RM36D0EC _51 Engine / Hybrid System _083055 CRUISE CONTROL _0401007 MILLIMETER WAVE RADAR SENSOR A

CRUISE CONTROL  MILLIMETER WAVE RADAR SENSOR  TARGET ADJUSTMENT(TRIANGLE TARGET)  


PROCEDURE

Hide 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT

a.
E383804C02
0.219,1.25 0.531,1.406 0.313,0.156 10 false *a 1.427,2.385 1.74,2.542 0.313,0.156 10 false *b 2.208,0.208 2.438,0.375 0.229,0.167 10 true *d 0.229,3.625 0.458,3.802 0.229,0.177 10 false *e 1.396,3.646 1.625,3.875 0.229,0.229 10 true *g 1.188,0.198 1.5,0.396 0.313,0.198 10 false *c 2.26,3.01 2.573,3.208 0.313,0.198 10 false *f
*a 5 m (16.4 ft.)
*b 6 m (19.7 ft.)
*c 4 m (13.1 ft.)
*d 2 m (6.56 ft.)
*e 3 m (9.84 ft.)
*f 1.5 m (4.92 ft.)
*g 2.5 m (8.2 ft.)
V100144

Do not place any metal objects in this area
V100155

Do not place metal objects with a height of more than 50 mm (1.97 in.) in this area


Park the vehicle on a level surface where the area in front of the vehicle shown in the illustration is free of metal objects.

HINT:

Metal objects that have a height of 50 mm (1.97 in.) or less do not affect adjustment within 2 m (6.56 ft.) from the front of the vehicle.



b.

Check the levelness of the ground.

i.
E383805C02
1.458,0.573 1.771,0.771 0.313,0.198 10 false *a
*a 3 m (9.84 ft.)
V100155

Levelness Check Point


Check the levelness of the ground at the 3 points shown in the illustration.


ii.

Place the level on each levelness check point and check that the air bubble of the level is centered.

E344401



c.

Adjust the tire inflation pressure to the specified pressure.

Click hereSuspension>TIRE / WHEEL>TIRE AND WHEEL SYSTEM>INSPECTION


d.

Clean the radiator grille (or front panel) emblem or millimeter wave radar sensor assembly.


e.

Visually inspect the front of the vehicle.

HINT:

Confirm that there is no damage or deformation.



f.

Visually inspect the front bumper assembly, radiator grill and stays.

HINT:

Confirm that there is no damage or deformation.



Hide 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY

a.
C320141C03
1.448,0.615 1.938,0.615 false 1.708,0.865 1.927,0.615 false 1.969,0.542 2.281,0.74 0.313,0.198 10 false *a
*a SST (reflector)


Adjust SST (reflector) height.

i.

Adjust SST (reflector) so that the center of SST (reflector) is the same height as the millimeter wave radar sensor.

HINT:

Make sure to align the center of SST (reflector) with the millimeter wave radar sensor (the center of the emblem).


Reference Value:
for SFTM Made:

About 869 mm (2.85 ft.)

for GTMC Made:

About 882 mm (2.89 ft.)

for Off Road Package:

About 807 mm (2.65 ft.)


SST
09870-60000  (09870-60010)
09870-60040  



b.

Place SST (reflector).

i.

Hang a weight with a pointed tip from the center of the rear emblem, and mark the rear center point of the vehicle (point A) on the ground.

B522900C10
2.802,2.51 3.25,2.313 false 2.802,2.604 3.24,2.604 false 5.51,1.844 5.917,2.021 true 5.51,1.406 4.917,1.896 true 5.979,1.979 6.24,2.177 0.26,0.198 10 true *a 3.313,2.229 3.625,2.385 0.313,0.156 10 false *b 4.781,1.896 5.021,2.104 0.24,0.208 10 true *c 5.24,0.667 5.469,0.833 0.229,0.167 10 true *d 5.573,0.677 5.802,0.844 0.229,0.167 10 true *d 3.292,2.51 3.448,2.708 0.156,0.198 10 false A
*a String *b Weight
*c Center *d Bilateral Symmetry


HINT:

Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.



ii.

Hang a weight with a pointed tip from the center of the front emblem, and mark the front center point of the vehicle (point B) on the ground (placement position).

B522901C01
1.646,1.865 2.042,2.063 false 1.646,1.521 1.198,1.938 true 3.917,2.448 3.583,2.219 false 3.896,2.563 3.5,2.563 false 2.115,2.021 2.427,2.177 0.313,0.156 10 true *a 3.375,2.125 3.688,2.281 0.313,0.156 10 false *b 0.969,1.917 1.188,2.115 0.219,0.198 10 true *c 1.365,0.677 1.573,0.854 0.208,0.177 10 true *d 1.74,0.677 1.948,0.854 0.208,0.177 10 true *d 3.375,2.479 3.531,2.677 0.156,0.198 10 false B
*a String *b Weight
*c Center *d Bilateral Symmetry


HINT:

Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.



iii.

