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BODY ELECTRICAL – CRUISE CONTROL SYSTEM274LS01Constant Speed Control Deceleration Control Follow-up Control Acceleration Control100 km / h (62 mph) 100 km / h (62 mph) ! 80 km/ h (50 mph) 80 km / h (50 mph) 80 km / h (50 mph) ! 100 km / h (62 mph)Service TipWhen either the distance control ECU or the engine ECU is replaced, the radar sensor informationstored in the distance control ECU must be initialized. For details, see Camry Repair Manual.BE-224JDYNAMIC RADAR TYPE CRUISE CONTROL SYSTEM1. GeneralThe dynamic radar type cruise control system has two cruise control modes: constant speed control mode,and vehicle-to-vehicle distance control mode.D The cruise control switch is used for switching between the two modes. The mode in which the cruisecontrol system starts is the vehicle-to-vehicle distance control mode.D The distance control ECU, millimeter wave radar sensor and the engine ECU control this system.D The combination meter informs the driver of the control conditions.ModeOutlineConstant SpeedControl ModeThe constant speed control mode is the same as in the conventional type cruisecontrol system. However, differences are as follows:D Set speed: 40 km/h (25 mph) ! 45 km/h (27 mph)Vehicle-to-VehicleDistance ControlModeIn the vehicle-to-vehicle distance control mode, the system recognizes anddetermines the lane in which the driver’s own vehicle and the vehicle ahead aretraveling. Thus, the system is able to maintain the proper vehicle-to-vehicledistance in accordance with the vehicle speed, and allows the vehicle to be drivenunder follow-up control.D The driver can operate the distance control switch on the steering wheel to selectthe vehicle-to-vehicle distance in three stages: long, middle, and short.D This mode consists mainly of four controls: constant speed control, decelerationcontrol, follow-up control, and acceleration control.D The illustrations below show control examples while the driver’s own vehicleis operating at 100 km/h (62 mph), and the vehicle ahead is operating at 80km/h (50 mph).D Throttle control and brake control achieve smooth deceleration. BEBODY ELECTRICAL – CRUISE CONTROL SYSTEM01YBE167PVarious Sensorsand SwitchesEngine ECUThrottle Control MotorLocal CANECT ECUSolenoidValves260LSW03Millimeter WaveRadar SensorSerial CommunicationDistance ControlECUCAN (CAN No.2 Bus)BE-225D As in the conventional type cruise control system, the constant speed control mode is controlled by theengine ECU, which outputs signals to the actuators and the engine ECU.D The vehicle-to-vehicle distance control mode is controlled by the millimeter wave radar sensor anddistance control ECU. Thus, the signals are output to the actuators and the ECU while exchanging dataas indicated below. BODY ELECTRICAL – CRUISE CONTROL SYSTEM02KBE69YMillimeterWave RaderSensorDistance ControlECUDistanceControl SwitchWiper SwitchCombination Meter(Vehicle Speed Signal)Stop Light SwitchCruise Control SwitchAccelerator Pedal PositionSensorThrottle Position SensorNeutral Start SwitchThrottle Control MotorDLC3ECT ECUSolenoidValvesLocalCANEngineECUCAN GatewayECUCAN (CAN No.2 Bus)CAN(CAN No.1 Bus)Yaw Rate &DecelerationSensorSteering AngleSensorSkid ControlECUCombination MeterD Cruise MAIN Indicator LightD Master Warning LightD Multi-information DisplayD BuzzerMain BodyECUStop LightStop LightControl RelayBrake ActuatorVSC Warning BuzzerLight ControlSwitch1)2)3)4), 5)6)7)8), 9), 10), 15)13)14)10), 11), 12)14), 16)8)9)11)15), 16)5), 12)17)BE-2262. System Diagram BEBODY ELECTRICAL – CRUISE CONTROL SYSTEMBE-227No. Transmit Receive Data List Communication1)MillimeterWave RadarSensorDistanceControl ECUD Vehicle-to-Vehicle DistanceD Presence of Vehicle AheadD Relative Acceleration RateD Relative Vehicle SpeedD Width and Position of Object AheadD Diagnostic DataSerial2) Engine ECUMillimeter Wave Radar Sensor OperationSignalWire3)MillimeterWave RadarSensorD Actual Vehicle SpeedD Estimated Curve RadiusD Wiper ConditionD Light Control SwitchD Set DistanceD Beam Axis Adjustment DataSerial4)Distance