GENERAL INFORMATION

As vehicles with Forward Collision Mitigation System (Low speed range) (FCM-LS) have been added, the FCM-LS and Radar sensing misacceleration Mitigation System (RMS) (Forward) have been added.

CONSTRUCTION DIAGRAM

Main components and functions

Name of part	Number	Functional description
FCM-LS and RMS (Forward) OFF switch	1	Sends the ON/OFF signals of the FCM-LS and RMS (Forward) to the ASC-ECU.
ASC OFF switch	2	Sends the ON/OFF signals of the ASC system to the ASC-ECU.
Stop lamp switch	3	Sends a signal that indicates whether the brake pedal is depressed or not to the ETACS-ECU.
Wheel speed sensor	4	Sends a pulse signal of the frequency proportional to the rotation speed of each wheel to the ASC-ECU.
Steering wheel sensor (SAS)	5	FCM-LS Sends the steering angle and steering angle speed signal to the laser radar. RMS (Forward) Sends the steering angle and steering angle speed signal to the engine-ECU.
FCM-LS and RMS (Forward) indicator lamp	6	Turns on when the ignition switch is ON (the engine is not started). Flashes when the FCM-LS and RMS (Forward) operate. Turns on when a diagnosis code is set in the laser radar or the engine-ECU.
FCM-LS and RMS (Forward) OFF indicator lamp	7	Turns on when the ignition switch is ON (the engine is not started). Turns on when the FCM-LS and RMS (Forward) are set to OFF. Turns on when a diagnosis code is set in the laser radar or the engine-ECU. Flashes when the laser radar detects dirt, snow, icing, foreign matters, and others on the windshield.
Diagnosis connector	8	Connects the M.U.T.-III and reads a diagnosis code and service data of the laser radar.
Laser radar (FCM-ECU)	9	Switches the ON/OFF status of the FCM-LS according to the information of the FCM-LS and RMS (Forward) OFF switch received from the ASC-ECU. FCM-LS Judges whether to start the FCM-LS or not based on detection results (distance and relative speed) of the laser radar and other vehicle information. Sends a brake control request and engine torque reduction request to the ASC-ECU. Sends each indicator and buzzer sounding request to the combination meter. RMS (Forward) Sends detection results (distance and relative speed) of the laser radar and FCM-LS OFF information to the engine-ECU.
Hydraulic unit (incorporating ASC-ECU)	10	FCM-LS Controls the brake pressure based on each brake control request received from the laser radar. Drives the stop lamp illumination circuit when the automatic brake operates. Performs the brake system prefill control based on a request from the laser radar. Performs the brake assist control based on a request from the laser radar. Sends FCM-LS and RMS (Forward) OFF switch operation information, vehicle speed signal, yaw rate, acceleration speed in the forward and backward or lateral direction, brake pressure, ASC status, whether the FCM-LS can be controlled or not, and FCM-LS brake control information to the laser radar. Sends an engine torque reduction request to the engine-ECU. RMS (Forward) Sends the vehicle speed signal, brake pressure, and ASC status to the engine-ECU.
Combination meter	11	Turns on or flashes the indicator or sounds the buzzer based on each indicator and buzzer sounding request received from the laser radar or engine-ECU.
ETACS-ECU	12	Sends the stop lamp switch status to the laser radar.
Engine-ECU	13	Performs the engine torque down control based on the engine torque reduction request received from the ASC-ECU. RMS (Forward) Judges whether to start the RMS (Forward) or not based on detection results (distance and relative speed) from the laser radar, the accelerator pedal status, and other vehicle information. Sends each indicator and buzzer sounding request to the combination meter.
CVT-ECU	14	Sends the selector lever status to the laser radar.
Stop lamp relay	15	Illuminates the stop lamps when a stop lamp illumination request signal is sent from the ASC.

System Configuration

note

Dashed lines indicate the CAN bus line.

FCM-LS and RMS (Forward) indicator lamp, FCM-LS and RMS (Forward) OFF indicator lamp, buzzer

		FCM-LS and RMS (Forward) indicator lamp	FCM-LS and RMS (Forward) OFF indicator lamp	Buzzer
Engine: Before started	Ignition switch: ON	ON	ON	-
Engine: After started	When the FCM-LS/RMS (Forward) is not operating	OFF	OFF	-
	When a failure of the FCM-LS is detected	ON	ON	-
	When the system is turned off with the FCM-LS and RMS (Forward) OFF switch	OFF	ON	-
	When the system is turned off due to the detection of snow, icing, foreign matters, and others	OFF	Flash	-
	When the FCM-LS is operating	Flash	OFF	Sounds intermittently.
	When the RMS (Forward) is operating	Flash	OFF	Sounds intermittently.

