SunFlare CO., LTD.
`
`Shinjuku Hirose Bldg, 4-7 Yotsuya, Shinjuku—ku, Tokyo 160—0004
`
`Phone:
`
`03-3355—1168
`
`Fax:
`
`033355—0270
`
`October 7,2013
`
`CERTIFICATE OF TRANSLATION
`
`TO WHOM IT MAY CONCERN;
`
`We, SunFlare, hereby certify that we translated the document below from Japanese into
`
`English.
`
`The translations are accurate and complete translations of relevant portions of the original
`
`document.
`
`Translated Material:
`
`“Mitsubishi DIAMANTE Structure and Maintenance of Preview
`
`Distance Control”
`
`SunFlare CO., LTD.
`
`ail/gm A ACT; , . 7“...
`,-/_/
`Himfuki SASAI
`
`President
`
`

`

`MITSUBISHI
`AMANTE
`DI
`
`fuel—7‘21“)“ ZZI'VI‘EI MD
`tfi‘fifi
`IE 2-5:
`
`
`
`

`

`0-2
`
`Overview – Preview distance control
`
`Preview distance control
`Overview
`Preview distance control is the first system in the world capable of detecting and judging the vehicle ahead and
`the condition of the driving lane as well as properly controlling the throttle and applying the engine brakes in
`place of the driver, thereby allowing you to maintain an appropriate distance between your vehicle and the
`vehicle ahead (vehicle-to-vehicle distance). The laser radar emits narrow laser beams to scan side-to-side and
`detect the distances to multiple vehicles as well as their running directions. In addition, based on the fact that a
`white line on a road is brighter than the road itself, the system processes images captured by the camera on the
`computer to detect the driving lane.
`The preview distance control ECU controls vehicle-to-vehicle distance to maintain an appropriate distance based
`on your vehicle speed in addition to the detected vehicle-to-vehicle distance. Therefore, it controls vehicle
`speed with the throttle actuator and reduces speed by downshifting the A/T. If the vehicle ahead decelerates
`abruptly, the system issues a warning (turns on or flashes the warning lamp and beeps a warning) to alert you.
`Note
`• Even when not using preview distance control, unless the “approach warning off” switch has been turned off,
`the distance warning (approach warning system) functions.
`
` Diagram
`Center message display
`
`Approach indicator
`
`CRUISE indicator
`
`Main
`switch
`
`Approach
`warning
`off switch
`
`Diagnosis connector
`
`Control lever
`
`Steering sensor
`
`Camera
`
`Stop lamp
`switch
`
`Throttle actuator
`
`Vacuum
`motor pump
`
`Actuator
`
`Note
`(1) The main switch is also used as the
`main switch for cruise control.
`(2) The control lever is also used as the
`control lever for cruise control.
`
`Preview distance
`control ECU
`
`Throttle position
`sensor (TPS)
`(with built-in
`idle switch)
`[without TCL]
`
`Laser radar
`
`
`
`Accelerator pedal position
`sensor (APS)
`(with built-in idle switch)
`[with TCL]
`
`Inhibitor switch
`
`Speed sensor
`
`Engine/A/T-ECU
`
`
`
`

