Dynamic Radar Cruise Control
System OutlineThe dynamic radar cruise control system allows the vehicle to follow a vehicle ahead with proper distance in between by detecting the vehicle ahead and its driving lane with the millimeter wave radar, yaw rate sensor and steering sensor.
Control Function Outline
1. Setting
During driving under the ON-OFF SW ON condition (The cruise indicator is lit), when - SET SW is operated at the vehicle speed higher than the lower limit vehicle speed for setting, the control starts, taking the vehicle speed at the SW turning OFF as set speed. However when the SW is operated at the speed higher than the higher limit vehicle speed for setting, the control starts, taking the higher limit speed as set speed.
2. Changing Method of the Set Speed
1. How to lower the set speed
- During driving with the cruise control, truing ON the - SET SW decelerates the vehicle speed while the SW is kept ON. The vehicle speed at the SW turning OFF is stored in the memory as the set speed to control.
2. How to raise the set speed
- During driving with the cruise control, truing ON the + RES SW accelerates the vehicle speed while the SW is kept ON. The vehicle speed at the SW turning OFF is stored in the memory as the set speed to control.
- When the vehicle speed exceeds the higher limit speed for setting during operating the + RES SW, the vehicle is controlled with the higher limit speed during the SW operation and the higher limit speed is stored in the memory as the set speed to control.
- When the + RES SW is kept ON during the follow up control, the vehicle speed is not raised but the follow up control is continued. However the set speed is raised in 5 mph steps in vehicles for U.S.A. and 5 km/h steps in those for Canada.
3. Deceleration
- During driving with the cruise control, truing ON the - SET SW decelerates the vehicle speed while the SW is kept ON. The vehicle is controlled with the vehicle speed at the SW turning OFF as the set speed. When the vehicle speed exceeds the high speed limit on downhill slope during operating the - SET SW, the vehicle is controlled with the high speed limit as the set speed to control if the SW is turned OFF.
- If the - SET SW is operated momentarily (Approx. 0.5 sec.), the set speed is decelerated in 1.6 km/h (1 mph) steps with every SW operation. Please note that if the SW is operated when the set speed differs from actual speed by 5 km/h or more, the vehicle is controlled with the speed when the SW is turned OFF as the set speed.
4. Acceleration
- During driving with the cruise control, truing ON the + RES SW accelerates the vehicle speed while the SW is kept ON. The vehicle is controlled with the vehicle speed at the SW turning OFF as a set speed. When the vehicle speed exceeds the high speed limit during operating the + RES SW, the vehicle is controlled with the high speed limit before finishing the SW operation and is controlled with the speed at the SW turning OFF as a set speed.
- If the + RES SW is operated momentarily (For approx. 0.5 sec.), the set speed is accelerated in 1.6 km/h (1 mph) steps with every SW operation. Please note that if the SW is operated when the set speed differs from actual speed by 5 km/h or more, the above operation cannot change the set speed in the memory.
- When the speed is accelerated by depressing the accelerator pedal and the - SET SW is operated, the set speed is reset with the speed at turning OFF the SW. However when the SW is operated at the high speed limit, the SW operation will not be effective.
3. The Lower Limit Vehicle Speed for Setting
- It means the lower limit speed in settable range and sets the lower limit speed. It is discriminated from the low speed limit.
- Set speed is not stored in the memory during driving at the lower limit vehicle speed for setting or slower.
- When the vehicle speed falls down to slower than the lower limit vehicle speed for setting with - SET SW ON, the cruise control is automatically canceled. The vehicle-to-vehicle distance control mode keeps the stored the vehicle speed in the memory and the constant speed control mode erases the stored vehicle speed in the vehicles for Canada. However, in those for U.S.A., the constant speed control mode does not erase the stored vehicle speed but keeps it.
