GENERAL INFORMATION

caution

Do not overestimate the FCM. It is never almighty. In addition, the FCM is not designed to avoid driver’s inattentive or careless driving or improve the poor vision due to rain or fog.

No system control and warnings are provided if any of the conditions below is satisfied:

A vehicle-travelling-ahead is extremely slow or extremely slower than your vehicle.
Another vehicle cuts in abruptly.
The distance between your vehicle and a vehicle-travelling-ahead is too short.
The FCM system is defective.

No system control and warnings may be provided if any of the conditions below is satisfied:

The object travelling ahead is a motor bike, a bicycle, an animal or a falling object on the road, etc.
An extremely heavy load is stored on the rear seat or the luggage compartment.
Contamination or condensation is found in front of the sensor on the windshield.
The vehicle is being driven on a winding road or near a corner.
In bad weather (rain, snow, fog)
Another vehicle interrupts your vehicle abruptly.
Your vehicle is driven uphill or downhill repeatedly.
The system determines that the driver has operated the steering wheel, the accelerator pedal, the brake pedal or the shift lever to avoid a collision.
Your vehicle is not being driven stably due to unstable relationship between your vehicle and the vehicle-travelling-ahead, the steering operation conditions, a traffic accident or vehicle faults.

A system control and warnings may be provided if any of the conditions below are satisfied:

There is an obstacle near a road curve.
The vehicle is being driven across a narrow bridge.
The vehicle is being driven through a low or narrow gate.
There are road humps, pothole or any metal obstacles.
Your vehicle becomes too close to the vehicle-travelling-ahead during overtaking.
Your vehicle is being driven under an overpass.

The system may operate incorrectly if any of the following conditions is satisfied. In such a case, turn the FCM system off.

Your vehicle is towed.
Your vehicle is carried by a truck.
Your vehicle is driven on a chassis dynamometer or a free roller.
Wheels rotate freely by starting the engine with your vehicle off the ground.
Your vehicle is driven under a streamer, a flag or a weeping tree branches, or on a bush.
Sporty driving such as competition

Improperly handling the system components may result in problems such as degraded sensor performance and ultimately in an accident. Be sure to take the following precautions to keep the system in good operating conditions.

Always keep clean the windshield. When the inside of the windshield is contaminated in the proximity of the sensor, clean it. Clean the windshield with a shop towel.
Avoid applying a shock or a load to the sensor.
Do not put anything, such as a sticker or an infrared rays cut film, on the windshield in front sensor.
Do not put anything, such as a sticker, etc., under the sensor area inside windshield.
Do not attempt to detach or disassemble the sensor.
Always use tyre of the same size, same type and same brand, and which have no significant wear differences.
Do not modify the vehicle’s suspensions.
If the windshield is misted, remove the mist from the windshield by using the demister switch.
If water droplets at the sensor portion of the windshield cannot be properly removed by the windshield wipers, replace the wipers.
Do not contaminate or damage the sensor.
Do not spray glass cleaner on the sensor. Also, do not spill liquid, such as a beverage, to the sensor.
Do not install an electronic device, such as antenna, or device that emits strong electric waves, near the sensor.

If there are any cracks or scratches around the sensor portion of the windshield, the sensor cannot detect a vehicle travelling ahead, a pedestrian or an obstacle correctly. This could result in a serious accident. In such situations, disable the FCM and replace the windshield.
The sensor irradiates infrared rays when the operation mode is entered. Do not look into the sensor portion using the optical goods such as magnifying glasses. Doing so might damage your eyes in infrared rays.
During diagnosis, a diagnosis code associated with other system may be set when the ignition switch is turned on with connector(s) disconnected. On completion, confirm all systems for diagnosis code(s). If diagnosis code(s) are set, erase them all.