`

`
`
`Overview – Preview distance control
`
`0-3
`
` System operations under various driving conditions
`
`
`
`Driving condition
`
`1 No vehicle ahead
`
`System operation
`• The system maintains the speed preset by the driver.
`
`Your vehicle
`
`2 When approaching a vehicle at a low
`relative speed
`
`3 When approaching a vehicle at a
`somewhat high relative speed
`
`4 When approaching a vehicle at a high
`relative speed
`
`5 When the vehicle ahead leaves the lane
`
`• The system controls the throttle to decelerate and adjusts the
`vehicle-to-vehicle distance.
`
`Vehicle-to-vehicle
`distance
`
`Vehicle ahead
`
`Your vehicle
`
`• The system controls the throttle and downshifts to decelerate
`as well as adjusts the vehicle-to-vehicle distance.
`Controlling the throttle
`Vehicle-to-vehicle
`Downshifting
`distance
`
`Vehicle ahead
`
`Your vehicle
`
`• The system controls the throttle and downshifts to decelerate
`as well as issues a warning to urge you to depress the brake.
`Controlling the throttle/Downshifting
`
`Vehicle ahead
`
`Warning distance
`
`Your vehicle
`
`• The system gradually accelerates the vehicle to the preset
`speed and starts cruising.
`The vehicle ahead has left
`
`Your vehicle
`
`• The system accelerates the vehicle to the preset speed to
`follow the vehicle ahead and then starts cruising at the preset
`speed.
`
`Accelerating
`
`Following
`
`Vehicle ahead
`
`Your vehicle
`
`• Vehicle-to-vehicle distance control is canceled (identical to
`cruise control).
`
`Your vehicle
`
`6 When the vehicle ahead accelerates
`
`7 When you depress the brake
`
`
`
`

`

`0-4
`
`Overview – Preview distance control
`
` System schematic diagram
`
`Vehicle ahead
`
`Camera
`
`Laser radar
`
`TPS or APS
`
`Idle switch
`
`Speed sensor
`
`Center message display
`• System failure
`• Clean laser
`• Approach warning lamp
`• Vehicle-to-vehicle
`distance
`• Following
`• Preset speed
`
`Wheel speed sensor
`
`ABS-ECU or
`ABS/TCL-ECU
`
`Preview distance control
`ECU
`
`Indicator lamp
`• Approach indicator
`• CRUISE indicator
`
`Steering sensor
`
`Stop lamp switch
`
`Inhibitor switch
`
`Turn signal switch
`
`Wiper switch
`
`Main switch
`
`Control lever
`
`Approach warning
`off switch
`
`
`
`Throttle actuator
`• Vacuum motor pump
`• Actuator
`
`Engine/A/T-ECU
`
`Warning buzzer
`
`
`
`

`

`
`
`Overview – Preview distance control
`
`0-5
`
` Key part list
`
`Part name
`
`Preview distance
`control ECU
`
`Laser radar
`
`Camera
`
`TPS or APS
`(with built-in idle
`switch)
`
`Speed sensor
`ABS-ECU
`(right and left rear
`wheel speed sensors)
`Steering sensor
`Stop lamp switch
`Inhibitor switch
`
`Turn signal switch
`
`Wiper switch
`
`Main switch
`Control lever
`Approach warning
`off switch
`
`Center message
`display
`
`Indicator lamp
`
`Throttle actuator
`(vacuum motor
`pump, actuator)
`
`Engine/A/T-ECU
`
`Warning buzzer
`
`
`
`Function overview
`
`Detects the vehicle ahead based on the distance data measured by the laser
`radar and data from the images of the area in front of your vehicle captured
`by the camera, calculates the vehicle-to-vehicle distance and relative speed,
`and controls vehicle speed to maintain an appropriate vehicle-to-vehicle
`distance.
`If there is no vehicle ahead, it controls the vehicle in order to cruise at the
`preset speed.
`If your vehicle approaches close to the vehicle ahead, the system turns on or
`flashes the lamp and beeps a warning to alert you.
`Emits laser beams in front of the vehicle and measures the light that reflects
`from the reflectors of the vehicle ahead. Based on the time difference, the
`system calculates the distance to and direction of the vehicle ahead.
`If it detects that the laser radar is dirty, it informs the preview distance control
`ECU that the reliability of the measured distance is insufficient.
`Outputs data from the images of the area in front of the vehicle.
`Outputs analog voltage based on the extent to which the accelerator pedal is
`depressed.
`Corrects voltage fluctuations and the unevenness of TPS or APS based on the
`voltage of TPS or APS at which the built-in idle switch turns on.
`Outputs a pulse signal in proportion to the vehicle speed.
`
`Shapes a pulse signal in proportion to the right or left wheel speed and
`outputs it.
`
`Outputs a steering angle signal.
`Detects brake operations by the driver.
`Detects the shift position (turns on when the shift lever is in P or N).
`Detects turn signal switch operations. While the turn signal switch is on, no
`approach warning is output.
`Detects wiper switch operations (HI or LOW). When the vehicle speed is
`60 km/h or more and the wipers are being operated, it increases the laser
`radar output beyond the usual amount.
`Used to turn preview distance control on and off.
`Used to set vehicle speed, accelerate, decelerate, and cancel control settings.
`
`Turns the approach warning function on and off.
`
`Displays “Following,” vehicle-to-vehicle distance, and the preset speed based
`on system control conditions.
`If your vehicle approaches close to the vehicle ahead, the system turns on or
`flashes an approach warning.
`While preview distance control is on, it lights up the “Approaching” and
`“CRUISE” indicator lamps on the combination meter. If only the distance
`warning is functioning, it lights up only the “Approaching” indicator.
`Drives the vacuum motor pump and adjusts the throttle valve to the preset
`opening position based on the signal from the preview distance control ECU
`(its function is similar to that of cruise control).
`Inputs the O/D-OFF signal from the preview distance control ECU to reset
`the overdrive.
`Beeps a warning to alert you when your vehicle approaches close to the
`vehicle ahead.
`
`Refer
`to page
`
`0-8
`
`0-6
`
`0-7
`
`–
`
`–
`
`–
`
`–
`–
`–
`
`–
`
`–
`
`–
`–
`
`–
`
`–
`
`–
`
`–
`
`–
`
`–
`
`