FCM-LS

warning

A driver is responsible for driving safely. The FCM-LS is the system to mitigate collision-caused damages or to avoid collisions as much as possible. The system is not intended to compensate for driver’s loss of attention to the front during driving due to distraction or carelessness or supplement a drop in visibility due to the rain and fog. It is never a substitute for your safe and careful driving. Always be ready to apply the brakes manually.
The FCM-LS works to avoid frontal collisions as much as possible. However, the effect of its operation varies depending on situations and conditions, such as driving conditions, road conditions, and steering, acceleration and braking operations, so that the performance the function can deliver is not always the same. If your vehicle is in danger of collision, take all necessary collision-evading actions, such as depressing the brake pedal strongly regardless of whether the system is activated or not.
Under certain circumstances, the FCM-LS may not operate or may not detect correctly a vehicle in front. Never rely on the FCM-LS to prevent a collision. Doing so could lead to serious injury in the event of a collision.
When the FCM-LS operates, the automatic brake may strongly apply. To reduce the risk of serious injury or death in the event of an accident or sudden stop, make sure the driver and passengers always wear the seat belts properly while the vehicle is in motion.

caution

Do not use the FCM-LS as a normal braking.
If the brake pedal is not depressed within 2 seconds after your vehicle has been stopped by the FCM-LS, the brakes activated by the FCM-LS will automatically be released.
When depressing the brake pedal while automatic braking is applied, the brake pedal will feel firm. This is normal. Depress the brake pedal harder to apply greater braking force.
The FCM-LS will not operate in the following situations.

When the operation mode is in any mode other than ON.
The FCM-LS and RMS (Forward) is OFF.
The ASC is OFF.
When the FCM-LS and RMS (Forward) indicator lamp and FCM-LS and RMS (Forward) OFF indicator lamp illuminate at the same time.
When the FCM-LS and RMS (Forward) OFF indicator lamp blinks.
When the selector lever is in the "P" (PARK) or the "R" (REVERSE) position.

The FCM-LS operates to reduce the collision with the vehicle ahead. Depending on the situation, the FCM-LS may operate for a motorcycle, a bicycle, a pedestrian or a wall etc., but these are not objects of the activating the FCM-LS.
The FCM-LS may not operate in certain situations. Some of these include:

Under adverse weather conditions. (rain, strong winds, snow, sand storms, etc.)
When a vehicle cuts into your path at a close distance.
When a vehicle suddenly cuts in front of your vehicle.
When only the part of a vehicle ahead is within the detecting range of the laser radar.
When the vehicle in front is offset to the left or right.
When the your vehicle changed lanes, and your vehicle approached immediately behind the vehicle ahead.
When a vehicle ahead or an oncoming vehicle is splashing water, snow or dirt.
When the windshield glass is dirty.
When using a windshield washer.
When the laser radar becomes extremely hot.
Immediately after engine starting.
When driving on a curve.
During the driving that is rapid acceleration/deceleration.
When driving on a road with alternating up and down steep slopes.
When driving on a bumpy or rough road.
When the system judges driver’s steering, accelerating, braking or gear shifting actions as evasive actions to avoid collision.
When the vehicle body is extremely inclined by carrying heavy loads or improper adjustment of the tyre pressure.
When the driving is unstable due to an accident or trouble.
The battery is weak or dead.

The FCM-LS may be cancelled when the system recognises driver’s steering or accelerating actions as evasive actions or when the obstacle moves out of the detecting range area of the laser radar.
The FCM-LS may not operate because the laser radar cannot detect a front vehicle correctly as follows.

Vehicle towing a trailer etc.
A freight trailer that is not carrying a container.
Vehicle that has a protruding load from the carrier.
Vehicle with the low height.
Vehicle that has an extremely high ground clearance.
Vehicle that is extremely stained. Vehicle that has a dark color.
Vehicle or obstacle that is covered with snow.
Vehicle that has a large glass surface.
Vehicle that does not have reflectors (lamp reflector) or the position of the reflector is low.
Vehicle that has a specific shape such as the carrier car.