ControlECUEngine ECUD Target Acceleration RateD Target Deceleration RateD Vehicle-to-Vehicle DistanceD Presence of Vehicle AheadD Brake RequestD Beam Axis DeviationD Millimeter Wave Radar Sensor Dirtiness DetectionD Poor Weather DetectionD Proximity WarningD Gear RequestD Diagnosis DataCAN5)CombinationMeterD Display DataD WarningCAN6)Distance ControlSwitchDistance Control SwitchWire7) Wiper Switch Wiper Switch8)Yaw Rate &DecelerationSensorYaw Rate9)Steering AngleSensorDistanceControl ECUSteering Angle10)Control ECUD Set Vehicle SpeedD Actual Vehicle SpeedD Cruise Control Switch (MAIN Switch)D Set DistanceCAN10)Engine ECUD Brake Request ResponseD Accelerator Pedal IdleD Stop Light SignalD Transmission Information11)Skid ControlECUD Target Deceleration RateD Target Deceleration Rate GradientD Brake Request(Continued) BODY ELECTRICAL – CRUISE CONTROL SYSTEMBE-228No. Transmit Receive Data List Communication12)Engine ECUCombinationMeterD Cruise Control SwitchD Set Vehicle SpeedCAN13) ECT ECU Shift Up Request Signal CAN14) ECT ECU Engine ECU Shift Up Response CAN15)Skid ControlDistanceControl ECUZero Point Information of Yaw Rate16)Skid ControlECUEngine ECUD Cruise Control Cancel RequestD Brake Request ResponseD Brake Control Operation (VSC)CAN17)CombinationSwitch(Main Body ECU)DistanceControl ECULight Control Switch CAN BEBODY ELECTRICAL – CRUISE CONTROL SYSTEM02KBE153TECruise MAIN Indicator LightMaster Warning LightMulti-information DisplaySteering Angle SensorDistance Control ECUDistance Control SwitchYaw Rate & Deceleration SensorCruise ControlSwitchStop Light SwitchAccelerator Pedal Position SensorBrake ActuatorD Skid Control ECUEngine ECUThrottle BodyD Throttle Control MotorD Throttle Position SensorMillimeter WaveRader SensorECT ECUNeutral Start SwitchBE-2293. Layout of Main Components BODY ELECTRICAL – CRUISE CONTROL SYSTEMBE-2304. Function of Main ComponentsItem OutlineON-OFF Button Turns ON/ OFF the power to the cruise control system.MODE SwitchSwitches the control mode, between the constant speed control modeand vehicle-to-vehicle distance mode.CruiseControlCANCEL SwitchA cancel signal can be output to the engine ECU through the operationof this switch.ControlSwitchRES/+ SwitchThe accelerate function and resumption of a preset speed can beperformed by operating this switch. A signal is output to the engineECU when this switch is operated.SET/ – SwitchThe decelerate function and vehicle speed setting resume signals areoutput to the engine ECU due to operation of this switch.Distance Control SwitchWhile the system is in the vehicle-to-vehicle distance control mode,the driver can operate the distance control switch to select thevehicle-to-vehicle distance in three stages: long, middle, and short.Stop Light SwitchDetects the pressing of the brake pedal and transmits a signal to theengine ECU.CombinationWiper Switch Transmits wiper switch information to the distance control ECU.CombinationSwitchLight ControlSwitchSwitches to the beam axis adjustment mode for the millimeter waveradar sensor.Millimeter Wave Radar SensorRadiates radar waves forward, uses the reflected waves to detect thepresence of a vehicle being driven ahead, the vehicle-to-vehicledistance, and the relative speed, and transmits this information to thedistance control ECU.Distance Control ECUWhile the system is in the vehicle-to-vehicle distance control mode,the distance control ECU detects the vehicle being followed based onsignals from the millimeter wave radar sensor. Then, the distancecontrol ECU calculates the acceleration or deceleration rate requiredin order to attain the target vehicle-to-vehicle distance, and outputs arequest signal to the engine ECU and or skid control ECU.Transmits the vehicle speed signal to the engine ECU.Cruise MAINIndicator LightD Illuminates when the ON-OFF button on the cruise controlswitch has been pressed to turn the system on.D If the distance control ECU detects a malfunction, this lightflashes to warn the driver.CombinationMeterMaster WarningLightIlluminates when there is a malfunction in the system.MeterBuzzerIf the engine ECU or distance control ECU detects automatic cancelor warning signals while the vehicle is operating under cruise control,this buzzer sounds to inform the driver.Multi-informationDisplayDuring the dynamic radar cruise control, the multi-informationdisplay receives signals from distance control ECU, in order todisplay the system conditions.Steering Angle SensorDetects the angle and direction of steering and transmits signals to theskid control ECU and distance control ECU.