`

`0-6
`
`Overview – Preview distance control
`
` Configuration and operations
`1. Sensors, switches, and actuators
`The sensors, switches, and actuators used in preview distance control are also used in ABS, cruise control, and
`other functions.
`Note
`• For details on configuration and operations, refer to DIAMANTE Manual ’95-1 (Code No.: 1308, page 30).
`
`2. Laser radar
`The laser radar consists of parts for emitting and receiving light, a scanning mechanism part, dirt detector, and
`arithmetic circuit.
`Based on control signals sent from the preview distance control ECU, once the system enters distance
`measurement mode, it starts the motor and oscillates the scan mirror. By irradiating laser beams emitted from
`the laser diode to the scan mirror via the fixed mirror, it scans the laser beams in front of the vehicle horizontally.
`The scanned laser beams reflect from the rear combi reflector on the rear of the vehicle ahead, return to the laser
`radar, reflect from the scan mirror, and are received by the photo diode. The received laser beams are amplified
`and input into the arithmetic circuit (CPU). Vehicle-to-vehicle distance is calculated based on the time
`difference from when the light was emitted to when it was received as well as its speed; distance data, including
`scanning direction, is then sent to the preview distance control ECU.
` Block diagram
`
`Light-
`emitting
`lens
`
`Laser
`diode
`
`Photo diode
`for detecting
`dirt
`
`Motor
`
`Scan
`mirror
`
`emitting/-receiving systems
`
`Power source for light-
`
`Circuit power
`
`source
`
`Laser
`drive
`
`Signal
`amplification
`
`Motor
`drive
`
`Signal
`amplification
`
`Light-receiving
`aperture
`
`Dirt detector
`
`Distance and direction data Control signal
`Light-emitting
`(1) Light-emitting part
`aperture
`The light-emitting part pulses the infrared laser diode to emit
`laser beams from the light-emitting lens.
`(2) Light-receiving part
`The light-receiving part uses the light-receiving lens to
`concentrate the aforementioned laser beams that have been
`reflected from the rear combi reflector of the vehicle ahead.
`(3) Scanning mechanism part
`The scanning mechanism part changes the motor’s rotary
`motion to oscillatory movement via the cam link mechanism.
`It irradiates laser beams to the mirror attached to the
`mechanism in order to scan the laser beams horizontally.
`
`(4) Dirt detector
`the
`in
`installed
`is
`A photo diode for detecting dirt
`light-emitting part in order to detect degraded performance
`due to dirt on or fogging of the front glass, etc.
`
`Sent light
`
`Received light
`
`Light-emitting aperture Diffused light
`
`Fixed mirror
`
`Light-receiving aperture
`
`Light-receiving lens
`
`Photo
`diode
`
`