Using tape and a string, create a line that connects point B to point A and extends at least 3000 mm (9.84 ft.) beyond the front center point of the vehicle.

E359937C01
0.979,1.969 0.979,1.646 false 0.438,2.073 0.438,1.75 false 6.188,2.073 6.188,1.75 false 0.917,1.979 1.229,2.177 0.313,0.198 10 false *a 0.375,2.073 0.688,2.271 0.313,0.198 10 false *b 6.135,2.094 6.448,2.292 0.313,0.198 10 false *b 2.125,0.302 2.438,0.5 0.313,0.198 10 false *c 5.938,1.438 6.25,1.635 0.313,0.198 10 false A 2.948,1.438 3.26,1.635 0.313,0.198 10 false B 1.146,1.438 1.458,1.635 0.313,0.198 10 false C
*a String *b Tape
*c 3000 mm (9.84 ft.) - -


HINT:
·

Make sure the string is taut when securing it with tape.

·

Lightly flick the string with your fingers several times to confirm that the string is aligned with point B.




iv.

Mark point C (SST (reflector) placement position) at a position 3000 mm (9.84 ft.) from point B.


v.

Place SST (reflector) at point C.



c.

Front Beam Axis Adjustment:

NOTICE:
·

Close all of the doors.

·

Ensure that nobody enters the adjustment area during the adjustment.

·

Do not move or shake the vehicle during adjustment (do not get in or out of the vehicle).

·

Do not turn off the GTS or ignition switch.

·

If the vehicle moves or is shaken during beam axis adjustment such as during strong winds or a door is opened or closed, perform the adjustment again.



i.

Connect the GTS to the DLC3.


ii.

Turn the ignition switch to ON.


iii.

Turn the GTS on.


iv.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Beam Axis Adjustment.

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Beam Axis Adjustment
50005 429 4953

v.

Confirm the conditions displayed on the screen and then press "Next".


vi.

Select "Trigonal pyramid" and then press "Next".


vii.

Perform the adjustment according to the display on the GTS.

NOTICE:

If an error code is displayed, perform troubleshooting according to the following table, then perform the adjustment again.


Error No. Error Description Cause of Error Action to be Taken
1 No target abnormality
·

SST (reflector) is placed incorrectly.

·

The radiator grille (or front panel) emblem or millimeter wave radar sensor assembly is covered by dirt or snow.


Place SST (reflector) in the correct position. (See page 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b) Place SST (reflector))
Clean the radiator grille (or front panel) emblem or millimeter wave radar sensor assembly.
Check the installation condition of the front bumper assembly and radiator grille.
2 Target distance abnormality
·

SST (reflector) is placed incorrectly.


Place SST (reflector) in the correct position. (See page 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b) Place SST (reflector))
3 Plural targets abnormality
·

There is a reflective object near SST (reflector).

·

A person entered the adjustment area.


Remove any reflective objects.
Ensure that nobody enters the adjustment area during the adjustment. (See page 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT)
4 Target move abnormality
·

SST (reflector) was moved out of position or shaking during the adjustment due to wind.

·

A person entered the adjustment area.


Place SST (reflector) in the correct position. (See page 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b)Place SST (reflector))
Perform adjustment in an area with no wind.
Ensure that nobody enters the adjustment area during the adjustment. (See page 1. PREPARATION FOR MILLIMETER WAVE RADAR SENSOR ASSEMBLY ADJUSTMENT)
5 Axis adjustment
·

Optical axis adjustment has not been performed.


Optical axis adjustment. (See page 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (c) Front Beam Axis Adjustment)
6 Target angle abnormality
·

SST (reflector) is placed incorrectly.

·

The beam axis of the millimeter wave radar sensor assembly is outside the automatic correction range.


Place SST (reflector) in the correct position. (See page 2. MILLIMETER WAVE RADAR SENSOR ASSEMBLY VERTICALLY AND HORIZONTALLY (b)Place SST (reflector))
Check the condition of the millimeter wave radar sensor assembly.
Check the condition of the radiator grille and front bumper assembly.
7 Radar abnormality
·

Operation of the millimeter wave radar sensor assembly is abnormal.


Replace the millimeter wave radar sensor assembly.
8 Radar dirtiness
·

There is dirt on the radiator grille (or front panel) emblem or millimeter wave radar sensor assembly.


Clean the radiator grille (or front panel) emblem or millimeter wave radar sensor assembly.
9 Temperature abnormality
·

The temperature around the millimeter wave radar sensor assembly is too high.


Wait until the temperature drops to the operable range (-30 to 50°C).
10 Voltage abnormality
·

IG power source voltage is outside the operable range of the millimeter wave radar sensor assembly.


