PRE-CRASH SAFETY SYSTEM


  1. FUNCTION OF MAIN COMPONENTS

    Item Function
    Millimeter Wave Radar Sensor Assembly (Radar Sensor) 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) Captures images of the area in front of the vehicle and processes them to detect vehicles or pedestrians and sends information to the driving support ECU assembly.
    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 Booster with Master Cylinder 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 and stop light signal to the driving support ECU assembly.
    Accumulator Pressure Sensor Detects the accumulator brake fluid 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.
    Speed Sensors Detect the wheel speed of each of the 4 wheels and transmits the signal to the skid control ECU.
    Airbag Sensor Assembly Yaw Rate 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.
    Stop Light Switch Assembly Detects if the brake pedal is depressed and transmits a signal to the skid control ECU.
    Combination Switch Assembly VSC OFF Switch Disables the pre-crash brake and pre-crash brake assist operation when VSC OFF mode.
    Combination Meter Assembly PCS Warning Light

    • Flashes or illuminates to warn the driver in accordance with signals from the driving support ECU assembly.

    • Flashes or illuminates when the system is malfunctioning or 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.
    Skid Control Buzzer Sounds to warn the driver in accordance with signals from the driving support ECU assembly.
    Hybrid Vehicle Control ECU

    • Detects the shift position signal and accelerator pedal opening angle and sends that information to the driving support ECU assembly.

    • Performs engine output control based on information from the driving support ECU assembly.
    Main Body ECU (Multiplex Network Body ECU) Outputs the specification signal of the vehicle to driving support ECU assembly.
    Network Gateway ECU Transmits the signal between the CAN communication bus.
    Combination Meter Mirror ECU* Shows a warning message to warn the driver on the headup display.

    *: Models with Headup Display

  2. FUNCTION


    1. The pre-crash safety system uses a radar sensor and camera sensor to detect vehicle and pedestrians* in front of your vehicle.

    2. 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.

    3. 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.


      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 to urge the driver to take evasive action.

      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 collision speed.

        *: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.

  3. OPERATING CONDITION


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

      Regions Function availability
      Region A The pedestrian detection function is available
      Region B The pedestrian detection function is not available

      Read the following for details:

    2. Region A

      (The Pedestrian detection 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 or pedestrian is high.

      2. Each function is operational at the following speeds:


          Pre-crash warning:

        • Vehicle speed is between approximately 10 and 180 km/h (7 and 110 mph). (For detecting a pedestrian, vehicle speed is between approximately 10 and 80 km/h (7 and 50 mph).)

        • The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 10 km/h (7 mph) or more.


          Pre-crash brake assist:

        • Vehicle speed is between approximately 30 and 180 km/h (20 and 110 mph). (For detecting a pedestrian, vehicle speed is between approximately 30 and 80 km/h (20 and 50 mph).)

        • The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 30 km/h (20 mph) or more.


          Pre-crash braking:

        • Vehicle speed is between approximately 10 and 180 km/h (7 and 110 mph). (For detecting a pedestrian, vehicle speed is between approximately 10 and 80 km/h (7 and 50 mph).)

        • The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 10 km/h (7 mph) or more.

        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

    3. Region B

      (The pedestrian detection function is 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.

      2. Each function is operational at the following speeds:


          Pre-crash warning:

        • Vehicle speed is between approximately 15 and 180 km/h (10 and 110 mph).

        • The relative speed between your vehicle and the vehicle ahead is approximately 10 km/h (7 mph) or more.


          Pre-crash brake assist:

        • Vehicle speed is between approximately 30 and 180 km/h (20 and 110 mph).

        • The relative speed between your vehicle and the vehicle ahead is approximately 30 km/h (19 mph) or more.

        • Vehicle speed is between approximately 15 and 180 km/h (10 and 110 mph).

        • The relative speed between your vehicle and the vehicle ahead is approximately 10 km/h (7 mph) or more.


          Pre-crash braking:

        • Vehicle speed is between approximately 15 and 180 km/h (10 and 110 mph).

        • The relative speed between your vehicle and the vehicle ahead is approximately 10 km/h (7 mph) or more.

        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

    4. Cancelation of the pre-crash braking


      1. If either of the following occur while the pre-crash braking function is operating, it will be canceled:


        • The accelerator pedal is depressed strongly.

        • The steering wheel is turned sharply or abruptly.

    5. 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

          B006H6Q

        • When passing a vehicle in an oncoming lane that is stopped to make a right/left turn

          B006H6I

        • When driving on a road where relative location to vehicle ahead in an adjacent lane may change, such as on a winding road

          B006H5S

        • 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 the approaching objects on the roadside, such as guardrails, utility poles, trees, or walls

        • When there is a vehicle, pedestrian*, or object by the roadside at the entrance of a curve

          B006H6K

        • 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*

          B006H67

        • When passing through a place with a low structure above the road (low ceiling, traffic sign, etc.)

          B006H64

        • When passing under an object (billboard, etc.) at the top of an uphill road

          B006H5L

        • 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 vehicle, such as thick grass, tree branches, or a banner

          B006H5X

        • 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

        *: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.

  4. SYSTEM CONTROL


    1. Pre-crash Brake Assist


      1. When the driver depresses the brake pedal after the pre-crash safety system has determined that there is the possibility of a collision, brake fluid pressure is increased. If the possibility of a collision is still high, brake fluid pressure is further increased.

        B006H6HE07

    2. Pre-crash Braking


      1. When the pre-crash safety system determines that a collision is imminent, the system performs pre-crash braking control.

        B006H5RE12

  5. DIAGNOSIS


    1. 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).

    2. 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.

    3. 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.