4. The Low Speed Limit
It means the lower limit speed in controllable range and is set at 40 km/h. When the vehicle speed falls down to slower than 40 km/h during cruise control driving, the cruise control is automatically canceled. The vehicle-to-vehicle distance control mode keeps the stored vehicle speed in the memory and the constant speed control mode erases the stored vehicle speed in the vehicles for Canada. However, in those for U.S.A., the constant speed control mode does not erase the stored vehicle speed but keeps it.
5. The Higher Limit Vehicle Speed for Setting
It means the higher limit speed in settable range and sets the higher limit speed.
6. The High Speed Limit
It means the higher limit speed in driving with cruise control in the constant speed control mode and sets the upper limit speed.
7. Resume
- If the cruise control is cancelled at the vehicle speed higher than the low speed limit, turning ON the + RES SW accelerates the vehicle to the set speed when the cruise control is cancelled with the resume control.
- Under the follow-up control, when a vehicle ahead is cleared due to the vehicle s lane change or the driver's own vehicle s lane change, the driver's vehicle accelerates gradually up to the set vehicle speed. Turning ON the + RES SW brings swift acceleration.
8. Shift-Down Control
- Over-drive may be cut in climbing a hill during cruise control traveling. When climbing a hill is judged to finish from the throttle opening information under the over-drive ineffective condition, the over-drive function resumes automatically after the set time for over-drive resuming.
- In climbing a hill during cruise control traveling, the gear may be shifted down from the over-drive cut condition (5th) to 4th. When a hill is judged gentle from the throttle opening information after shifting down to 4th gear, the gear resumes automatically to 5th after the set time for resuming to 5th.
9. Cancel
The cruise control is cancelled if the following signals are input during driving with the cruise control.
1. Stop lamp SW ON
2. CANCEL SW ON in the control SW
3. ON OFF SW OFF
4. VSC/ABS operation
5. D position circuit ON to OFF in the park/neutral position SW (Shift position is shifted from D, 6, 5, 4 to N, 3, 2, 1.) (A/T)
6. Cruise control clutch SW OFF (Clutch pedal depressed) (M/T)
10. Auto Cancel
1. The set vehicle speed is erased in the memory and the cruise control is cancelled in the conditions. Until the ON-OFF SW is turned OFF again, the cruise operation indicator blinks and FAIL is displayed on the display after the master warning lamp illuminates as well as the warning sound. The control will not be effective unless the ON OFF SW is turned ON again.
A. When the vehicle speed signal is abnormal
B. When the electronic throttle parts are abnormal
C. When the stop lamp SW is disconnected and short circuit.
2. The set vehicle speed is erased in the memory and the cruise control is cancelled in the following conditions. Until the ON-OFF SW is turned OFF again, the cruise operation indicator blinks and FAIL is displayed on the display after the master warning lamp illuminates as well as the warning sound. The control will not be effective unless the power SW is turned ON again.
A. When the radar sensor is abnormal
B. When the radar sensor beam axis is not aiming properly.
C. When the radar cruising system is abnormal other than above A. and B. case
3. In the following conditions, the cruise control is cancelled with the set vehicle speed is kept in the memory. FAIL is displayed on the display after the master warning lamp illuminates as well as the warning sound. The control will not be effective unless condition resumes from the followings or the ON OFF SW is turned ON again.
A. When radar sensor is dirty.
B. When the wiper is in operation
C. In SNOW mode D. When normal detection is extremely unstable due to bad weather.
4. The set vehicle speed is erased in the memory and the cruise control is cancelled in the conditions. However the set vehicle speed is kept in the vehicle-to-vehicle distance control mode.
A. When the vehicle speed falls to the speed which is 16 km/h slower than the set vehicle speed. (Only in the constant control mode)
11. Mode Change Between Constant Speed Control Mode and Vehicle-to-Vehicle Distance Control Mode
Operating the procedures in order changes the control mode.
A. Turn ON the ON OFF SW (The control starts under the vehicle-to-vehicle distance control mode automatically.)
B. Push forward the cruise control SW lever for some time (More than one second) without operating the ON OFF SW.