`

`
`
`Overview – Preview distance control
`
`0-7
`
`to
`
`the front of
`
`the
`
`laser radar,
`
`impairing
`
`Note
`(1) The performance of the laser radar for measuring vehicle-to-vehicle distance may, due to its measurement
`principle, be impaired in the following cases.
`• When raindrops, snow, mud, dirt, etc. adhere
`light-emitting/-receiving performance
`• When the reflectivity of the object to be measured decreases due to damage, dirt, etc. on the rear combi
`reflector of the vehicle ahead
`• When laser beams scatter between the laser radar and the vehicle ahead due to impact from materials (rain,
`fog, snow, lead, etc.)
`• When the vehicle ahead has a higher ground clearance and thus the laser beams do not irradiate its rear
`combi reflector
`(2) Laser beam safety
`The laser radar used in preview distance control emits laser beams only when the vehicle is running; further,
`its settings satisfy JIS Class 1*, thereby ensuring safety.
`References
`JIS Class 1*: 1) The unit must be essentially safe and must not under any conditions emit light that exceeds
`the maximum allowable exposure level.
`2) The unit must not due to its design emit light that technically exceeds the maximum
`allowable exposure level.
`Maximum allowable exposure level: The maximum laser intensity at which a laser beam can irradiate the
`human body (the eyes or skin) under normal conditions without
`leaving any damage, whether immediately or after a long period of
`time.
`
`
`
`3. Camera
`The camera is built into the room mirror and outputs image data on the view from the front of the vehicle that it
`captures via the preview distance control ECU. The imaging CPU in the preview distance control ECU
`processes the image data to detect the driving lane and judges whether the vehicle ahead detected with the laser
`radar is in the same lane as your vehicle.
`Note
`• Since images captured by the camera are processed to detect the lane, performance may be impaired in the
`following cases.
`(1) When it is hard to see ahead due to rain, fog, snow, backlighting, etc.
`(2) When no white line has been drawn according to regulations or the white line has faded
`(3) When complicated patterns have been painted on the road
`(4) When driving around a sharp bend or up or down a steep slope
`(5) When raindrops, snow, fog, mud, etc. has adhered to the windshield
`(6) When the inside of the windshield or camera lens has fogged up or is dirty
`(7) When something obstructs the view of the camera
`(8) When the optical axes of the camera have not been properly adjusted
`
`Image data
`
`Power and control data
`
`Preview distance control ECU
`
`Imaging CPU
`
`Main CPU
`
`Laser radar CPU
`
`
`
`Camera
`
`Room mirror
`
`
`
`

