System Description

SYSTEM DIAGRAM

ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Transmit unit	Signal name			Description
ECM	CAN communication	Closed throttle position signal		Receives idle position state (ON/OFF)
		Accelerator pedal position signal		Receives accelerator pedal position (angle)
		Engine speed signal		Receives engine speed
		Stop lamp switch signal		Receives an operational state of the brake pedal
		ICC brake switch signal		Receives an operational state of the brake pedal
		Snow mode switch signal		Receives an operational state of the snow mode
		ICC steering switch signal	Dynamic driver assistance switch signal	Receives the operational state of the ICC steering switch (dynamic driver assistance switch)
TCM	CAN communication	Input speed signal		Receives the number of revolutions of input shaft
		Current gear position signal		Receives a current gear position
		Shift position signal		Receives a selector lever position
		Output shaft revolution signal		Receives the number of revolutions of output shaft
ABS actuator and electric unit (control unit)	CAN communication	ABS malfunction signal		Receives a malfunction state of ABS
		ABS operation signal		Receives an operational state of ABS
		ABS warning lamp signal		Receives an ON/OFF state of ABS warning lamp
		TCS malfunction signal		Receives a malfunction state of TCS
		TCS operation signal		Receives an operational state of TCS
		VDC OFF switch signal		Receives an ON/OFF state of VDC
		VDC malfunction signal		Receives a malfunction state of VDC
		VDC operation signal		Receives an operational state of VDC
		Vehicle speed signal		Receives wheel speeds of four wheels
		Yaw rate signal		Receives yaw rate acting on the vehicle
		Stop lamp switch signal		Receives an operational state of the brake pedal
Steering angle sensor	CAN communication	Steering angle sensor malfunction signal		Receives a malfunction state of steering angle sensor
		Steering angle sensor signal		Receives the number of revolutions, turning direction of the steering wheel
		Steering angle speed signal		Receives the turning angle speed of the steering wheel
Combination meter	CAN communication	System selection signal		Receives a selection state of each item in "Driver Assistance" selected on the information display
Transfer control unit	CAN communication	Current 4WD mode signal		Receives a mode selection state of the 4WD shift mode
Distance sensor	ITS communication	Distance sensor signal		Receives detection results, such as the presence or absence of a leading vehicle and distance from the vehicle
Accelerator pedal actuator	ITS communication	Accelerator pedal actuator operation status signal		Receives an operational state of accelerator pedal actuator

Output Signal Item

Reception unit	Signal name			Description
ABS actuator and electric unit (control unit)	CAN communication	Brake fluid pressure control signal		Transmits a brake fluid pressure control signal to activates the brake
Combination meter	CAN communication	Meter display signal	Vehicle ahead detection indicator signal	Transmits a signal to display a state of the system on the information display
Combination meter	CAN communication	Meter display signal	DCA system display signal
Distance sensor	ITS communication	Vehicle speed signal		Transmits a vehicle speed calculated by the ADAS control unit
Distance sensor	ITS communication	Steering angle sensor signal		Transmits a steering angle sensor signal received from the steering angle sensor
Accelerator pedal actuator	ITS communication	Accelerator pedal position signal		Transmits an accelerator pedal angle calculated by the ADAS control unit
Accelerator pedal actuator	ITS communication	Accelerator pedal feedback force control signal		Transmits a target actuation force value calculated by the ADAS control unit
ADAS control unit 2	ITS communication	Warning buzzer signal		Transmits a warning buzzer signal to active the buzzer
ICC brake hold relay	ICC brake hold relay drive signal			Activates the brake hold relay and turns ON the stop lamp

FUNCTION DESCRIPTION

When a vehicle is detected ahead

The vehicle ahead detection indicator comes ON.

When vehicle approaches a vehicle ahead

If the driver is not depressing the accelerator pedal, the system activates the brakes to decelerate smoothly as necessary. If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill within the limitations of the system.
If the driver is depressing the accelerator pedal, the system moves the accelerator pedal upward to assist the driver to release the accelerator pedal.

When brake operation by driver is required

The system alerts the driver by a warning chime and blinking the vehicle ahead detection indicator. If the driver is depressing the accelerator pedal after the warning, the system moves the accelerator pedal upward to assist the driver to switch to the brake pedal.

CAUTION:

If the vehicle ahead comes to a standstill, the vehicle decelerates to a standstill within the limitations of the system. The system will release brake control with a warning chime once it judges the vehicle is at a standstill. To prevent the vehicle from moving, the driver must depress the brake pedal. [The system will resume control automatically once the system reaches 5 km/h (3 MPH) ].

NOTE:

Depending on the position of the accelerator pedal, the system may not be able to assist the driver to release the accelerator pedal appropriately.
When the driver depresses the accelerator pedal even further while the system is moving the accelerator pedal upward, the accelerator pedal control will be canceled.
When the driver is depressing the accelerator pedal, the brake control by the system is not operated.
When the driver is depressing the brake pedal, neither the brake control nor the alert by the system operates.
When the ICC system is set, the DCA system will be canceled.

OPERATION DESCRIPTION

Distance sensor calculates a distance from a vehicle ahead and a relative speed to transmit the distance sensor signal to the ADAS control unit via ITS communication. Based on the received signal, the ADAS control unit transmits a control signal to the accelerator pedal actuator via ITS communication and to the ABS actuator control unit (control unit) via CAN communication.

When vehicle approaches a vehicle ahead	If the driver is not depressing the accelerator pedal, the system activates the brakes to decelerate smoothly as necessary	Courtesy of NISSAN NORTH AMERICA, INC.
When vehicle approaches a vehicle ahead	If the driver is depressing the accelerator pedal, the system moves the accelerator pedal upward to assist the driver to release the accelerator pedal	Courtesy of NISSAN NORTH AMERICA, INC.
When brake operation by driver is required	The system alerts the driver by a warning chime and blinking the vehicle ahead detection indicator. If the driver is depressing the accelerator pedal after the warning, the system moves the accelerator pedal upward to assist the driver to switch to the brake pedal	Courtesy of NISSAN NORTH AMERICA, INC.

Deceleration control	It transmits the brake fluid pressure control signal to the ABS actuator and electric unit (control unit) via CAN communication and performs the brake control
Accelerator pedal actuation control	It transmits the accelerator pedal feedback force control signal to the accelerator pedal actuator via ITS communication and controls the accelerator pedal in the upward direction

Operation Condition

ADAS control unit performs the control when the following conditions are satisfied.

When the DCA system setting on the navigation screen is ON.
When the dynamic driver assistance switch is turned to ON.
When the brake pedal is not depressed.
When the vehicle speed is above approximately 5 km/h (3 MPH).
When the vehicle ahead is detected.
When the ICC system is not set.

No Operation Condition

The ADAS control unit is not operate when the system is under any conditions of the no operation condition.

When the brake pedal depressed.
When the ICC system is set.
When the system judges that the vehicle comes to a standstill by the system control.
When the vehicle ahead is not detected.

Operation Cancellation Condition

The ADAS control unit cancels the operation when the system is under any conditions of the operation cancellation condition.

When the dynamic driver assistance switch is turned to OFF.
When the system malfunction occurs.
When ABS or VDC (including the TCS) operates.
When the VDC is turned OFF.
When the SNOW mode switch is turned ON.
When the 4WD shift switch is turned to not AUTO position.
When the front bumper grille near the distance sensor is dirty and the measurement of the distance between the vehicles becomes difficult.

Operation At The Driver Operation

Give priority to the driver operation in the following situation.

When the accelerator pedal is depressed again.
When the brake pedal is depressed.