Driving Support System Description

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, Driving assist, and Lighting control. When the integrated driver support system detects a hazard, an alarm and/or warning notification is triggered. The system provides safety functions that perform hazard evasion assistance if the driver does not (or cannot) respond to the warning notification or alarm. The system also provides driving assist 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 LKAS	Auto High-Beam
The function is ON all the time (can be turned off by switch operation)	The function is selectable by the driver	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 (leading and opposing 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	Opposite vehicle	Pedestrian output
Target Detection Range	0.5 - 120 m (1.6 - 394 ft)	1 - 120 m (3 - 394 ft)	1 - 40 m (3 - 131 ft)

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.
	The lane lines are recognized by managing the width, length, continuity of the line from the image captured by the multipurpose camera.
	The road sign is recognized by comparing the image captured by the multipurpose camera with the sign information registered in the system.

Pedestrian Image Processing

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