(Continued) BEBODY ELECTRICAL – CRUISE CONTROL SYSTEMBE-231ItemOutlineYaw Rate & Deceleration SensorDetects the yaw rate of the vehicle and transmits signals to skid controlECU and distance control ECU.Skid Control ECUWhile the system is operating in vehicle-to-vehicle distance controlmode, the skid control ECU actuates the brake actuator in accordancewith the brake request signal received from the distance control ECU.Brake ActuatorActuates the brakes in accordance with the signals from the skid controlECU.Stop Light Control RelayIlluminates the stop light in accordance with the stop light illuminationrequest signal from the skid control ECU.Engine ECUD Controls the cruise control system in accordance with signals fromthe switches, sensors, skid control ECU and distance control ECU.D If the engine ECU detects a malfunction in the cruise control system,it will store DTC (Diagnostic Trouble Code). BODY ELECTRICAL – CRUISE CONTROL SYSTEM02KBE63YRES/ +MODECANCELSET/–ON-OFF Button02KBE64YDistance Control SwitchBE-2325. Construction and OperationCruise Control SwitchD Cruise control switch consists of the ON-OFF button, RES/+, MODE, SET/– and CANCEL switches.RES/ +, MODE, SET/– and CANCEL switches are a lever that operates in four directions.D The cruise control switch is an automatic reset (normally open) type that turns ON only when the switchis being operated and turns OFF as soon as the driver releases the switch. Furthermore, the functions ofthe control switch are active only when the cruise control system has been turned on using the ON-OFFbutton on the cruise control switch.Distance Control SwitchD While the vehicle is being driven in vehicle-to-vehicle distance control mode, the vehicle-to-vehicledistance setting can be changed each time the distance control switch is pressed, as follows; long !middle ! short.D If the power source is switched OFF and back to ON, the system will default to “long”.D The vehicle-to-vehicle distance is set as follows:ModeVehicle-to-Vehicle Distance*Long Approx. 50 m (164 ft.)Middle Approx. 40 m (131 ft.)Short Approx. 30 m (98 ft.)*: While driving at a vehicle speed of 80 km/h (50 mph). BEBODY ELECTRICAL – CRUISE CONTROL SYSTEM02KBE193TEMillimeter Wave Radar CircuitSignalProcessingCircuit" Image Diagram AVertical Angle: About 4_Horizontal Angle: About 20_Detection Distance: Approximately 150 m (492 ft.)BE-233Millimeter Wave Radar Sensor1) GeneralThe millimeter wave radar sensor consists of a millimeter wave radar circuit, signal processing circuit,and CPU.D The millimeter wave radar circuit consists of one transmission antenna and nine reception antennas.D The millimeter wave radar outputs waves when the vehicle speed is above 0, and not when the vehiclespeed is at 0. The millimeter wave radar uses frequencies in the 76 GHz band.D The reception antennas receive the millimeter wave radar waves that have been reflected.D The signal processing circuit detects the distance, relative speed, and the direction of the object bygenerating millimeter wave radar waves and calculating the signals received by the receptionantennas.Then, it transmits this information to the distance control ECU. [...]