1 mph) each time the switch is moved.

        • However, if the difference between the actual vehicle speed and the set vehicle speed is greater than 5 km/h (3 mph) , the set vehicle speed will change to the speed at which the vehicle was being driven at the time the switch was operated.

        		 ○ -
        The vehicle will decelerate in increments of approximately 5 km/h (5 mph)*1 or 1 km/h (1 mph)*2 each time the switch is moved. - ○
        ACC Switch Control When the cruise control switch is held to the +RES side, the vehicle speed and the set vehicle speed change as follows, according to the mode: ○ ○

        • The vehicle will accelerate constantly.

        • The set vehicle speed changes to the speed at which the switch is released.

        		 ○ -

        • The set vehicle speed increases in increments of 5 km/h or 5 mph [Example: 62 →65 →70 km/h (mph)].

        • The vehicle will accelerate to the speed that is set at the time the switch is released. However, only the set vehicle speed will change during follow-up control.

        		 - ○
        RES Switch Control If the vehicle speed is above the low speed limit, the cruise control resumes operation (when the cruise control switch is subsequently pushed to the +RES side) to reach the vehicle speed that was set at the time the driver canceled cruise control. Even if the vehicle speed dropped below the low speed limit, the set speed can be resumed after the vehicle speed increases above the low speed limit. ○ ○
        Even if the vehicle speed dropped below the low speed limit, the set speed can be resumed after the vehicle speed increases above the low speed limit. - ○
        When the vehicle ahead changes driving lanes during follow-up control, the vehicle speed is gradually increased to the set speed. At this time, the vehicle speed can be increased promptly by pushing the cruise control switch to the +RES direction. - ○
        Tap Up Control When the cruise control switch is moved momentarily (approximately 0.6 seconds or less) to the +RES side, the vehicle speed and the set vehicle speed change as follows: ○ ○

        • The vehicle will accelerate in increments of approximately 1.6 km/h (1 mph) for each time the switch was moved.

        • However, if the difference between the actual vehicle speed and the set vehicle speed is greater than 5 km/h (3 mph), the set vehicle speed will not change.

        		 ○ -
        The vehicle will accelerate in increments of approximately 5 km/h (5 mph)*1 or 1 km/h (1 mph)*2 for each time the switch is moved. - ○
        Shift-down Control When the vehicle is traveling uphill using cruise control, automatic transmission control may cause the transmission to shift down. During shift-down control, when the end of uphill travel is determined based on the throttle valve angle, the transmission will shift up after a certain period of time. When the transmission shifts down during ACC switch control or RES switch control, the transmission will shift up after ACC switch control or RES switch control ends. ○ ○
        Manual Cancel Control

        If one of the following conditions is met, speed control by the cruise control system is canceled accordingly.


        • Stop light switch on signal (The brake pedal is depressed.)

        • Shift lever is moved from D to any other position.

        • When 1st, 2nd or 3rd range is selected in D position by shift paddle switch (transmission shift switch assembly.)

        • CANCEL switch on signal sent to the driving support ECU assembly (cruise control switch is moved to CANCEL side.)

        • Cruise control switch (ON-OFF button) off signal sent to the driving support ECU assembly.

        		 ○ ○
        Automatic Cancel Control When an automatic cancel signal is sent to the ECM, cruise control operation is canceled. At this time, the type of warning sent to the driver and the control resumption condition varies according to the cancel signal. ○ ○
        Mode Switching Control

        The following operations switch modes:


        • The ON-OFF button on the cruise control switch is turned on. (Starts in vehicle-to-vehicle distance control mode.)

        • The cruise control switch is held to the MODE side. (for approximately 1 second or more). If the switch is pushed to any other side before switching modes, turn the cruise control system off, then, perform the steps above again.

        		 ○ ○
        Other Cancel Items

        • TRC operates for a certain period of time during cruise control driving.

        • VSC operation.

        		 ○ ○
        Diagnosis If a malfunction occurs in the dynamic radar cruise control system during cruise control operation, the driving support ECU assembly cancels cruise control and memorizes information related to the malfunction. ○ ○

        ○: Available

        -: Not Available

        *1:Models for Europe

        *2:Except models for Europe

    2. Constant Speed Control in Vehicle-to-vehicle Distance Control


      1. The driving support ECU assembly compares the actual vehicle speed (wheel speed signal from the skid control ECU) with the set vehicle speed under constant speed control in each control mode. When the actual vehicle speed differs from the set vehicle speed, the driving support ECU assembly calculates the motive force required to achieve the set vehicle speed and transmits motive force request signals to the ECM, thus controlling the motive force optimally and adjusting the actual vehicle speed to the set vehicle speed.

        A01VQTAE01

    3. Deceleration Control


      1. The driving support ECU assembly calculates the target deceleration rate in accordance with signals from the millimeter wave radar sensor assembly, and transmits a motive force request signal to the ECM and the skid control ECU. Upon receiving this signal, these ECUs control the motive force and decelerate the vehicle.

      2. This control is not performed in the presence of a parked vehicle or object, or below the settable vehicle speed range.

        A01VQR8E03

      3. If the driving support ECU assembly determines that further deceleration is necessary, it transmits a brake request signal to the skid control ECU. Upon receiving this signal, the skid control ECU controls the brake actuator to apply the brakes.