In certain situations, though there is little or no risk of a collision, the FCM-LS may operate. Examples include:

When there is a road side object in a curb or an intersection.
When crossing a narrow iron bridge.
When passing through a low gate or a narrow gate.
When there are metallic objects, steps or projections on the road surface.
When quickly approaching a vehicle ahead to overtake it.
When passing through an electronic toll collection gate.
When driving under an overpass or pedestrian bridge. When driving in a narrow tunnel.
When driving in a parking structure.
When approaching a slope where the incline changes significantly.
When trying to stop your vehicle very close to a vehicle or an object in front.
When passing a vehicle or an object closely.
When a vehicle in the next lane becomes positioned directly in front of your vehicle due to winding road conditions.
When a vehicle cuts into your path in the detecting range of the laser radar.
When an oncoming vehicle passes with a curve.
When your vehicle changed lanes, and your vehicle approached immediately behind the vehicle ahead.
When a vehicle cuts into your path at a close distance.
When passing through a plastic curtain etc.
When there are a long objects such as a skis on a roof carrier in the detective range of the laser radar.
When passing through the mass of the steam, fog or smoke.

The FCM-LS should be turned off if any of following situations occur:

When using an automatic car wash.
When your vehicle’s wheels are driven by the engine on a lift.
When your vehicle is towed.
When your vehicle is carried on a truck.
When enjoying sports driving on a circuit.
When your vehicle is on a chassis dynamometer or free rollers.
When the tyre pressure is not proper.
When tyre chains are installed.

Operation

The FCM-LS uses the laser radar to measure the relative speed and relative distance with the forward vehicle on the lane where the vehicle with the system is running. When the system judges the vehicle running at a low speed (approximately 5 km/h to 30 km/h) may crash into the forward vehicle from almost just behind of it, the system activates the automatic brake to reduce collision damages or avoid a crash while alerting the driver with the FCM-LS and RMS (Forward) indicator lamp and buzzer.

Function	General
Forward collision warning function	When the system judges the vehicle may crash into the forward vehicle, this function alerts the driver with the flashing indicator of the combination meter and the buzzer sound.
Forward collision mitigation system prefill	When the system judges the vehicle may crash into the forward vehicle, this function increases the brake pressure in advance to improve the responsiveness when the driver applies a brake.
Forward collision mitigation brake assist	When the system judges the vehicle may crash into the forward vehicle, this function hastens the timing to operate the brake assist.
Forward collision mitigation brake	When the system judges the vehicle will not be able to avoid a crash into the forward vehicle, this function applies the emergency automatic brake to reduce the collision speed or avoid a crash depending on the condition. While the automatic brake is operating, the stop lamp is on and the system alerts the driver with the flashing indicator of the combination meter and the buzzer sound.

RMS (Forward)

warning

Do not overly rely on the RMS (Forward). It is never a substitute for your safe and careful driving. Always be careful to operate the accelerator pedal perceiving the environmental conditions. Misoperation can lead to a serious accident.
The RMS (Forward) does not have a brake function. Even if the system operates, the vehicle will start to creep if you do not depress the brake pedal. Depress the brake pedal according to the environmental condition.
Depress the brake pedal according to the environmental condition.
If the vehicle is trapped in the railway crossing because the system is activated as the crossing barrier is misrecognised as an obstacle, escape from the railway crossing without any panic by one of the following methods.

Release the foot from the accelerator pedal and lightly depress the pedal again.
Turn the system OFF. (Continuously press the FCM-LS and RMS (Forward) OFF switch for more than 3 seconds.)
Continuously depress the accelerator pedal for more than 5 seconds.
Repeat to press the accelerator pedal quickly to its full stroke more than 3 times.

caution

The RMS (Forward) does not operate in the following conditions:

The operation mode is other than ON.
The RMS (Forward) is turned off with the FCM-LS and RMS (Forward) OFF switch.
The ASC is turned off with the ASC OFF switch.
When the FCM-LS and RMS (Forward) indicator lamp and FCM-LS and RMS (Forward) OFF indicator lamp illuminate at the same time.
When the FCM-LS and RMS (Forward) OFF indicator lamp blinks.
When the selector lever is in the "P" (PARK), the "R" (REVERSE) or the "N" (NEUTRAL) position.

The RMS (Forward) operates to the obstacles such as a vehicle ahead or a wall. It sometimes happens that a motorcycle, bicycle or pedestrian are detected as obstacles, but these are not the object of the RMS (Forward).
The RMS (Forward) may not operate in the following conditions.

Under adverse weather conditions. (rain, strong winds, snow, sand storms, etc.)
When a vehicle cuts into your path at a close distance.
When only a part of the obstacle is within the detecting range of the laser radar.
When a vehicle ahead or an oncoming vehicle is splashing water, snow or dirt.
When the windshield glass is dirty.
When using a windshield washer.
When the laser radar becomes extremely hot.
Immediately after engine starting.
When driving on a curve.
When driving on a road with alternating up and down steep slopes.
When driving on a bumpy or rough road.
When the system judges driver’s steering or gear shifting actions as evasive actions to avoid collision.
For a short period after the system judges the repeated depression of the accelerator pedal at a few seconds interval as a release operation.
When the vehicle body is extremely inclined by carrying heavy loads or improper adjustment of the tyre pressure.
When the driving is unstable due to an accident or trouble.
The battery is weak or dead.