... Vehicle-toVehicle to Under Follow-up Vehicle Control, Distance Deceleration Control Control (Vehicle Ahead) Long Middle Short 02KBE184TE Long Middle Short 02KBE185TE Approach Warning (Vehicle Ahead) 02KBE186TE The vehicles in the display are highlighted at 0.5-second intervals Millimeter wave radar sensor is dirty System Failure 02KBE187TE Poor Weather Condition 02KBE188TE System Check* 02KBE189TE Beam... Deceleration Control (See page BE-2 41) Effects throttle control and brake control in order to decelerate the vehicle so that the vehicle-to-vehicle distance between this vehicle and the vehicle ahead equals the set distance — f Follow-up Control (See page BE-242) After effecting deceleration control, the vehicle follows the vehicle ahead in order to maintain the proper vehicle-to-vehicle distance in accordance... warning light or multi-information display are shown below Mode Condition Multi-information Display Buzzer 02KBE192TE Constant Speed Control Being Controlled 015 0BE35C Illuminate — — Illuminate — — Illuminate — — Illuminate — — Illuminate — Sounds Continuously Flash Illuminate Sound Once Flash Illuminate Sound Once Flash Illuminate Sound Once Flash — — 02KBE181TE Set Standby 02KBE182TE Under Constant... operations switch the modes: 1) ON-OFF button on the cruise control switch is ON (Starts in the vehicle-to-vehicle distance control mode) 2) Cruise control switch is held to the MODE side (Approx 1 second or more) If the switch is pushed to any other side before switching modes, switch the cruise control system OFF; then, perform steps 1) and 2) again f f Diagnosis (See page BE-245) If a malfunction occurs... 0.33_ Adjusting Bolt 02KBE197TE BE-236 BODY ELECTRICAL – CRUISE CONTROL SYSTEM Combination Meter The combination meter provides a master warning light, cruise MAIN indicator light, buzzer, and multi-information display to warn and indicate in the dynamic radar cruise control system D The multi-information display displays the set vehicle speed, constant speed mode mark, vehicle-to-vehicle distance mark,... Millimeter Wave Rader Sensor CAN (CAN No .1 Bus) Engine ECU Distance Control ECU CAN (CAN No.2 Bus) CAN Gateway ECU Throttle Control Motor Own Vehicle 274LS07 01YBE120P BE BE-244 BODY ELECTRICAL – CRUISE CONTROL SYSTEM Automatic Cancel Control If any of the conditions listed below occur while the vehicle is in cruise control (A: constant speed control mode; B: vehicle-to-vehicle distance control mode), the... driver 1) Warning message is displayed on the multi-information display 2) Master warning light illuminates 3) Buzzer sounds 4) Cruise MAIN indicator light flashes Mode Description of Malfunction Warning B 1) — 2) — 3) — 4) — If any of the conditions listed below occur, the engine ECU cancels the cruise control D The vehicle speed drops more than 16 km/h (10 mph) below the vehicle setting speed 1) —... by regulating the throttle control in order to attain the set vehicle speed Millimeter Wave Rader Sensor Operation Signal CAN (CAN No .1 Bus) Engine ECU Distance Control ECU CAN (CAN No.2 Bus) CAN Gateway ECU Throttle Control Motor 01YBE120P Own Vehicle 274LS02 BE-2 41 BODY ELECTRICAL – CRUISE CONTROL SYSTEM Deceleration Control D The distance control ECU calculates the target deceleration rate in accordance... vehicle Vehicle Ahead Distance Control ECU Millimeter Wave Rader Sensor Operation Signal CAN (CAN No.2 Bus) CAN (CAN No .1 Bus) CAN Gateway ECU Engine ECU Throttle Control Motor Own Vehicle Skid Control ECU Stop Light Control Relay Brake Actuator Stop Light Vehicle Behind 01YBE121P 274LS04 BE BE-242 BODY ELECTRICAL – CRUISE CONTROL SYSTEM D If further deceleration is necessary after the stop light is illuminated,... No .1 Bus) CAN Gateway ECU Engine ECU Throttle Control Motor Own Vehicle Skid Control ECU Stop Light Control Relay Vehicle Behind VSC Warning Buzzer Brake Actuator Stop Light 274LS05 01YBE122P Follow-up Control D After effecting deceleration control, distance control ECU transmits a request signal to the engine ECU so that the vehicle can follow the vehicle ahead while maintaining the proper vehicle-to-vehicle . 5)6)7)8), 9), 10 ), 15 ) 13 ) 14 )10 ), 11 ), 12 )14 ), 16 )8)9 )11 )15 ), 16 )5), 12 )17 )BE-2262. System Diagram BEBODY ELECTRICAL – CRUISE CONTROL SYSTEMBE-227No. Transmit. SYSTEM02KBE192TE 015 0BE35C02KBE181TE02KBE182TE02KBE184TE02KBE185TE02KBE186TE02KBE187TE02KBE188TE02KBE189TE02KBE190TELongMiddleShortLongMiddleShortBE- 236 Combination