DYNAMIC RADAR CRUISE CONTROL SYSTEM

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

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

Constant speed control mode is controlled by the ECM, which outputs signals to the throttle control motor*1 or the injector assemblies*2.

• *1: Models with diesel engine

• *2: Models with gasoline engine

Control of Dynamic Radar Cruise Control System Varies Depending on Mode

1. Constant Speed Control Mode and Vehicle-to-vehicle Distance Control Mode

   
   

   • A: Constant speed control mode

   • B: Vehicle-to-vehicle distance control mode

   Function		Outline	Mode
   			A	B
   Constant Speed Control	Models with Diesel Engine	The ECM compares the actual vehicle speed and the set speed. If the vehicle speed is higher than the set speed, the ECM decreases the fuel injection volume by regulating the 4 injectors. If the actual vehicle speed is lower than the set speed, the ECM increases the fuel injection volume by regulating the 4 injectors.	○	○
   	Models with Gasoline Engine	The ECM compares the actual vehicle speed and the set speed. If the vehicle speed is higher than the set speed, the ECM uses the throttle control motor to decrease the throttle opening. If the actual vehicle speed is lower than the set speed, the ECM uses the throttle control motor to increase the throttle opening.
   Deceleration Control		Performs engine and brake control in order to decelerate the vehicle so that the vehicle-to-vehicle distance between this vehicle and the preceding vehicle equals the set distance.	-	○
   Follow-up Control		After performing deceleration control, the vehicle follows the preceding vehicle 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 preceding vehicle or this vehicle has changed lanes.	-	○
   Set Control		While this system fulfills the following conditions and the cruise control main switch is pressed to the -SET side and released, the ECM stores the vehicle speed, illuminates the cruise control SET indicator light on the multi-information display and maintains the vehicle constantly at that speed. The cruise control system is on.	○	○
   		The vehicle is running at a vehicle speed of approx. 50 km/h to 200 km/h (30 mph to 125 mph) or more.	○	-
   		The vehicle is running between approx. 50 km/h and 180 km/h (30 mph and 110 mph).	-	○
   Low Speed Limit Control		The low speed limit is approx. 40 km/h (25 mph). If the vehicle speed drops below this speed while running under cruise control, cruise control will be canceled automatically. However, the set vehicle speed in the memory is kept.	○	○
   COAST (-) Switch Control		While the cruise control main switch is held to the -SET side, the vehicle speed and the set vehicle speed change in accordance with the mode as follows:	○	○
   		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 → 90 → 85 km/h (mph)] The vehicle remains at the speed that the vehicle was traveling at when the cruise control main switch was released.	-	○
   Tap-down Control		When the cruise control main switch is pushed momentarily (approx. 0.6 sec.) to the -SET side, the vehicle speed and the vehicle setting speed change in accordance with the mode as follows:	○	○
   		For models for Europe, the vehicle decelerates in increments of approx. 5 km/h or 5 mph for each time the switch is pressed. [Example: 103 → 100 → 95 → 90 → 85 km/h (mph)] For models other than those for Europe, the vehicle decelerates in increments of approx. 1 km/h or 1 mph for each time the switch is pressed. [Example: 103 → 102 → 101 → 100 → 99 km/h (mph)]	-	○
   		The vehicle decelerates in increments of approx. 1 km/h (1 mph) for each time the switch is pressed. 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 changes to the speed at which the vehicle was being driven at the time the switch was operated.	○	-
   ACC (+) Switch Control		When the cruise control main switch is pushed to the +RES side and held, the vehicle speed and the set vehicle speed change in accordance with the mode as follows:	○	○
   		The vehicle accelerates 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: 83 → 85 → 90 → 95 → 100 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.	-	○
   Tap-up Control		When the cruise control main switch is pushed momentarily (approx. 0.6 sec.) to the +RES side, the vehicle speed and the set vehicle speed change in accordance with the mode as follows:	○	○
   		For models for Europe, the vehicle accelerates in increments of approx. 5 km/h or 5 mph for each time the switch is pressed. [Example: 83 → 85 → 90 → 95 → 100 km/h (mph)] For models other than those for Europe, the vehicle accelerates in increments of approx. 1 km/h or 1 mph for each time the switch is pressed. [Example: 83 → 84 → 85 → 86 → 87 km/h (mph)]	-	○
   		The vehicle accelerates in increments of approx. 1 km/h (1 mph) for each time the switch is pressed. 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.	○	-
   RES Switch Control		If the vehicle speed is above the low speed limit and the cruise control main switch is subsequently pushed to the +RES side, cruise control resumes operation to reach the vehicle speed that was set at the time the driver canceled cruise control.	○	○
   		If the preceding vehicle changes driving lanes during follow-up control, the vehicle speed is gradually increased to the set vehicle speed. At this time, the vehicle speed can be increased promptly by pushing the cruise control main switch to the +RES side.	-	○
   Shift-down Control*1		When the vehicle is traveling uphill using cruise control, automatic transaxle control may cause the transaxle to shift down. During shift-down control, when the end of uphill travel is determined based on the throttle valve angle, the transaxle will shift up after a certain period of time. When the transaxle shifts down during ACC switch control or RES switch control, the transaxle will shift up after ACC switch control or RES switch control ends.	○	○
   Manual Cancel Control		If any of the following conditions is met, cruise control is canceled accordingly. However, the set speed remains in the memory: On signal is sent from the stop light switch assembly (the brake pedal is depressed). Off signal is sent from the clutch switch assembly (the clutch pedal is depressed).*2 Shift lever is moved from D, S*3 or M*4 to another position.*5 1st, 2nd or 3rd range is selected in the D mode position by shift paddle switch (transmission shift switch assembly) operation.*6 1st, 2nd or 3rd range is selected in the S*3 or M*4 mode position.*5 On signal is sent from the CANCEL switch. ON-OFF button is turned off (the set speed is not stored).	○	○
   Automatic Cancel Control		When an automatic cancel signal is sent to the ECM, the cruise control operation is canceled. At this time, the style of the warning to the driver and the control resumption condition varies in accordance with the cancel signal.	○	○
   Mode Switching Control		The following operations switch modes: Vehicle-to-vehicle distance control mode is activated immediately after the main switch is turned on. The mode shifts to constant speed control mode by pressing and holding the button more than 1.5 sec.	○	○
   Other Cancel Control		If any of the following conditions occur during cruise control driving, the cruise control is canceled. However, the set speed remains in the memory. The VSC system is activated. The TRC system is activated for a period of time. The VSC or TRC system is turned off by pressing the VSC OFF switch. When the ignition switch is turned off, the set speed is not stored in the memory.	○	○