`

`0-8
`
`Overview – Preview distance control
`
`4. Preview distance control ECU
`4-1 Control overview
`The preview distance control ECU consists of three CPUs: the laser radar CPU, imaging CPU, and main CPU.
`The function of each CPU is as follows.
`Laser radar CPU: Extracts objects subject to detection based on distance data from the laser radar and detects
`potential vehicles based on vehicle speed and steering information.
`Detects the white line by processing the images of the area in front of the vehicle captured by
`the camera and judges whether the potential vehicle detected by the laser radar is in the same
`line as your vehicle.
`Calculates the distance to the vehicle ahead and relative speed based on the processed results
`of the laser radar and imaging CPUs as well as controls vehicle speed and the laser radar;
`further, when necessary, it activates the approach warning based on the calculated results and
`input data.
`
`Imaging CPU:
`
`Main CPU:
`
`Throttle actuator
`
`Warning buzzer
`
`Center message
`display
`
`Engine/A/T-ECU
`
`
`
` Control block diagram
`
`Preview distance control ECU
`
`Laser radar CPU
`
`Detecting a
`potential vehicle
`
`Imaging CPU
`
`Detecting the white line
`Judging whether the potential
`vehicle is in the same lane
`
`vehicle speed
`Controlling the
`
`the warning
`Calculating for
`
`Controlling
`the laser
`radar
`
`Processing the
`data on the
`vehicle ahead
`
`Relative speed
`
`Vehicle-to-
`vehicle
`distance
`
`Input data
`
`Main CPU
`
`Camera
`
`Laser radar
`
`Throttle opening
`
`Vehicle speed
`
`Wheel speed
`
`Steering angle
`
`Switches
`
`4-2 Controlling the laser radar
`The preview distance control ECU turns laser beam emission on and off, the mode of which is based on data
`input into the preview distance control ECU.
`(1) Turning light emission on and off
`When the vehicle speed reaches 15 km/h or more, it starts emitting light; when the speed drops to 10 km/h or
`less, it stops emitting light.
`(2) Light emission mode
`Based on input data, the ECU changes to one of the following two laser beam emission modes.
`• Normal mode: This is the normal distance measurement mode during system operation; normal laser
`beams are emitted from the light-emitting part of the laser radar.
`• Power-up mode: Laser beam output is increased beyond the usual amount in order to ensure
`measurement remains possible when it is raining. The system enters power-up mode
`when the vehicle speed is 60 km/h or more and the wipers are operating (at HI or
`LOW).
`
`

`

`
`
`Overview – Preview distance control
`
`0-9
`
`4-3 Controlling the throttle
`When there is a vehicle ahead, the system calculates the target vehicle speed based on the vehicle speed, distance
`to the vehicle ahead, and target vehicle-to-vehicle distance,* etc. and controls the throttle based on the logic used
`in conventional cruise control.
`When there is no vehicle ahead or the vehicle ahead is far away, the system controls the throttle to maintain the
`preset speed.
`* Target vehicle-to-vehicle distance: The target value for vehicle-to-vehicle distance based on the vehicle
`speed (reference value: approx. 55 m when the speed is 100 km/h)
`
`Vehicle speed
`
`Vehicle-to-vehicle distance
`
`Target vehicle-to-vehicle distance
`
`Memory speed
`
`Calculating
`target speed
`for following
`
`Selecting
`target
`speed
`
`Calculating
`driving pulse
`duration
`
`Actuator
`
`
`
`4-4 Controlling with O/D-OFF
`If your vehicle approaches close to the vehicle ahead, the preview distance control ECU outputs the O/D-OFF
`signal to the engine/A/T-ECU to downshift the A/T in order to decelerate.
`
`4-5 Controlling approach warning output
`The approach warning has two steps, primary warning and secondary warning, as follows.
`
`Primary warning
`Secondary warning
`A vehicle-to-vehicle distance at which you may
`collide with the vehicle ahead if you continue to
`drive as you are (conditions under which most
`drivers would sense the danger of collision and
`decelerate to avoid it)
`• The warning lamp flashes.
`• The warning lamp turns on.
`• The warning beeps continuously.
`• The warning beeps (once).
`The system judges whether to activate the warning based on the vehicle speed, vehicle-to-vehicle distance, and
`relative speed as described below. Further, it turns on or flashes the warning lamp and beeps a warning
`whenever necessary. If cruise control is off, the system downshifts whenever necessary.
`
`A vehicle-to-vehicle distance at which if you
`fail to properly look ahead (e.g., if you look
`aside, or if the vehicle ahead moves suddenly),
`you may collide with the vehicle ahead
`
`Driving
`condition
`
`Warning
`
`Vehicle-to-vehicle distance
`
`Comparison
`
`Comparison
`result
`
`Judgment of warning
`necessity(2)
`
`Center message display
`
`Primary warning distance
`
`Secondary warning distance
`
`Judged result
`
`Warning buzzer
`
`Judgment of downshift
`necessity(3)
`
`Engine/A/T-ECU
`
`
`
`Relative speed
`
`Secondary warning distance (m)
`
`Vehicle speed
`
`Relative speed
`
`Approach warning
`distance(1)
`(Primary or secondary
`warning)
`
`(1) Approach warning distance
`
`Relative speed
`
`Primary warning distance (m)
`
`Your speed (km/h)
`Primary warning distance
`
`Your speed (km/h)
`Secondary warning distance
`
`
`
`

