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 switch ON condition (The power indicator is lit), when - SET switch is operated at the vehicle speed higher than the lower limit vehicle speed for setting, the control starts, taking the vehicle speed at the switch turning OFF as set speed. However when the switch 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 switch decelerates the vehicle speed while the switch is kept ON. The vehicle speed at the switch turning OFF is stored in the memory as the set speed to control.
- When the vehicle speed exceeds the higher limit speed for setting on downhill slope during operating the - SET switch, the higher limit speed is stored in the memory as the set speed to control if the switch is turned OFF.
2. How to raise the set speed
- During driving with the cruise control, truing ON the + RES switch accelerates the vehicle speed while the switch is kept ON. The vehicle speed at the switch 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 switch, the vehicle is controlled with the higher limit speed during the switch operation and the higher limit speed is stored in the memory as the set speed to control.
- When the + RES switch 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 1 km/h step while the switch is kept ON.
- When the speed is accelerated by depressing the accelerator pedal and the - SET switch is operated, the set speed is reset with the speed at turning OFF the switch. However when the switch is operated above the higher limit vehicle speed for setting, the vehicle is controlled with the higher limit speed as a set speed.
3. Deceleration
- During driving with the cruise control, truing ON the - SET switch decelerates the vehicle speed while the switch is kept ON. The vehicle is controlled with the vehicle speed at the switch turning OFF as the set speed. When the vehicle speed exceeds the high speed limit on downhill slope during operating the - SET switch, the vehicle is controlled with the high speed limit as the set speed to control if the switch is turned OFF.
- If the - SET switch is operated momentarily (Approx. 0.5 sec.), the set speed is decelerated in 1.6 km/h (1 mph) steps with every switch operation. Please note that if the switch 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 switch is turned OFF as the set speed.
4. Acceleration
- During driving with the cruise control, truing ON the + RES switch accelerates the vehicle speed while the switch is kept ON. The vehicle is controlled with the vehicle speed at the switch turning OFF as a set speed. When the vehicle speed exceeds the high speed limit during operating the + RES switch, the vehicle is controlled with the high speed limit before finishing the switch operation and is controlled with the speed at the switch turning OFF as a set speed.
If the - SET switch is operated momentarily (Approx. 0.5 sec.), the set speed is decelerated in 1.6 km/h (1 mph) steps with every switch operation. Please note that if the switch is operated when the set speed differs from actual speed by 5 km/h or more, the vehicle is controlled with the speed at the switch turning OFF as the set speed.
- When the speed is accelerated by depressing the accelerator pedal and the - SET switch is operated, the set speed is reset with the speed at turning OFF the switch. However when the switch is operated at the high speed limit, the switch 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 switch ON, the cruise control is automatically canceled. Keeps the stored the vehicle speed in the memory.
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. Keeps the stored vehicle speed in the memory.
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 switch accelerates the vehicle to the set speed when the cruise control is cancelled with the resume control. In the constant speed control mode, if once the vehicle speed drops down below the low speed limit, the resume control will not work even though the vehicle speed is accelerated above the low speed limit again.
- 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 switch 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 switch ON
2. ON to OFF of D position circuit in the park/neutral position SW.
3. CANCEL switch ON of the control switch
4. ON-OFF switch OFF
5. VSC/ABS operation
10. Auto Cancel
1. The set vehicle speed is erased in the memory and the cruise control is cancelled in the following conditions. Until the ON-OFF switch is turned ON 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 main switch is turned ON again.
C. When the vehicle speed signal is abnormal
D. When the electronic throttle parts are abnormal
E. When the stop lamp switch 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 switch is turned ON 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 switch 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 switch 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 following conditions. However the set vehicle speed is kept in the vehicle to vehicle distance control mode.
A. When the vehicle speed reaches the low speed limit (Approx. 40 km/h).
B. When the vehicle speed reaches below the lower limit vehicle speed for setting (Approx. 45 km/h) with the - SET switch ON.
C. When the vehicle speed reaches the speed slower than (The set vehicle speed minus 16 km/h).
11. Mode Change Between Constant Speed Control Mode and Vehicle-to-Vehicle Distance Control Mode Operating the following procedures in order changes the control mode.
A. Turn ON the ON-OFF switch (The control starts under the vehicle to vehicle distance control mode automatically.)
B. Push forward the cruise control switch lever for some time (More than one second) without operating the ON-OFF switch.