   *1: Models with automatic transaxle

   *2: Models with manual transaxle

   *3: Models with U760E or U760F automatic transaxle

   *4: Models with U660F automatic transaxle or CVT

   *5: Models with automatic transaxle or CVT

   *6: Models with shift paddle

   Tech Tips

   ○: Available

   -: Not available

2. Speed Limiter Control Mode (Models with Speed Limiter Control Function)

   Function		Outline
   Set Control		When the driver turns on the speed limiter main switch, the speed limiter main indicator light will illuminate in the combination meter assembly. In this state, when the cruise control main switch is pressed in the -SET direction, the system will memorize the vehicle speed that existed prior to the operation of the cruise control main switch as a limit speed, and display the limit speed on the combination meter assembly. (If the cruise control main switch is pressed in the -SET direction while the vehicle is being driven at 30 km/h [20 mph] or less, or while the vehicle is stopped, the system will memorize the limit speed as being approx. 30 km/h [20 mph]).
   Constant Speed Control	Models with Diesel Engine	When the speed limiter control mode is on, the ECM will compare the actual vehicle speed with the limit speed. If the actual vehicle speed is greater than the limit speed, the ECM will control the 4 injectors in order to reduce the fuel injection volume. Thus, the system reduces the actual vehicle speed to the limit speed.
   	Models with Gasoline Engine	When the speed limiter control mode is on, the ECM will compare the actual vehicle speed with the limit speed. If the actual vehicle speed is greater than the limit speed, the ECM will control the throttle control motor in the closing direction. Thus, the system reduces the actual vehicle speed to the limit speed.
   Coast Control		If the driver continues to press the cruise control main switch in the -SET direction, the system will reduce the limit speed in 5 km/h (5 mph) increments. The instant the driver releases the cruise control main switch, that speed will be rendered as the set speed.
   Tap-down Control		If the driver presses the cruise control main switch momentarily (approx. 0.6 seconds) in the -SET direction, the system will reduce the limit speed by 1 km/h (1 mph) with each press of the switch.
   Accelerator Control		If the driver continues to press the cruise control main switch in the +RES direction, the system will increase the limit speed in 5 km/h (5 mph) increments. The instant the driver releases the cruise control main switch, that speed will be rendered as the limit speed.
   Tap-up Control		If the driver presses the cruise control main switch momentarily (approx. 0.6 seconds) in the +RES direction, the system will increase the limit speed by 1 km/h (1 mph) with each press of the switch.
   Override Control		While driving the vehicle with the speed limiter control mode on, if the driver fully depresses the accelerator pedal, the ECM will detect that the accelerator pedal position sensor is in the kick down mode. Then, the ECM will recognize this to be the driver's acceleration requirement, and allow the vehicle to accelerate higher than the limit speed. After the acceleration, when the vehicle speed gets below the limit speed, this function will resume effecting limit speed control on the vehicle speed.
   Cancel Control		While the vehicle is being driven with the speed limiter control mode on, if any one of the following signals is input into the ECM, the system will cancel the speed limiter control mode: CANCEL switch on signal (The driver has pressed the cruise control main switch in the CANCEL direction.) Speed limiter main switch off signal (Deletes the limit speed.) ON/OFF button on signal (Transfers to the constant speed control mode, turns off the speed limiter main indicator light, and deletes the limit speed.)
   Resume Control		After turning the CANCEL switch on to turn the speed limiter control mode off, if the driver pushes the cruise control main switch in the +RES direction, the system will limit the vehicle speed at the limit speed that existed at the time of cancellation.