Pre-collision Safety System -W Overall This system will operate the respective crash dampening components in order to help reduce the damage caused by the unavoidable collision Seat Belt Retraction [System Name] -A: Pre-collision Safety System -W: Pre-crash Safety system This system is equipped for –A and –W models as OPT For frontal collision only (not operate at side and back collision) Brake Assist Standby

Pre-collision Safety System -W System Diagram Serial Communication Millimeter Wave Radar Sensor Distance Control ECU Steering Angle Sensor Brake Actuator Yaw Rate Sensor Deceleration Sensor Master Cylinder Pressure Sensor Skid Control ECU CAN Front Seat Outer Belts (D & P) Seat Belt Motors DLC3 Master Cylinder Cut Solenoid Valves Vehicle Speed Sensors Pump Motor Seat Belt Control ECU Stop Light Switch Driver Side J/B ECU Gateway ECU Front Seat Inner Belts (D & P) Seat Belt Buckle Switches BEAN Combination Meter Master Warning Light Multi-information Display Airbag Sensor Assembly

Pre-collision Safety System -W Layout of Main Components Seat Belt Control ECU Front Seat Outer Belts (D & P) Seat Belt Motors Skid Control ECU (3UZ-FE Engine) Front Seat Inner Belts (D & P) Seat Belt Buckle Switches Millimeter Wave Radar Sensor Brake Actuator (3GR-FSE Engine) Skid Control ECU Master Cylinder Pressure Sensor Master Cylinder Cut Solenoid Valves Pump Motor

Pre-collision Safety System -W Layout of Main Components Steering Angle Sensor Yaw Rate & Deceleration Sensor Gateway ECU Distance Control ECU Driver Side J/B ECU Buzzer Airbag Sensor Assembly

Pre-collision Safety System -W General Operation There are two operations [Pre-collision Operation] [Sudden Braking Operation] Unavoidable Collision Condition Brake pedal is depressed suddenly Seat Belt Brake Assist Pre-collision Operation (unavoidable collision) The driver and front passenger seat belts are retracted The brake assist will be rendered in the standby mode and operated at the instant the brake pedal is pressed Sudden Braking Operation Standby Mode Retraction

Pre-collision Safety System -W General Operation Two operations are operated under the conditions shown below 70 60 Pre-collision Operation Seat Belt Retraction Brake Assist Standby 50 Sudden Braking Operation Seat Belt Retraction Vehicle Speed (km/h) 40 Sudden Braking Operation Seat Belt Retraction 30 [Operating Conditions for Pre-collision Safety System] NOTE: Except during system failure Pre-collision operation (seat belt retraction only) Seat belt is fastened Relative vehicle speed approx. 18.8 mph (30 km/h) or more Sudden braking operation (seat belt retraction) Vehicle speed approx. 8.8 mph (14 km/h) or more Pre-collision operation (seat belt retraction and brake assist standby) 20 10 Pre-collision Operation Seat Belt Retraction 10 20 30 40 50 60 Relative Speed (km/h)

Pre-collision Safety System -W General Operation Operation conditions (detail) Operation Pre-collision Operation Sudden Braking Operation Seat Belt Retraction Brake Assist Standby Vehicle Condition Unavoidable Collision (Millimeter wave radar sensor detects collision objects) Sudden Braking (Skid control ECU determines the sudden braking condition) Vehicle Speed 0 mph (0 km/h) Approx. 8.8 mph (14 km/h) or more Relative Speed Approx. 18.8 mph (30 km/h) or more  Brake Pedal Depressed Seat Belt Fastened Other Condition IG-ON No system malfunction

Pre-collision Safety System -W Pre-crash Operation Distance Control ECU determines that an unavoidable collision condition exists based on the sensor signals Millimeter Wave Radar Sensor Speed Sensor Distance Control ECU Steering Angle Sensor Yaw Rate & Deceleration Sensor Detects unavoidable collision Operation Request Skid Control ECU Switches the brake assist in standby mode Seat Belt Control ECU Brake pedal is depressed Retracts the seat belt Seat belt operation: Only the fastened seat belt side operates Brake assist is operated at the instant Brake Actuator Seat Belt Motors

