PRE-CRASH SAFETY SYSTEM

FUNCTION OF MAIN COMPONENTS

Item		Function
Millimeter Wave Radar Sensor Assembly		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		Captures images of the area in front of the vehicle and processes them to detect vehicles or pedestrians*2 and sends information to the driving support ECU assembly. Operates the camera heater when temperature is cold.
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.
Forward Recognition Bracket Assembly	Camera Heater	Heats the sheet heater in accordance with the current from the forward recognition camera to prevent condensation on windshield in front of the forward recognition camera (camera sensor). During operation of the camera heater, the operating current is input to the forward recognition camera.
Skid Control ECU ASSEMBLY		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.
Brake Actuator Assembly	Master Cylinder Pressure Sensor	Detects the master cylinder pressure and transmits a signal to the skid control ECU.
Brake Actuator Assembly	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 signals to the skid control ECU.
Yawrate 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.
Semiconductor Power Integration ECU		Receives a stop light turn on request signal from the skid control ECU, and turns on the stop lights.
Stop Light Switch Assembly		Detects if the brake pedal is depressed and transmits a signal to the skid control ECU and driving support 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 insetting 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 Assembly		Sounds to warn the driver in accordance with signals from the driving support ECU.
Hybrid Vehicle Control ECU Assembly		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.
Network Gateway ECU		Transmits the signal between the CAN communication bus.
Absorber Control ECU*1		Receives an Adaptive Variable Suspension system (AVS) operation request signal from the driving support ECU assembly and operates the linear solenoid.

*1: Models with AVS

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

Countries/areas	Function availability	Regions
Europe1,2 Australia New Zealand The Near and Middle East*3	The pedestrian detection function is available.	Region A
Ukraine South Korea Syria Jordan Lebanon South Africa Russia Thailand Taiwan China	The pedestrian detection function is not available.	Region B

Countries/areas

Function availability

Regions

Europe*1,*2

Australia

New Zealand

The Near and Middle East*3

The pedestrian detection function is available.

Region A

Ukraine

South Korea

Syria

Jordan

Lebanon

South Africa

Russia

Thailand

Taiwan

China

The pedestrian detection function is not available.

Region B

*1: Destination package for Canary Islands is included

*2: Except destination packages for Russia and Ukraine

*3: Except destination packages for Syria, Jordan and Lebanon

FUNCTION

The pre-crash safety system uses a millimeter wave radar sensor and forward recognition camera to detect vehicle and pedestrian* in front of your vehicle.

*: 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.

*: 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 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
  
  If the system determines that the possibility of a collision is extremely high, the brakes are automatically applied to help avoid the collision or reduce the impact.
4. Suspension control (Models with AVS)
  
  When the system determines that the possibility of a frontal collision is high, the Adaptive Variable Suspension System will control the damping force of the shock absorbers to help maintain an appropriate vehicle posture.

OPERATING CONDITION

Availability of the pedestrian detection function depends on the region in which the vehicle was sold. Read the following for details:
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:
  - Vehicle speed is between approximately 10 and 180km/h (7 and 110mph). (For detecting a pedestrian, vehicle speed is between approximately 10 and 80 km/h (7 and 50mph).)
  - The relative speed between your vehicle and the vehicle or pedestrian ahead is approximately 10 km/h (7 mph) or more.
  - Vehicle speed is between approximately 30 and 180 km/h (20 and 110mph). (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.
  - Vehicle speed is between approximately 10 and 180 km/h (7 and 110mph). (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
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:
  - Vehicle speed is between approximately 15 and 180km/h (10 and 110mph).
  - The relative speed between your vehicle and the vehicle ahead is approximately 10 km/h (7 mph) or more.
  - 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 (20 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.
  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
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.
2. If the vehicle is stopped by the operation of the pre-crash braking function, the operation of the pre-crash braking function will be canceled after the vehicle has been stopped for approximately 2 seconds.
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 possibility of a frontal collision and operate.
  - When passing a vehicle
  - 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 right/left 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 a preceding vehicle suddenly decelerates
  - 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
  - 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 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 vehicle, 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
  *: Depending on the region in which the vehicle was sold, the pedestrian detection function may not be available.

SYSTEM CONTROL

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.
Pre-crash Braking
1. When the pre-crash safety system determines high possibility of collision, the system performs pre-crash braking 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.