CONSTRUCTION DIAGRAM

Main components and functions

Component name	Functional Description
FCM/LDW/AHB-ECU (with built-in sensor)	Uses a built-in sensor to recognise a vehicle travelling ahead, a pedestrian, a lane and the headlamp beams which a travelling-ahead or oncoming vehicle casts. Controls the Forward Collision Mitigation (FCM), the Lane Departure Warning System (LDW) and the automatic high beam system according to the sensor detection and CAN bus communication. It requests the combination meter to provide status information on the functions and visual warnings via CAN communication. It also requests the ASC-ECU to control the brakes via CAN communication. Adjusts the axis of the built-in sensor, and detects any blockage or malfunction.
ASC-ECU	Controls the brakes according to request signals received from the FCM/LDW/AHB-ECU via CAN communication. Activates the stop lamps when the automatic braking is triggered. Requests the engine-ECU to provide "engine braking" effect according to the request from the FCM/LDW/AHB-ECU. Sends the signals of the FCM and Ultrasonic misacceleration Mitigation System ON/OFF switch to the ECUs via CAN communication.
Engine-ECU	Sends accelerator pedal position sensor signals to the ECUs via CAN communication. Controls the engine torque according to request signals received from the ASC-ECU.
CVT-ECU <CVT> or A/T-ECU <A/T>	Informs the ECUs of the selector lever position via CAN communication.
Combination meter	The FCM/LDW/AHB-ECU informs the combination meter of status information and requests it to provide visual warnings. Based on these, the combination meter controls the multi-information display, the indicator lamps, the warning lamps and the buzzer.
ETACS-ECU	Incorporates the circuit where the ASC-ECU activates the stop lamps when the FCM activates the automatic braking. Sends LDW switch signals to the ECUs via CAN communication. Switches high and low beam headlamps according to request signals received from the FCM/LDW/AHB-ECU. Informs the ECUs of ambient temperature via CAN communication. Sends stop lamp switch signals to the ECUs via CAN communication.
Column switch (with built-in steering wheel sensor)	Informs the ECUs of a steering wheel angle and angular velocity via CAN communication.

SCHEMATIC DIAGRAM

Fail-safe and self-diagnosis functions

The FCM/LDW/AHB-ECU constantly monitors the input and output signals. If the system detects a malfunction, it will send a failure signal to the combination meter and prohibit the FCM/LDW/automatic high beam system control under circumstances. The combination meter will provide a visual and audible warning to inform the driver of it. The FCM/LDW/AHB-ECU has the following functions for easier system checks.

Diagnosis code set
Service data output
Freeze frame data output

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

Sensor calibration

If the FCM/LDW/AHB-ECU is replaced or removed and installed, calibration the sensor by using the M.U.T.-III.

note

For how to calibration the sensor, refer to the WORKSHOP MANUAL.

FORWARD COLLISION MITIGATION (FCM)

Function

The FCM has the following functions:

Function	General
Forward collision warning function	Activate the visible warning on the combination meter and audible warning when the system determines that a forward collision is imminent.
Forward collision mitigation brake system prefill	Increases the brake fluid pressure in advance to enhance the response during the driver’s braking operation when the system determines that a forward collision is imminent.
Forward collision mitigation brake assist	Advances the brake assist timing when the system determines that a forward collision is imminent.
Forward collision mitigation brake	Activates the automatic emergency braking to reduce the vehicle speed when the system determines that a forward collision is not avoidable.

Operation

The system calculates the distance and the relative velocity between the vehicle travelling ahead or a pedestrian and your vehicle by using a sensor. If the system determines that a straightforward collision is imminent, it will avoid or reduce the injury or damage due to the collision by performing the controls shown in the table below:

Control		Collision is possible	Collision is imminent	Collision is not avoidable
Forward collision warning function	Warning indicator
Forward collision warning function	Buzzer	Sounds	Sounds	Sounds
Forward collision mitigation brake system prefill		Increase the brake fluid pressure.	-	-
Forward collision mitigation brake assist		Assists the braking force in accordance with the driver’s brake operation.	Assists the braking force in accordance with the driver’s brake operation.	Assists the braking force in accordance with the driver’s brake operation.
Forward collision mitigation brake^*		-	Weak automatic-braking	Strong automatic-braking

note

^*: If two seconds elapse after the forward collision mitigation brake stops the vehicle, it can be deactivated automatically.

FCM AND ULTRASONIC MISACCELERATION MITIGATION SYSTEM ON/OFF SWITCH

The FCM and Ultrasonic misacceleration Mitigation System ON/OFF switch is installed at the instrument panel left lower side. You can switch the FCM (on and off) and the warning timing ("FAR", "MIDDLE" and "NEAR") by operating this switch.
How to switch on and off the FCM

The FCM is toggled between on and off when the FCM and Ultrasonic misacceleration Mitigation System ON/OFF switch is pressed and held. When the FCM is toggled, the system will inform the driver of it by the combination meter LCD display^*.

note

^*: If the FCM is toggled off, "FCM OFF display" will be shown on the combination meter LCD screen. If the FCM is toggled on, a current warning timing will be shown on the combination meter LCD screen.

How to switch the FCM warning timing

The FCM warning timing is toggled when the FCM ON/OFF switch is pressed briefly with the FCM activated. When the FCM is toggled, the system will inform the driver of it by the combination meter LCD display.

AUTOMATIC HIGH BEAM SYSTEM

caution

The automatic high beam system may not work correctly under certain external factors.