Pre-collision Safety System -W Sudden Braking Operation Skid Control ECU determines the sudden braking condition based on the sensor signals Speed Sensor Stop Light Switch Master Cylinder Pressure Sensor Skid Control ECU Detects sudden braking Operates brake assist Operation Request Brake Actuator Seat Belt Control ECU Only the fastened seat belt side operates Retracts the seat belt Seat Belt Motors

Pre-collision Safety System -W Millimeter Wave Radar Sensor This sensor detects the distance, relative speed, and the direction of the object by reflection millimeter wave The millimeter wave radar sensor also functions as radar sensor for the dynamic radar cruise control system Detection Item Detection Method Distance The length of time (Emit  Reflection  Receive) Azimuth The angle of reflected waves Relative Speed The change of the frequencies between emit and received wave (Utilization of Doppler Effect)

Reference (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Doppler effect Frequency F Frequency F’ (Becomes higher frequency) Own Vehicle Hz + Change of Frequency (Between emit and received wave) - - + km Relative Speed

Pre-collision Safety System -W Millimeter Wave Radar Sensor The sensor circuit consists of 1 transmission antenna and 9 reception antennas Transmission Antenna Signal Processing Circuit 76 GHz Approx. 4 °C Approx. 20 °C Above 150m Reception Antenna Image Diagram

Pre-collision Safety System -W Front Seat Outer Belt Seat belt motor is added to retract the seat belt Retractor Electric Tension Reducer Solenoid Pretensioner Seat Belt Motor

Pre-collision Safety System Confidential -A -W Front Seat Outer Belt Construction and retraction operation of seat belt motor Seat Belt Clutch Mechanism Retractor Shaft Reduction Gears Retraction Direction Seat Belt Motor

Pre-collision Safety System Confidential -A -W Front Seat Outer Belt Clutch mechanism Seat Belt Retraction Clutch mechanism is locked by seat belt motor operation Clutch Free Clutch Lock Normal Operation (Seat Belt is Free) Pre-crash Operation (Seat Belt Retraction)

Pre-collision Safety System -W Combination Meter Two types of warning messages are used for this system Warning Message Condition DTC System malfunction ON  Dirty millimeter wave sensor Poor conditions for millimeter wave radar sensor Overheated seat belt control ECU  Warning message request signal is output from seat belt control ECU The Pre-collision Safety System is inoperative when these messages appear on multi-information display PSC DISABLED NOW CHECK PCS

Pre-collision Safety System -W Diagnosis DTCs are stored in Seat Belt Control ECU DTCs Detection Item B2000 Right side motor line malfunction Hi B2021 Left side lower MOS malfunction Open B2001 Right side motor line malfunction Lo B2025 Right side current detection circuit malfunction Hi B2002 Right side motor line malfunction Open B2026 Right side current detection circuit malfunction Lo B2005 Left side motor line malfunction Hi B2027 Right side over-current malfunction B2006 Left side motor line malfunction Lo B2030 Left side current detection circuit malfunction Hi B2007 Left side motor line malfunction Open B2031 Left side current detection circuit malfunction Lo B2015 Right side upper MOS malfunction Open B2032 Left side over-current malfunction B2016 Right side lower MOS malfunction Open B2035 Power supply relay adherence malfunction B2020 Left side upper MOS malfunction Open B2036 Power supply relay malfunction Open The diagnosis circuit of this system is integrated in the seat belt control ECU

Pre-collision Safety System -W Diagnosis DTCs are stored in Seat Belt Control ECU DTCs Detection Item B2040 EEPROM malfunction B2064 Vehicle type signal malfunction B2041 Fall of the Raised voltage B2065 Malfunction of Pre-crash safety ECU B2043 Fall of the +B voltage U0100 Lost Communication With ECM/PCM "A" B2047 ECU inner circuit malfunction U0122 Lost Communication With Vehicle Dynamics Control Module B2055 Radar sensor malfunction U0145 Lost Communication With Body Control Module "E" B2056 Axial gap of the radar sensor U0235 Lost Communication With Cruise Control Front Distance Range Sensor B2059 Vehicle speed malfunction of Pre-crash safety ECU U1101 Lost Communication With Distance Control ECU B2060 ABS malfunction U1102 Lost Communication With Laser Sensor B2063 Buckle switch malfunction The diagnosis circuit of this system is integrated in the seat belt control ECU

Pre-collision Safety System -W Millimeter Wave Radar Sensor After the replacement or reinstall of this sensor, adjust the sensor angle Adjustment procedure is the same as the LS430 Replacement Reinstall Adjustment