`

`0-10
`
`Overview – Preview distance control
`
`(2) Judging warning necessity
`If the distance to the vehicle ahead is shorter than the applicable warning distance, the system activates the
`warning.
`However, the warning is not activated in the following cases.
`• When the vehicle ahead is accelerating away by one meter or more per second
`• When you are depressing the brake pedal
`• While the turn signal switch is on
`• When the “approach warning off” switch has been set to off
`(3) Judging downshift necessity
`The system downshifts only when cruise control is off if your vehicle approaches closer to the vehicle ahead.
`When cruise control is on, it is given high priority.
`
`4-6 Display
`Preview distance control’s operations and status are displayed on the combination meter and center message
`display.
`
`4-6-1 Indicator lamp
`
`Indicator
`
`Approaching
`
`CRUISE
`
`Description
`While the ignition switch is on, the indicator is
`always lit. If the “approach warning off”
`switch is turned off, the indicator also turns off.
`The indicator cannot be turned off while the
`preview distance control system is on.
`The lamp turns on when the main switch is on,
`the vehicle speed is 40 km/h or more, and the set
`switch is on.
`
`
`4-6-2 Center message display symbols and messages
`Symbols and messages are displayed in the respective display areas of the center message display as follows.
`
`
`
`(1) Symbol display area
`Description
`Symbol
`Function
`Approaching
`This symbol is displayed when the distance to the vehicle ahead falls within the
`Approach
`warning distance range (primary warning: light up, secondary warning: flash).
`warning
`
`This symbol lights up when trouble occurs in the preview distance control
`System
`system.
`failure
`Clean laser This symbol lights up when the laser radar front glass becomes dirty or fogs up,
`etc. and it is impossible to measure vehicle-to-vehicle distance.
`
`
`
`
`
`
`
`

`

`
`
`Overview – Preview distance control
`
`0-11
`
`(2) Message display area
`
`Following
`
`Vehicle-to-vehicle distance
`
`Preset speed
`
`
`
`Function
`
`Following
`
`Vehicle-
`to-vehicle
`distance
`
`Preset
`speed
`
`Description
`This message is displayed when there is a vehicle
`ahead.
`When the vehicle ahead is far away, only an outline
`is displayed. While vehicle-to-vehicle distance
`control is on, it is shaded in.
`The vehicle-to-vehicle distance is displayed
`(0–99 m).
`In the following cases, “- - m” is displayed.
`• When the vehicle speed is 15 km/h or less (while
`decelerating, it is displayed until the vehicle
`speed reaches 10 km/h)
`• When there is no vehicle ahead
`• When the vehicle-to-vehicle distance is 100 m or
`more
`• When it is impossible to measure the distance due
`to the environment
`The preset speed is displayed (40–110 km/h).
`When the speed is not set, the speed (three digits)
`and “km/h” are not displayed; only the symbol is
`displayed.
`
`

