FORWARD SENSING CAMERA (FSC)

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Purpose

―  Mazda Radar Cruise Control with Stop & Go function (MRCC with Stop & Go function) (See MAZDA RADAR CRUISE CONTROL WITH STOP & GO FUNCTION (MRCC WITH STOP & GO FUNCTION).)

―  Cruising & traffic support (CTS) (See CRUISING & TRAFFIC SUPPORT (CTS).)

―  Distance & speed alert (DSA) (See DISTANCE & SPEED ALERT (DSA).)

―  Lane-keep assist system (See LANE-KEEP ASSIST SYSTEM.)

―  Lane departure warning system (LDWS) (See LANE DEPARTURE WARNING SYSTEM (LDWS).)

―  Emergency lane keeping [Road keep assist] (See EMERGENCY LANE KEEPING [ROAD KEEP ASSIST].)

―  Emergency lane keeping [Blind spot assist] (See EMERGENCY LANE KEEPING [BLIND SPOT ASSIST].)

―  Adaptive LED headlights (See ADAPTIVE LED HEADLIGHTS.)

―  High beam control (HBC) system (See HIGH BEAM CONTROL (HBC) SYSTEM.)

―  Driver attention alert system (See DRIVER ATTENTION ALERT SYSTEM.)

―  Driver monitoring (DM) (See DRIVER MONITORING (DM).)

―  Traffic sign recognition system (TSR) (See TRAFFIC SIGN RECOGNITION SYSTEM (TSR).)

―  Smart brake support (SBS) [forward detection] (See SMART BRAKE SUPPORT (SBS) [FORWARD DETECTION].)

Function

Note

•  The FSC may not detect a target under the following conditions.

―  When driving in rain, mist, or snow

―  Windshield washer is being used, or wipers are not used during rain

―  Ice, fog, snow, frost, raindrops, dirt, or other foreign matter such as a piece of plastic is adhering to windshield

―  Trucks with low loading platforms and vehicles with extremely low or high profiles

―  Vehicle is driven alongside wall with no patterns on it (including fences and walls with vertical stripes)

―  Taillights or brake lights of vehicle ahead are turned off

―  Vehicle ahead is out of headlight illumination range

―  Vehicle is driven on sharp curves, or up or down steep slopes

―  Vehicle is entering or exiting tunnel

―  Roof rails are installed to vehicle and long object is loaded which covers FSC

―  Smoke from vehicle exhaust, sand, snow, steam rising from manholes or grating, or water spray is dispersed into air

―  Vehicle is driven with significantly unevenly worn tires

―  Vehicle is driven on down slope or uneven road

―  There are water puddles on road

―  Surrounding area is dark such as at nighttime or evening, early morning, and in tunnel or indoor parking

―  Headlights are not bright enough because lenses are dirty and light emission is weak or their optical axes are deviated

―  Target object enters blind spot of FSC

―  Target object suddenly comes out from the side or cuts right in front of vehicle

―  Detecting vehicle changes lanes and approaches target object

―  Vehicle is driven extremely close to target object

―  Vehicle is equipped with tire chains or spare tire

―  Vehicle is towing another vehicle

―  Vehicle is tilted due to heavy cargo

―  Vehicle is subjected to strong light (such as backlight or headlight high-beam) at front

―  Objects emitting strong light are in front of vehicle

―  Vehicle ahead is not equipped with taillights or brake lights

―  Vehicles with special shapes, such as car carriers

Light-emitting object (on-coming vehicle, vehicle ahead, street lights) recognition function

•  The camera analyzes the light-emitting object it picks up and recognizes it as an on-coming vehicle, vehicle ahead, or street lights (traveling on city/town streets).

On-coming vehicle recognition function

•  The FSC recognizes a light-emitting object which meets any of the following conditions and is at least within 600 m {1,968 ft 6 in} from the detecting vehicle as an on-coming vehicle.

―  Light-emitting object approaches having brightness of specification or more

―  Light-emitting object approaches having white color and certain level of brightness or more (if it approaches and brightness changes, determination made at point of image capture)

Note

•  If the on-coming vehicle and the surrounding conditions are as follows, the FSC may require time until it recognizes an on-coming vehicle.

―  Poor visibility due to rain and fog

―  On-coming vehicle is traveling with only TNS or fog lights

―  Brightness of light source is low, such as bicycle

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―  Red light emitted from light-emitting object is detected

―  Determines that 2 light-emitting objects are one pair

Note

•  If visibility is poor, reflecting objects on the road surface or on a guard rail may be recognized as a vehicle ahead.

•  If visibility is poor due to rain or fog, a vehicle ahead may not be recognized even though one may exist.

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―  Several light-emitting objects of certain height or more from road surface along same line are detected

―  Camera image gray color is certain level or more

Note

•  Even during travel at night outside the town/city, if the road surface is bright from moonlight, the system may recognize that the vehicle is traveling on town/city streets.

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Vehicle lane lines and travel lane recognition function

•  The FSC recognizes line shapes which are paler than the surrounding color, and white/yellow lines as vehicle lane lines by the contrast (color density) of the camera image.

•  If the vehicle lane lines are continuous they are recognized as actual lines, if discontinuous they are recognized as broken lines.

•  The travel lanes recognized from the vehicle lane lines on the left and right of the vehicle are used to calculate the width.

•  Traveling in a straight line or cornering is determined by the status of the vehicle lane lines.

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Pedestrian and traffic sign recognition function

•  The FSC recognizes pedestrians and traffic signs based on the camera image.

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Aiming correction function

•  The FSC adjusts the camera shot angle by aiming, and stores the vanishing point*1. The stored vanishing point and the current vanishing point are compared and if there is a deviation of a certain value or more in the vanishing point, the current vanishing point is stored as the new vanishing point.

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On-board diagnostic function

•  The FSC detects internal malfunctions and outputs them as DTCs. If the camera lens and windshield become dirty or fogged, or if an FSC communication error occurs, the body control module (BCM) receives a signal from the FSC and outputs DTCs.

Construction

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Operation

Camera range

•  The FSC camera shoots in the following range.

Note

•  The FSC may be unable to pick up an object within the camera range in front of the vehicle, and not recognize it as a controlled target object depending on the surrounding conditions (ascending roads, winding roads, walls).

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Position calculation

•  When an object appears on the screen, the FSC determines the position coordinates, and from the coordinates it calculates the distance of the vehicle to the object and the direction.

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