External factors	Detail
Weather	Too bad weather such as fog, snow, heavy rain
Windshield glass	Dirt, condensation, icing on the windshield Cracks or breakage around the FCM/LDW/AHB sensor detection portion
Preceding vehicle or oncoming vehicle	No exterior lamps of a preceding vehicle or oncoming vehicle is turned on Only right or left exterior lamps are turned on, or the vehicle is a motorbike. There is any light source, which is similar to vehicle exterior lamps A preceding vehicle is equipped with a reflection plate
Road conditions	On too steep gradients The vehicle is driven on a winding road or around a tight bend Driving on poor surface such as cobbled There is too bright a luminous body in front of the vehicle (e.g. reflective traffic sign, an electric noticeboard, a delineator).
Vehicle condition	The vehicle is inclined due to overload, flat tyre, or towing, etc.
System	The temperature in the FCM/LDW/AHB is 100°C or more, or -40 °C or less. The system can detect no illumination or light source as the camera in the FCM/LDW/AHB is hindered by an object.

Operation

When the FCM/LDW/AHB-ECU (integrated sensor) and the front lamp sensor sense a light source (illuminant) ahead of the vehicle, the system controls the low beam and high beam automatically to suit each driving situation.

When an oncoming vehicle is approaching

The system turns on the low-beam when it detects that an oncoming vehicle is approaching.
The system switches from the low-beam into the high-beam when the oncoming vehicle is out of the detection range of the sensor, which is integrated in the FCM/LDW/AHB-ECU, for a certain period.

note

The detection range of the sensor, which is integrated in the FCM/LDW/AHB-ECU, depends on its environment.

When you overtake a preceding vehicle or the system misses it.

The system turns on the low-beam when it detects that a preceding vehicle is approaching.
The system switches from the low-beam into the high-beam when the preceding vehicle is out of the detection range of the sensor, which is integrated in the FCM/LDW/AHB-ECU, for a certain period.

note

The detection range of the sensor, which is integrated in the FCM/LDW/AHB-ECU, depends on its environment.

Operation conditions for the automatic high beam system

If the condition below is satisfied, the automatic high beam system will be activated.

Always observe the following procedures from step 1.

Turn the ignition switch from LOCK (OFF) position to ON position.
Turn on the low-beam headlamps. (Set the lighting switch to "AUTO" or "HEAD" position.)
Turn on the automatic high beam switch.

Switching conditions between headlamp low-beam and high-beam

The system switches the headlamp beams as below:
Switching from low-beam to high-beam

The vehicle speed is 40 km/h or more.
It is dark in front of or around the vehicle. (Darkness, under which the automatic lighting system turns on the headlamps)
When there are no preceding vehicle or oncoming vehicles
When there are a few street lamps (Including few tunnel lamps)

Switching from high-beam to low-beam

The vehicle speed is less than 30 km/h.
It is bright in front of or around the vehicle.
When the tail lamps of a preceding vehicle or the headlamps of an oncoming vehicle are turned on
When there are many street lamps (Including many tunnel lamps)

LANE DEPARTURE WARNING SYSTEM (LDW)

Operation

The LDW operates in the three stages below:

note

The indicator and warning depend on these stages. If predetermined warning conditions are satisfied, the buzzer will sound.

Operation status (LDW: ON)
Warning monitor status (standby)
Warning (WARNING L-LANE or WARNING R-LANE)

1. Operation status (LDW: ON)

If all of the conditions below are satisfied, the LDW switch will be active. When the switch is operated with it active, the operation status will be switched between "OFF" (LDW disabled) and "ON" (LDW enabled). (LDW operation status switching function)

The ignition switch is turned from "OFF" to "ON" or "START"
The LDW is not defective

2. Warning monitor status (Standby)

If all of the conditions below are satisfied, the LDW will enter the warning monitor status (standby mode).

The operation status is "ON."
The LDW is not defective
Vehicle speed is 65 km/h or more
Seven seconds or more have elapsed since the side turn-signal lamp (LH or RH) was turned "OFF".

The LDW camera has recognised a lane successfully or three seconds.

note

If lane division lines are dotted-lines, the system also recognises them one continuous line.

Your vehicle is being driven on a road which radius exceeds 125 m.

3. Warning (WARNING L-LANE or WARNING R-LANE)

If your vehicle intrudes a warning range, the LDW will provide visual and audible warnings. The warning will be activated for 3 seconds in maximum. Even if the vehicle exits from the range soon, the warning will continue for at least 1 seconds.

Variable warning range

The warning range depends on your vehicle’s approaching speed to the lane line, or the distance between your vehicle and the lane line as shown.

Deactivating the warning

If your vehicle exits from the warning range or the predetermined warning time elapses, the system will deactivate the warning and return to the standby mode.

Disabling the warning

If a lane width is approximately 2.5 m or less or a lane is closed due to construction work, the system will disable the warning to prevent false operation.

Resuming the warning

The LDW stores the range where the repeated warning is inhibited. If a warning is activated once, that range will become active. When your vehicle exits from that range, the warning will be permitted again.