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment 5 vehicle conditions 3, Standard Tire Pressure 4, Luggage is unloaded 2, Level Ground 1, No large metal pieces Approx. 14 m (45.93 ft) 5, Standard Vehicle Height Approx. 10 m (32.81 ft)

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Adjustment in vertical direction Specified Level 1. Remove dust and oil on the level rack, and set the specified level on the center 2. Using a hexagon wrench, turn and adjust screw A to level the millimeter wave radar sensor Screw A Approx. 0.67° per turn 1. Set the specified level 2. Turn screw A to level the millimeter wave radar sensor

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Set SST (reflector) SST: 09870-60000 (09870-60010, 09870-60040) Reflector placement point 5 m (16.41 in.) 3. Adjust the reflector height to the same height as the millimeter wave radar sensor 4. Place the reflector 12 mm (0.47 in.) 3. Adjust the reflector height 4. Place the reflector

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Confirm current distance by tester CRUISE 5. Turn the ignition switch to the ON position, and push the cruise control main switch ON–OFF button on 6. Connect the Hand-held tester or Intelligent Tester-II to DLC3 5. IG ON and cruise main switch ON 6. Connect Hand-held Tester or Intelligent Tester-II

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Confirm current distance by tester 5.0 0.7 7. Transfer the “Beam Axis Adjustment” 8. Confirm that the current distance (reference value) is approximately 5 m (16.41 ft) 7. Transfer the ”Beam Axis Adjustment” 8. Confirm that the “Distance” is approx. 5 m (16.41 ft)

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Adjust in horizontal direction 5.0 0.0 Screw B Approx. 0.21° per turn 9. Adjust the horizontal direction, turn and adjust screw B until the divergence on the screen becomes 0.0 ° (Both right and left) 9. Turn screw B until the “Right / Left Side” becomes 0.0 °

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Reset the driving learning values Metal (such as aluminum foil) 10. Cover the sensor’s right half with metal (such as aluminum foil) for approx. 10 sec. (When the reset is completed, the buzzer sounds for 10 sec.) Notice: Be sure to keep the reflector in place and that there is nothing between the sensor’s left half and the reflector 11, Disconnect the Hand-held Tester or Intelligent Tester-II from DLC3 10. Reset the driving learning values (cover the sensor approx. 10 sec.) 11. Disconnect the Hand-held Tester or Intelligent Tester-II

Service Point (Pre-collision Safety System) -W Millimeter Wave Radar Sensor Adjustment Recheck vertical adjustment Specified Level Screw A 12. Remove dust and oil on the level rack, and set the specified level on the center 13. Using a hexagon wrench, turn and adjust screw A to level the millimeter wave radar sensor Finish Approx. 0.67° per turn 12. Set the specified level 13. Turn screw A to level the millimeter wave radar sensor

Pre-collision Safety System -W Precaution for Pre-collision Safety System Operation Cases that the system operates even if there is no danger of collision Cases that the system operates even if there is no danger of collision -Object on road surface at corner entrance (Guard Rail, Street Light, Sign, Signboard) -Opposing traffic vehicle during cornering -Opposing traffic vehicle at intersection -Narrow Iron Bridge -Metal object, steel plate, or bump on road surface These are not abnormal

Pre-collision Safety System -W Precaution for Pre-collision Safety System Operation The millimeter wave radar sensor might not be able to detect the following objects as collision objects Objects that cannot be detected Plastic items (Safety Cones, etc.), etc. Objects that cannot be detected in a stable manner People, Bicycles, Motorcycles, Trees, Animals, Snow Fence, etc.

Reference (Pre-collision Safety System) -W Millimeter Wave Radar Sensor What is a millimeter wave ? Millimeter Wave 1 - 10 mm (0.04 – 0.40 in.) (In a vacuum) 200 kHz 2 MHz 25 MHz 300 MHz 2 GHz 30 GHz 300 GHz Long Wave Short Wave Micro Wave Millimeter Wave The millimeter wave radar is less affected by weather conditions such as rain, fog, or snow, and provides excellent characteristic for recognizing objects AM (1 MHz) FM (80 MHz) Cellular Mobile Phone (800 MHz) Millimeter Wave Radar Sensor (76 GHz)