Driving Support System Description - Overview
Integrated Driver Support System
This vehicle is equipped with the integrated driver support system, which analyzes information from the monocular camera (multipurpose camera) and millimeter wave radar in a comprehensive manner to recognize an object.

Roles of Each Function
The integrated Driver Support System has three main categories of functions: Safety, Comfort and Lighting control functions. When the integrated driver support system detects a hazard, an alarm and/or warning notification is triggered. The system provides safety functions that perform a hazard evasion assistance if the driver does not (or cannot) respond to the warning notification or alarm. The system also provides comfort and lighting control functions controlling the vehicle behavior according to the road conditions to assist the driver.

Safety Functions
Driving Assist Functions
Lighting Control Function
CMBS, Road Departure Mitigation (RDM)
ACC with Low Speed Follow, LKAS
Auto High-Beam
The function is ON all the time (can be turned off by switch operation)
The function is selectable by the user
The function is ON by turning the combination light switch to the AUTO position

Operational priority of each function
Operation priority of each function is set among systems. The CMBS gets activated when a risk of collision becomes greater while the ACC control is in operation. Once the CMBS becomes active, the ACC will be cancelled. When the RDM System is activated, its operation has higher priority than LKAS. Between CMBS and RDM System, the brake control of the CMBS has higher priority.
Operation of the Millimeter Wave Radar
The millimeter wave radar uses millimeter wave bands to detect vehicles and pedestrians (vehicle ahead, opposite vehicles and pedestrian) in front of the vehicle. The radar also calculates the relative speed of the objects and the distance between the objects and the vehicle by transmitting and receiving the millimeter waves.

Operation Conditions
Item
Leading Vehicle
Target Detection Range
0.5 - 120 m (1.6 - 394 ft)

Millimeter waves are emitted within an angle range of 40 degrees in the vertical direction and an angle of 90 degrees in the horizontal direction.

Vehicle/Object Detection Process
The multipurpose camera unit determines if there is any leading vehicle and/or detected objects that are moving based on the outlines of the objects, relative position and speed of the objects. In order to distinguish between leading vehicles and pedestrians, the system uses the recognition result received from both the millimeter wave radar and the multipurpose camera as follows.

Pedestrian Image Processing
The multipurpose camera is able to detect pedestrians. When the system detects an object that could be a pedestrian, the system compares the object's characteristics against programmed characteristics for the system to determine if the object is likely a pedestrian or other object.

Function Failure Indication