`

`0-12
`
`Overview – Preview distance control
`
`4-7 Switches
`Based on the operation of the control lever switches (SET, RES), the system functions as follows.
`
`Set switch
`ON time < 0.5 s
`ON time  0.5 s
`Set operation
`• Starts fixed-speed cruising.
`• The preset speed is the vehicle speed when
`the switch is pressed.
`
`Set operation
`• Starts vehicle-to-vehicle distance control.
`• The preset speed is the vehicle speed when
`the switch is pressed + 5 km/h.
`Tap-down
`Coast operation
`• Fully closes the
`operation
`• Reduces the
`throttle in order to
`preset speed by
`decelerate.
`• The preset speed is the
`1 km/h.
`vehicle speed when the
`switch is turned off.
`Reduces the preset speed
`by 3 km/h per second.
`
`Reduces the
`preset speed by 1
`km/h.
`
`Resume switch
`ON time < 0.5 s
`ON time  0.5 s
`Resume operation
`• Starts fixed-speed cruising.
`• It is effective only when the preset speed
`has been set.
`• If the vehicle speed is slower than the
`preset speed, the vehicle accelerates by
`approximately 2.2 km/h per second.
`Resume operation
`• Starts vehicle-to-vehicle distance control.
`• The preset speed is not changed.
`
`Tap-up operation
`• Increases the
`preset speed by
`1 km/h.
`
`Increases the
`preset speed by 1
`km/h.
`
`Acceleration operation
`• Accelerates the vehicle
`by approximately 2.2
`km/h per second.
`• The preset speed is the
`vehicle speed when the
`switch is turned off.
`Increases the preset
`speed by 3 km/h per
`second.
`
`Switch
`operation
`
`No
`vehicle
`ahead
`
`Vehicle
`ahead
`
`Control off
`
`Fixed-speed
`cruising
`(no vehicle
`ahead
`detected)
`
`Vehicle-to-
`vehicle distance
`control on
`(vehicle ahead
`detected)
`
`
`(1) Limitations on switch operations
`In the following cases, set operations and resume operations cannot be accepted.
`• When the main switch is off
`• When the vehicle speed is 40 km/h or less
`•
`If the neutral point of the steering sensor has not been detected
`•
`If one second has not been passed from when cruise control was canceled
`• When any failure was detected
`• When the preset speed is not retained (only for resume operations)
`(2) Canceling control
`Cruise control is canceled in the following cases.
`• When the cancel switch is turned on
`• When the stop lamp switch is turned on
`• When the inhibitor switch is turned on
`• When the main switch is turned off
`• When the vehicle speed falls below the fixed-speed limit (approximately 35 km/h) (in such a case, the
`preset speed is deleted)
`•
`If any failure is detected during cruise control
`(3) Limitation on preset speed
`The maximum preset speed is 110 km/h. If a set operation is performed when the vehicle speed exceeds
`this limit, the preset speed is set to 110 km/h.
`
`
`
`

`

`
`
`Overview – Preview distance control
`
`0-13
`
`4-8 Failsafe function
`The preview distance control ECU always monitors input and output signals; if it detects any abnormalities in
`the system, it outputs a failure signal to turn on the center message display’s failure lamp and controls the system
`as follows. The ECU CPUs monitor one another.
`
`System failure judgment
`
`ECU power source and voltage
`Speed sensor
`Right rear wheel speed sensor (ABS-ECU)
`Left rear wheel speed sensor (ABS-ECU)
`Steering sensor (breaks)
`Steering sensor (shorts)
`Steering sensor (improper installation)
`TPS or APS, idle switch
`Control lever
`Stop lamp switch
`Turn signal switch
`Wiper switch
`Vacuum motor pump power source
`Vacuum pump motor, release valve, control valve
`Laser radar communication
`O/D-OFF signal output
`
`Laser radar 10 V power source
`
`Control off
`
`Prohibit control
`
`Control on
`
`Stop control
`
`Prohibit control or
`shut down the system
`
`Stop control or shut
`down the system
`
`Shut down the
`system
`
`Shut down the
`system
`
`Prohibit control
`
`Stop control
`
`Shut down the
`system
`
`Shut down the
`system
`
`Prohibit control or
`shut down the system
`Prohibit control
`
`Stop control or shut
`down the system
`Stop control
`
`Shut down the
`system
`
`Shut down the
`system
`
`Diagnosis
`code
`11
`13
`14
`15
`17
`18
`19
`21
`23
`25
`27
`29
`31
`33
`38
`39
`
`41
`
`42
`43
`44
`45
`46
`
`47
`
`49
`51
`
`52
`
`Laser radar 70 V power source
`Camera control signal
`Camera image signal
`Preview distance control ECU
`Laser radar 70 V power source
`
`Laser radar
`
`Camera
`Improper alignment of optical axes
`
`Camera 9 V power source
`
`Dirty laser radar
`Prohibit control:
`
`Stop control:
`
`Stop control
`Prohibit control
`Stop control or shut
`Prohibit control or
`down the system
`shut down the system
`Shut down the
`Shut down the
`system
`system
`Stop control or shut
`Prohibit control or
`down the system
`shut down the system
`–
`Stop control
`Prohibit control
`Control will not be started until the IG power is turned off or the recovery conditions
`are satisfied.
`Control is immediately stopped and the system is handled via the operations for while
`control is off.
`Shut down the system: The system is handled as described below. The status is retained until the power is
`turned off.
`• Control will not be started. If the system is shut down while control is on, then
`control is immediately aborted and will not be resumed.
`• Circuits that prohibit valve and motor operations in the preview distance control
`ECU are turned on.
`• The laser radar and image processing systems are deactivated.
`
`Note
`•
`If the laser radar front glass is dirty and it is impossible to measure vehicle-to-vehicle distance, the symbol
`indicating that the radar is dirty is displayed in the center message display. After the laser radar is cleaned,
`the system resumes normal operation.
`
`