      4. At this time, if the deceleration rate is higher than a predetermined value, the skid control ECU outputs a stop light illumination request signal to the stop light, in order to warn any vehicles behind.

        A01VQRIE01

      5. If the vehicle is not decelerating adequately, the driving support ECU assembly sounds the skid control buzzer assembly to urge the driver to depress the brake pedal.

        A01VQQOE01

    4. Follow-up Control


      1. After performing deceleration control, the driving support ECU assembly transmits a motive force request signal to the ECM and skid control ECU so that the vehicle can follow the vehicle ahead while maintaining the proper vehicle-to-vehicle distance according to the vehicle speed. Upon receiving this signal, The ECM and skid control ECU control the motive force in order to perform follow-up control.

      2. 3 stages (long, middle, and short) of vehicle-to-vehicle distance can be selected by operating the distance control switch.

        A01VQQEE06

    5. Acceleration Control


      1. If the driving support ECU assembly detects (based on the millimeter wave radar sensor assembly) that either the vehicle ahead or the driver has changed lanes, a motive force request signal is transmitted to the ECM in order to attain the set vehicle speed. Upon receiving this signal, the ECM controls the motive force in order to perform acceleration control.

        A01VQT0E01

    6. Automatic Cancel Control


      1. If any of the conditions listed below occur while the vehicle is being driven using cruise control, speed control by the cruise control system will be canceled. Then, the following warning items will appear for the driver.

        Constant Speed Control Mode
        Situation Warning
        Multi-information Display B00726H B00721A Buzzer

        If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • An open or short circuit in the stop light switch assembly.

        Speed control by the cruise control system is disabled until the conditions are corrected or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch.

        		 Check Cruise Control System Illuminates Does not illuminate Sounds once

        If either of the conditions listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • Stop light switch assembly input signal is abnormal.

        • Cancel circuit malfunction.

        Speed control by the cruise control system is disabled until the engine switch is turned on (IG) again.

        		 Check Cruise Control System Illuminates Does not illuminate Sounds once

        If the condition listed below occurs, the driving support ECU assembly cancels speed control by the cruise control system while retaining the set vehicle speed in its memory.


        • The vehicle speed drops below the low speed limit [approximately 40 km/h (25 mph)].

        		 - Does not illuminate Illuminates -

        If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • The vehicle speed drops more than 16 km/h (10 mph) below the set vehicle speed.

        		 - Does not illuminate Illuminates -

        If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • A malfunction in the ETCS-i.

        Speed control by the cruise control system is disabled until the condition is corrected or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch.

        		 - Does not illuminate Does not illuminate -
        Vehicle-to-vehicle Distance Control Mode
        Situation Warning
        Multi-information Display B00726H B0072GC Buzzer

        If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • An open or short circuit in the stop light switch.

        Cruise control is prohibited until the normal operating conditions are met or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch.

        		 Check Cruise Control System Illuminates Does not illuminate Sounds once

        If one of the conditions listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • Stop light switch assembly input signal is abnormal.

        • Cancel circuit malfunction.

        • Malfunction of the millimeter wave radar sensor assembly.

        • Misalignment of the axis of the millimeter wave radar sensor assembly.

        • Malfunction in the dynamic radar cruise control system other than those given above.

        Speed control by the cruise control system is disabled until the engine switch is turned on (IG) again.

        		 Check Cruise Control System Illuminates Does not illuminate Sounds once

        If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels speed control by the cruise control system.


        • A malfunction in the ETCS-i.

        Speed control by the cruise control system is prohibited until the condition is corrected or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch.

        		 - Does not illuminate Does not illuminate -

        If the condition listed below occurs, the driving support ECU assembly cancels speed control by the cruise control system while retaining the set vehicle speed in its memory.


        • The millimeter wave radar sensor assembly is dirty.

        Cruise control is prohibited until the normal operating conditions are met or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch.

        		 Clean Radar Sensor Illuminates Does not illuminate Sounds once

        If either of the conditions listed below occurs, the driving support ECU assembly cancels speed control by the cruise control system while retaining the set vehicle speed in its memory.


        • The wipers are operating at HI speed.

        • The measurement becomes extremely unstable due to poor weather conditions.

        • SNOW mode is selected.*

        Cruise control is prohibited until the normal operating conditions are met or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control switch

        		 Cruise Control not available Illuminates Does not illuminate Sounds once

        If the condition listed below occurs, the driving support ECU assembly cancels speed control by the cruise control system while retaining the set vehicle speed in its memory.


        • The vehicle speed drops below the low speed limit [approximately 40 km/h (25 mph)].

        		 - Does not illuminate Illuminates Sounds Twice

        *: Except models for G.C.C. countries

  4. DIAGNOSIS


    1. If a malfunction occurs in the dynamic radar cruise control system during cruise control operation, the ECM automatically cancels the cruise control, illuminates the master warning light, sounds a buzzer and displays "Check Cruise Control System" on the multi-information display to inform the driver of the malfunction. At this time, the ECM memorizes the malfunction in the form of 5-digit Diagnostic Trouble Codes (DTCs).

    2. The DTC can be read when the Global TechStream (GTS) is connected to the DLC3. For details, refer to the Repair Manual.