Driving Support System Description

Integrated Driver Support System

This vehicle is equipped with the Integrated Driver Support System, which analyzes information from the monocular camera (multipurpose camera) and millimeter wave radar in a comprehensive manner to recognize an object.

Courtesy of HONDA, U.S.A., INC.

Roles of Each Function

The Integrated Driver Support System has four main categories of functions: Safety Support, Driving Support, Lighting control, and Notification. When the Integrated Driver Support System detects a hazard, an alarm and/or warning notification is triggered. The system provides safety support functions that perform hazard evasion assistance if the driver does not (or cannot) respond to the warning notification or alarm. The system also provides driving support, lighting control, and notification functions controlling the vehicle behavior according to the road conditions to assist the driver.

Safety Support Functions	Driving Support Functions	Lighting Control Function	Notification Function
CMBS, Road Departure Mitigation	ACC with LSF, LKAS	Auto High-Beam	Traffic Sign Recognition System
The driver can turn on and off these functions using the switch	The function is selectable by the driver	The function is ON by turning the combination light switch to the AUTO position	The function is basically ON all the time

Operational priority of each function

Operation priority of each function is set among systems. The CMBS gets activated when a risk of collision becomes greater while the ACC control is in operation. Once the CMBS becomes active, the ACC will be cancelled. When the RDM System is activated, its operation has higher priority than LKAS. Between CMBS and RDM System, the brake control of the CMBS has higher priority.

Operation of the Millimeter Wave Radar

The millimeter wave radar uses millimeter wave bands to detect vehicles and pedestrians (leading and opposing vehicles and pedestrian) in front of the vehicle. The radar also calculates the relative speed of the objects and the distance between the objects and the vehicle by transmitting and receiving the millimeter waves.

Operation Conditions

Item	Leading Vehicle
Target Detection Range	0.5 - 120 m (1.6 - 394 ft)

*: The target detection range may change depending on the surrounding environment.

Millimeter waves are emitted within an angle range of 40 degrees in the vertical direction and an angle of 90 degrees in the horizontal direction.

Courtesy of HONDA, U.S.A., INC.

Vehicle/Object Detection Process

The multipurpose camera unit determines if there is any leading vehicle and/or detected objects that are moving based on the outlines of the objects, relative position and speed of the objects. In order to distinguish between leading vehicles and pedestrians, the system uses the recognition result received from both the millimeter wave radar and the multipurpose camera as follows.
The lane lines are recognized by managing the width, length, continuity of the line from the image captured by the multipurpose camera.
The road sign is recognized by comparing the image captured by the multipurpose camera with the sign information registered in the system.

Courtesy of HONDA, U.S.A., INC.

Pedestrian Image Processing

When the system detects an object that could be a pedestrian, the system compares the object's characteristics against programmed characteristics for the system to determine if the object is likely a pedestrian or a different object.

Courtesy of HONDA, U.S.A., INC.

Function Failure Indication

System Temporary Stop	The system detects that the electric wave of the millimeter wave radar is blocked (such as dirt attached on the radar surface/radar cover).	ACC, CMBS, and RDM stop functioning, and stores DTC, and a fault indication is triggered on the MID. After the dirt has been removed, the system recovers and the indicators turn off.	MID Courtesy of HONDA, U.S.A., INC.
	The system detects the multipurpose camera image is covered (foggy/dirty windshield, backlight, dusk, frozen, heavy fog, dusk, heavy rain, heavy snow, etc.).	LKAS, CMBS, RDM and TSR stop functioning, and stores the DTC, and a fault indication is triggered on the MID. After the obstruction has been removed or weather conditions are restored, the function is enabled and the warning indicator and messages are turned off.	MID Courtesy of HONDA, U.S.A., INC.
	The temperature in the multipurpose camera unit reaches the upper limit of the operating temperature because of a temperature increase in the vehicle interior (temperature rise caused by sunlight).	LKAS, CMBS, RDM and TSR stop functioning, and stores the DTC, and a fault indication is triggered on the MID. When the temperature on the inside drops, the system recovers and the indicators turn off.	MID Courtesy of HONDA, U.S.A., INC.

System Failure	Millimeter wave radar or multipurpose camera unit failure, communication failure between the millimeter wave radar and multipurpose camera unit, or communication failure between the millimeter wave radar and another unit	Stop of all functions, system indicator and brake system indicator (amber) comes on, and fault indication appears on the MID.	Function	System Indicator (on the MID)
			ACC	Courtesy of HONDA, U.S.A., INC.
			CMBS	Courtesy of HONDA, U.S.A., INC.
			LKAS	Courtesy of HONDA, U.S.A., INC.
			RDM	Courtesy of HONDA, U.S.A., INC.
			Auto High-Beam	Courtesy of HONDA, U.S.A., INC.