`

`0-14
`
`Overview – Preview distance control
`
`4-9 Diagnosis function
`To make it easy to check the system, the preview distance control ECU has the following functions.
`• Outputting of diagnosis codes
`• Outputting of service data
`• Forcible driving of the actuators
`
`4-9-1 Diagnosis codes
`26 items can be diagnosed with MUT-II.
`Diagnosis codes can be read with MUT-II or they can be checked by flashing the CRUISE indicator lamp on the
`combination meter.
`
`4-9-2 Service data
`From among ECU input data, the following items can be read with MUT-II.
`No.
`Service data item
`10 Vacuum motor pump power source voltage
`11 Preview distance control ECU power source voltage
`13 Laser radar 70 V service voltage
`14 Laser radar 10 V service voltage
`15 Camera 9 V service voltage
`16 TPS/APS voltage
`20 Vehicle speed
`21 Right rear wheel speed
`22 Left rear wheel speed
`23 Laser radar measurement distance (vehicle-to-vehicle distance)
`24 Laser radar measurement distance (lateral direction deviation between the vehicle center
`and the object detected by the laser radar)
`26 Steering angle
`27 Relative speed
`28 Speed of the vehicle ahead
`30
`Idle switch
`31 ST1
`32 ST2
`33 STN
`34 Main switch
`35 Stop lamp switch
`36 Turn signal switch (right)
`37 Turn signal switch (left)
`38 Wiper switch
`39
`Inhibitor switch
`40 Tail lamp
`41 Head lamp
`42 Approach warning off switch
`43 Control lever switch (SET)
`44 Control lever switch (RES)
`45 Control lever switch (CAN)
`
`
`
`Unit
`V
`V
`V
`V
`V
`V
`km/h
`km/h
`km/h
`m
`
`m
`
`deg
`km/h
`km/h
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`ON/OFF
`SET/OFF
`RES/OFF
`CAN/OFF
`
`

`

`
`
`Overview – Preview distance control
`
`0-15
`
`4-9-3 Forcibly driving the actuators
`MUT-II can be used to forcibly drive the following actuators.
`(1) Laser beam emission (1)
`Emits five laser beams, mainly around the center of the laser radar-emitting part.
`(2) Laser beam emission (2)
`Emits laser beams in normal mode.
`(3) Laser radar emission off
`Stops emitting laser beams regardless of vehicle speed. This function makes it possible to check the
`fixed-speed cruising function.
`(4) O/D-OFF signal output
`Outputs the O/D-OFF signal.
`(5) Approach warning output
`Beeps a warning and flashes the approaching lamp three times per second for two seconds.
`(6) Display output
`The system display can be checked under the following conditions.
`• Preset speed: 100 km/h
`• Vehicle-to-vehicle distance: 55 m
`• Symbols and messages: turning the approaching, following, and CRUISE indicator lamps on
`
`
`
`

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