The RMS (Forward) may be cancelled when the system recognises driver’s steering actions as evasive actions or when the obstacle moves out of the detecting range of the laser radar.
The RMS (Forward) may not operate because the laser radar cannot detect the front vehicle or obstacle as follows.

Obstacle that infrared rays are permeabilised, such as a fence with large mesh, glass etc.
Obstacles that have the shape of the pole such as the road marker or the streetlight.
Obstacles that are not vertical to the ground.
Obstacles that are not at right angles to vehicle traveling direction.
A wall surface is not flat.
Vehicle or obstacle with the low height.
Vehicle or obstacle that is extremely stained.
Vehicle or obstacle that has a dark colour.
Vehicle or obstacle that is covered with snow.
Vehicle towing a trailer etc.
A freight trailer that is not carrying a container.
Vehicle that has a protruding load from the carrier.
Vehicle that has an extremely high ground clearance.
Vehicle that has a large glass surface.
Vehicle that does not have reflectors (lamp reflector) or the position of the reflector is low.
Vehicle that has a specific shape such as the carrier car.

The RMS (Forward) may be triggered operate in the following situations.

When there is a road side object in a curb or an intersection.
When your vehicle joins the main line.
When there are metallic objects, steps or projections on the road surface.
When an electronic toll collection gate, parking gate or railway barrier is raised imperfectly.
When start a vehicle on an uphill slope.
When driving in close to the vehicle ahead. When passing close to the vehicle or an obstacle.
When passing through a plastic curtain etc.
When there are a long objects such as a skis on a roof carrier in the detective range of the laser radar.
When passing through the mass of the steam, fog or smoke.

Turn off the RMS (Forward) with the FCM-LS and RMS (Forward) OFF switch beforehand when the vehicle is placed in any of the following situations as the system can operate unexpectedly.

When using an automatic car wash.
When your vehicle’s wheels are driven by the engine on a lift.
When your vehicle is towed.
When your vehicle is carried on a truck.
When enjoying sports driving on a circuit.
When your vehicle is on a chassis dynamometer or free rollers.
When the tyre pressure is not proper.
When tyre chains are attached.

Operation

The RMS (Forward) suppresses the engine output caused by the dramatic depression of the accelerator pedal and prevents sudden acceleration to reduce damages at collision when the laser radar has detected a forward vehicle or obstacle (within approximately 4 m) while the vehicle has stopped or is running at a low speed (approximately 10 km/h or lower). When the RMS (Forward) is activated, the system alerts the driver with the flashing indicator in the meter and the buzzer sound.

Laser radar (FCM-ECU)

The laser radar is installed inside the upper part of the windshield and used in the FCM-LS and RMS (Forward). When the laser radar detects dirt, icing, foreign matters, and others of the windshield, the FCM-LS and RMS (Forward) automatically stop. At this time, the FCM-LS and RMS (Forward) indicator lamp in the meter flashes.

FCM-LS and RMS (Forward) OFF switch

The FCM-LS and RMS (Forward) OFF switch has been installed on the right side of the instrument panel lower and switches the ON/OFF statuses of the FCM-LS and RMS (Forward).

note

When the ignition switch is turned ON, the FCM-LS and RMS (Forward) automatically turn on.

Turning off the function

When the FCM-LS and RMS (Forward) OFF switch is depressed for 3 seconds or longer while the FCM-LS and RMS (Forward) are on, the FCM-LS and RMS (Forward) OFF indicator lamp turns on and the FCM-LS and RMS (Forward) turn off.
Even when the ASC system is off, the FCM-LS and RMS (Forward) OFF indicator lamp is on and the FCM-LS and the RMS (Forward) is off.

Turning on the function

When the FCM-LS and RMS (Forward) OFF switch is depressed while the FCM-LS and RMS (Forward) are off, the FCM-LS and RMS (Forward) OFF indicator lamp turns off and the FCM-LS and RMS (Forward) turn on.

Fail-safe and self-diagnosis functions

The laser radar always monitors input and output signals. When a system error is detected, the laser radar alerts the driver by outputting a failure signal to turn on or flash each indicator of the combination meter and the FCM-LS control is prohibited depending on the failure generated.
The laser radar has the following functions to simplify the inspections of the system.

Diagnosis code set
Service data output
Freeze frame data output

All the above items can be diagnosed using M.U.T.-III.