System Description

SYSTEM DIAGRAM

Part name	Description
Sonar control unit	Sonar Control Unit
Each sensor	Sonar Sensor
Combination meter	Receiving a sonar indicator signal and parking sensor error signal via CAN communication. Transmits system setting signal to the sonar control unit via CAN communication.
TCM	Transmits shift position signal to the sonar control unit via CAN communication.
ABS actuator and electric unit (control unit)	Transmits the vehicle speed signal to the sonar control unit via CAN communication.
Multi-around monitor control unit	Receiving a sonar indicator signal via CAN communication.

Sonar Control Unit Input Signal (CAN Communication)

Transmit unit	Signal name
Combination meter	System setting signal
ABS actuator and electric unit (control unit)	Vehicle speed signal
TCM	Shift position signal

Sonar Control Unit Output Signal (CAN Communication)

Transmit unit	Signal name
Combination meter	Sonar indicator signal Parking sensor error signal Buzzer output signal
Multi-around monitor control unit^*	Sonar indicator signal

*: With multi-around monitor

DESCRIPTION

The sonar sensor installed to the front bumper and the rear bumper detects obstacles around the bumper.
The sonar control unit changes the buzzer cycle and the warning of the sonar indicator (combination meter and multi-around monitor control unit), according to a distance from an obstacle detected by the sonar sensor.
The sonar control unit controls the buzzer cycle according to a buzzer output signal transmitted to the combination meter and the multi-around monitor control unit via CAN communication.
The sonar control unit controls the sonar indicator according to a sonar indicator display signal transmitted to the combination meter and the multi-around monitor control unit via CAN communication.

SONAR SYSTEM ACTIVATION CONDITION

The sonar system warns the driver of the presence or absence of obstacles by buzzer and the sonar indicator when the following conditions are satisfied while the ignition switch is turned ON.

Models without Side Sensor

×: Activation

Shift position	Vehicle speed (Approx.)	Obstacle detecting sensor	Buzzer	Sonar indicator
R	10 km/h (6.21MPH) or less	Front sensor	×	×
R	10 km/h (6.21MPH) or less	Rear sensor	×	×
D	10 km/h (6.21MPH) or less	Front sensor	×	×
D	10 km/h (6.21MPH) or less	Rear sensor	–	–

Models with Side Sensor

×: Activation

Shift position	Vehicle speed (Approx.)	Obstacle detecting sensor	Buzzer	Sonar indicator
R	10 km/h (6.21MPH) or less	Front sensor	–	×
R	10 km/h (6.21MPH) or less	Rear sensor	×	×
D	10 km/h (6.21MPH) or less	Front sensor	×	×
D	10 km/h (6.21MPH) or less	Rear sensor	–	–

note	The following items can be set for the sonar system on the settings screen of the combination meter. Moving Object: ON/OFF Auto Show Sonar: ON/OFF Front: ON/OFF Rear: ON/OFF Side: ON/OFF Distance Volume

OBSTACLE DETECTION DISTANCE

The sonar control unit changes a buzzer cycle and a sonar indicator indication according to a distance from an obstacle.

Warning Buzzer Frequency

The warning buzzer output frequency changes 4 levels according to the detection distance.
As the vehicle approaches an obstacle, the buzzer-sounding cycle becomes shorter.
The nearest sensor from the detected obstacle applies the buzzer output frequency if plural sensors detect any obstacle simultaneously.

note	Buzzer stops when the vehicle moves away from an obstacle and the warning level decreases.

4 Sensor Models
Obstacle detection range image
A. Approx. 150 cm (59.06 in)
(default value)
B. Approx. 60 cm (23.62 in)
(default value)
8 Sensor Models
Obstacle detection range image
A. Approx. 120 cm (47.24 in)
(default value)
B. Approx. 60 cm (23.62 in)
(default value)
12 Sensor Models
Obstacle detection range image
A. Approx. 150 cm (59.06 in)
(default value)
B. Approx. 60 cm (23.62 in)
(default value)
C. Approx. 60 cm (23.62 in)
(default value)

Detection distance (default value)

Detection distance	Warning buzzer frequency
30 - 35 cm (11.81 - 13.78 in)	10.0 Hz
35 - 50 cm (13.78 - 19.69 in)	9.0 Hz
50 - 70 cm (19.69 - 27.56 in)	6.66 Hz
70 - 90 cm (27.56 - 35.43 in)	5.0 Hz
90 - 120 cm (35.43 - 47.24 in)	4.0 Hz
120 - 150 cm (47.24 - 59.06 in)	3.0 Hz
150 - 180 cm (59.06 - 70.87 in)	2.5 Hz
180 cm or more (70.87 in or more)	2.0 Hz

Detection distance of an obstacle changes, as shown in the table below, when the detection sensitivity is changed on the settings screen of the information display of the combination meter.

Detection distance

Item (detection range)	Corner sensor	Side sensor	Front center sensor	Rear center sensor
FAR	Approx. 66 cm (25.98 in)	Approx. 66 cm (25.98 in)	Approx. 110 cm (43.31 in)	Approx. 165 cm (64.96 in)
NORMAL (default value)	Approx. 60 cm (23.62 in)	Approx. 60 cm (23.62 in)	Approx. 100 cm (39.37 in)	Approx. 150 cm (59.06 in)
NEAR	Approx. 54 cm (21.26 in)	Approx. 54 cm (21.26 in)	Approx. 90 cm (35.43 in)	Approx. 135 cm (53.51 in)

Sonar Indicator

The sonar control unit displays a warning on sonar indicator in three stages (green, yellow, and red), according to a distance from an obstacle.

note	A distance from an obstacle is also displayed on the information display of the combination meter. Sonar indicator is displayed also on Bird-Eye view and front-side view screen of multi-around monitor.

Warning displayed on the sonar indicator and a distance change according to a distance between an obstacle and sensor as shown in the following table.

Status of warning	Detection distance
Status of warning	Corner sensor	Front center sensor	Rear center sensor
Red	0 - 30 cm (0 - 11.81 in)	0 - 30 cm (0 - 11.81 in)	0 - 30 cm (0 - 11.81 in)
Yellow	31 - 50 cm (12.2 - 19.69 in)	31 - 50 cm (12.2 - 19.69 in)	31 - 60 cm (12.2 - 23.62 in)
Green	51 - 60 cm (20.08 - 23.62 in)	51 - 80 cm (20.08 - 31.49 in)	61 - 130 cm (24.02 - 51.18 in)

MAC (Message Authentication Code)

MAC (Message Authentication Code) is a function that prevents unauthorized communication from other than the ECU with MAC function by secure authentication communication. Sonar control unit can write a MAC key required for communication between the ECUs and perform MAC diagnosis.