PRE-COLLISION SYSTEM(for Stereo Camera Type)

OPERATING CONDITION

The forward pre-collision system is enabled and the system determines that the possibility of a frontal collision with a vehicle, pedestrian or bicycle rider is high. Each function is operational at the following speeds:

Pre-collision Warning
Vehicle speed is between approximately 5 km/h and 180 km/h (3 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 5 km/h and 80 km/h (3 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 5 km/h (3 mph) or more.

Pre-collision Brake Assist
Vehicle speed is between approximately 30 km/h and 180 km/h (20 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 30 km/h and 80 km/h (20 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 30 km/h (20 mph) or more.

Pre-collision Braking
Vehicle speed is between approximately 5 km/h and 180 km/h (3 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 5 km/h and 80 km/h (3 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 30 km/h (20 mph) or more.

Adaptive Variable Suspension Control
Vehicle speed is between approximately 30 km/h and 180 km/h (20 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 30 km/h and 80 km/h (20 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 30 km/h (20 mph) or more.

Crash Avoidance Assist (CAA) Control [Models with Lexus Dynamic Handling (LDH) System]
Vehicle speed is between approximately 30 km/h and 180 km/h (20 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 30 km/h and 80 km/h (20 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 30 km/h (20 mph) or more.

Pre-collision Seat Belt Control
Vehicle speed is between approximately 30 km/h and 180 km/h (20 mph and 110 mph). [For detecting a pedestrian or bicycle rider, vehicle speed is between approximately 30 km/h and 80 km/h (20 mph and 50 mph).] The relative speed between your vehicle and the vehicle, pedestrian or bicycle rider ahead is approximately 30 km/h (20 mph) or more.

Cancelation of the pre-collision braking

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

The accelerator pedal is depressed strongly.
The steering wheel is turned sharply or abruptly.

Tech Tips

When the vehicle is stopped due to operation of pre-collision braking, pre-collision braking operation will be canceled approximately 2 seconds after the vehicle has stopped.

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 position is in R
If VSC is disabled (only the pre-collision warning function will be operational)
If the PCS warning light is illuminated or flashing

SYSTEM CONTROL

The forward pre-collision system uses a millimeter wave radar sensor assembly and object recognition camera to detect vehicles, pedestrians and bicycle riders in front of your vehicle.
When there is a possibility of a collision, the forward pre-collision system displays messages on the multi-information display, headup display and multi display, sounds an alert using the buzzer and performs pre-collision brake assist during brake pedal operations. Also, when there is a high possibility of a collision, the system performs pre-collision braking, contributing to collision avoidance support and collision damage reduction.

When the pre-collision system performs brake control, the skid control ECU assembly illuminates the stop lights to inform drivers behind the vehicle of brake operations.

*1	Object Recognition Camera	*2	Millimeter Wave Radar Sensor Assembly
*3	Driving Support ECU Assembly	*4	Skid Control ECU Assembly
*a	Collision Imminent	*b	Vehicle Ahead
*c	Own Vehicle	-	-
	object Recognition Camera Detection Area		Millimeter Wave Radar Sensor Assembly Detection Area

Pre-collision Brake Assist
1. While the pre-collision 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-collision Braking
1. When the pre-collision 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, headup display and multi display, and sounds the buzzer to warn the driver.
2. When the pre-collision system determines that there is a high possibility of a collision, the system performs pre-collision braking control.

Conditions under which the system may operate even if there is no possibility of a collision

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, pedestrian or bicycle rider
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 [Case 1]
When passing a vehicle in an oncoming lane that is stopped to make a right/left turn [Case 2]
When driving on a road where relative location to vehicle ahead in an adjacent lane may change, such as on a winding road [Case 3]
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, bicycle rider, or object by the roadside at the entrance of a curve [Case 4]
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 or bicycle rider approaches very close to the vehicle [Case 5]
When passing through a place with a low structure above the road (low ceiling, traffic sign, etc.) [Case 6]
When passing under an object (billboard, etc.) at the top of an uphill road [Case 7]
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 [Case 8]
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, pedestrian or bicycle rider
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

Figure 1. [Case 1]

Figure 2. [Case 2]

Figure 3. [Case 3]

Figure 4. [Case 4]

Figure 5. [Case 5]

Figure 6. [Case 6]

Figure 7. [Case 7]

Figure 8. [Case 8]