Check the battery voltage (specified condition: 10 to 16 V).
·

for M20C-FKS:

(Click here)

·

for M20D-FKS:

(Click here)

·

for A25B-FXS:

(Click here)

·

for A25D-FXS:

(Click here)

·

for A25F-FXS:

(Click here)


11 External communication abnormality
·

CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.


Check the condition of the connectors and wire harness.
12 Radar axis aiming failure upward
·

The beam axis of the millimeter wave radar sensor assembly is deviated.

·

Road inclement is outside the standard value.


Check the condition of the millimeter wave radar sensor assembly.
Check the installation condition of the front bumper assembly and radiator grille.
Confirm road gradient.
13 Radar axis aiming failure downward
·

The beam axis of the millimeter wave radar sensor assembly is deviated.

·

Road inclement is outside the standard value.


Check the condition of the millimeter wave radar sensor assembly.
Check the installation condition of the front bumper assembly and radiator grille.
Confirm road gradient.
14 Vehicle speed abnormality
·

The vehicle is not stationary.


Ensure that the vehicle remains stationary.
15 Other
·

A mode change error occurred.

·

Operation of the yaw rate sensor is abnormal.

·

The vehicle is shaking.


Check for DTCs.
(Click here)
Check for DTCs.
·

Electronically controlled brake system (for HV Model):

(Click here)

·

Electronically controlled brake system (for Gasoline Model):

(Click here)


Ensure that the vehicle remains stationary.
16 Time out
·

The vehicle cannot communicate with GTS normally.

·

The vehicle does not keep still during beam axis adjustment.

·

Operation of the millimeter wave radar sensor assembly is abnormal.


·

Ensure that the vehicle is connected with the GTS correctly.

·

Ensure that the vehicle remains stationary.

·

Perform beam axis adjustment again and replace the millimeter wave radar sensor assembly if the same error code is output.


17 Target parameter abnormality
·

Wrong mode is selected.


Perform beam axis adjustment again.
18 Vehicle information undefined
·

CAN communication between forward recognition camera and the millimeter wave radar sensor assembly is abnormal.


Check the condition of the connectors.


viii.

Press "Exit" to finish front beam axis adjustment.



d.

Front Beam Axis Misalignment Reading:

NOTICE:
·

Close all of the doors.

·

Ensure that nobody enters the adjustment area during the adjustment.

·

Do not move or shake the vehicle during adjustment (do not get in or out of the vehicle).

·

Do not turn off the GTS or ignition switch.



i.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Beam Axis Misalignment Reading.

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Beam Axis Misalignment Reading
50005 429 4405

ii.

Confirm the conditions displayed on the screen and then press "Next".


iii.

Select "Trigonal pyramid" and then press "Next".


iv.

Perform the adjustment according to the display on the GTS.

Specified Condition:
Vertical -0.5 to 0.5 deg.
Horizontal -0.5 to 0.5 deg.


NOTICE:

If the result is not as specified, perform beam axis adjustment again.




e.

Front Radar Acceleration Sensor Calibration:

i.

Enter the following menus: Body Electrical / Front Radar Sensor / Utility / Front Radar Acceleration Sensor Calibration.

Body Electrical > Front Radar Sensor > Utility
Tester Display
Front Radar Acceleration Sensor Calibration
50005 429 4506

ii.

Turn the ignition switch off.


iii.

Disconnect the GTS from the DLC3.



f.

After beam axis adjustment completes, clear the following system vehicle control history entries.

i.

Clear vehicle control history (Dynamic radar cruise control system).

for HV Model: Click hereEngine / Hybrid System>CRUISE CONTROL>DYNAMIC RADAR CRUISE CONTROL SYSTEM (for HV Model)>VEHICLE CONTROL HISTORY

for Gasoline Model: Click hereEngine / Hybrid System>CRUISE CONTROL>DYNAMIC RADAR CRUISE CONTROL SYSTEM (for Gasoline Model)>VEHICLE CONTROL HISTORY


ii.

Clear vehicle control history (Lane tracing assist system).

Click hereEngine / Hybrid System>CRUISE CONTROL>LANE TRACING ASSIST SYSTEM>VEHICLE CONTROL HISTORY


iii.

Clear vehicle control history (Front radar sensor system).

Click hereEngine / Hybrid System>CRUISE CONTROL>FRONT RADAR SENSOR SYSTEM>VEHICLE CONTROL HISTORY


iv.

Clear vehicle control history (Pre-collision system).

Click hereVehicle Interior>PRE-COLLISION>PRE-COLLISION SYSTEM>VEHICLE CONTROL HISTORY


v.

Clear vehicle control history (Lighting system).

Click hereVehicle Exterior>LIGHTING (EXT)>LIGHTING SYSTEM>VEHICLE CONTROL HISTORY