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Function Sequence For ICC

The description of the ICC function takes place, as an example, in the following chronological sequence:

Automated Stop Vehicle

Activate ICC And Drive Off Automatically 

The following options are available for activating ICC:

The vehicle moves off and adapts its speed to the maximum speed of the vehicle immediately ahead up to the selected target speed. If there is no vehicle immediately ahead, the ICC functions like the cruise control.

NOTE: For vehicles at a standstill a specified distance limit exists beyond which a stationary vehicle is no longer displayed.

Technical implementation

The ICC sensor receives or sends the following information or requests for this: Input factors:

Initial parameters:

Automatic Distance Control 

The automatic distance control can only be activated while driving [(less than 20 km/h (12.4 MPH)] if a vehicle driving immediately ahead was detected. If the vehicle driving immediately ahead brakes or accelerates, the ICC can initiate the following measures for deceleration or acceleration of the vehicle:

The driver must press on the brake pedal when he sees that the instigated measures are not adequate to avoid any possible collision. If the vehicle driving immediately ahead accelerates again, the engine torque is increased and the vehicle also accelerates. The increase in engine torque is dependent on the ascent or the descent involved, among other things.

The driver furthermore has the option of operating the accelerator pedal to accelerate the vehicle (e.g. when overtaking). The multifunction display shows the message "ICC passive". If the automatic distance control requires a higher acceleration than the driver prescribes, the driver request is overlaid by the request for automatic distance control and the "ICC passive" message goes off.

NOTE: The automatic distance control is also active if the acceleration request from the driver is lower than the automatic distance control request.
NOTE: If the vehicle driving in front leaves the detection range of the ICC sensor, the automatic distance control is deactivated at less than 20 km/h (12.4 MPH).

Technical implementation

The ICC sensor receives or sends the following information or requests for this:

Input factors:

Initial parameters:

Change Of Driving Lane (Overtaking) 

For overtaking above a speed of 60 km/h (37.2 MPH) the vehicle is also accelerated automatically. To do this the driver must initiate the overtaking maneuver by setting the turn signal. Where the automatic distance control is activated, the ICC sensor recognizes the intention of the driver to overtake and accelerates the vehicle while taking account of the distance to the vehicle driving in front.

When approaching a slowly moving vehicle and therefore an active automatic intervention by the brake system, this is then canceled insofar as the driver initiates the overtaking procedure by operating the turn signal. If required, the vehicle is additionally accelerated.

After the overtaking maneuver the vehicle accelerates to the set speed (automatic speed control), insofar as no other vehicle driving in front was detected as a target object. If a vehicle driving immediately ahead is subsequently detected as a target object the automatic speed control function changes over again into the automatic distance control function.

The overtaking maneuver is broken off in the following situations:

Technical implementation

The ICC sensor receives or sends the following information or requests for this: Input factors:

Input factors:

Initial parameters:

Automatic Speed Control 

If the vehicle is in active distance control and the vehicle driving immediately ahead accelerates above 200 km/h (124.3 MPH) or removes itself from the detection area of the ICC sensor, the automatic distance control switches over into the automatic speed control.

Technical implementation

The ICC sensor receives or sends the following information or requests for this:

Input factors:

Initial parameters:

Going Back Into A Lane/person In The Front Regulation 

If the vehicle driving immediately ahead turns off and there is another vehicle in front, the system only switches over to the new target vehicle if it is moving. The system does not operate for stationary objects unless a preceding vehicle is tracked to a standstill. If while driving a vehicle turns in front within the safe distance to the vehicle driving immediately ahead, the distance to this new vehicle is regulated. If the vehicle is in automatic speed control and a vehicle tuns onto the lane driven in this vehicle is registered as the vehicle driving immediately ahead. If the distance to the moving in vehicle is below the value which was programmed, the ICC function brakes the vehicle. If the requested brake power is not sufficient, a visual and an acoustic warning is issued, and the driver has to press the brake pedal.

ICC is thereby deactivated. This process is signaled to the driver through output of a message "ICC OFF" in the multifunction display of the combination meter. The driver can subsequently reactivate the ICC.

Technical implementation

The ICC sensor receives or sends the following information or requests for this:

Input factors:

Initial parameters:

Distance Warning 

ICC warns the driver visually and acoustically in a vehicle speed range of 7 to 250 km/h (4.3 to 155.4 MPH) or the vehicle's maximum speed against driving obstacles on his/her lane. ICC differentiates here a collision-critical distance warning.

Collision critical distance warning:

Output of the collision-critical distance warning takes place optically and acoustically.

If an obstacle within the detection range of the ICC sensor is classified as accident-critical (a collision will occur within 2.6 s), the ICC sensor sends the request to output the warning via the CAN communication, electronic ignition lock control unit and CAN communication to the combination meter, which then activates the FEB warning lamp and directly actuates the warning buzzer.

Take-back of the warning only occurs if the situation has been defused.

Warning is only given about stationary obstacles in a vehicle speed range of 7 to about 70 km/h (4.3 to about 43.5 MPH).

Fig 1: Optical Warning Messages In Combination Meter
GNSJSOIA2303Z-303Courtesy of NISSAN NORTH AMERICA, INC.

SYMBOL

: Approach warning indicator

SYMBOL

: FEB warning lamp

This is shown inversely on the multifunction display, i.e. the distance warning readiness indicator (J) is hidden when the distance warning function is active. If the distance warning function is deactivated, the distance warning readiness indicator and the "OFF" lettering are shown.

NOTE: The distance warning is basically active for an active ICC. If ICC is deactivated, FEB, which also contains a distance warning system, can be separately activated in the "Emergency braking" menu on the combination meter.
NOTE: The readiness of the approach warning is displayed differently dependent on the installed combination meter. For a multifunction display with a black-white display the warning readiness indicator is faded in as soon as the approach warning is activated. If the approach warning is deactivated, the warning readiness indicator goes out.

For a multifunction display with a color indicator the display is inverse, that is the warning readiness indicator is faded out for an active approach warning. If the distance warning function is deactivated, the distance warning readiness indicator and also the "OFF" lettering is shown.

Adaptive Brake Assistant 

If the driver reacts in a critical situation with emergency braking, he is supported by the Adaptive BAS. The ICC sensor calculates the necessary brake force amplification in order to avoid any collision or at least to mitigate its consequences. The adaptive Brake Assist System assists the driver in carrying out hazard braking relating to vehicles driving immediately ahead within a vehicle speed range of 7 to 250 km/h (4.3 to 155.4 MPH) and in a vehicle speed range of 7 to about 70 km/h (4.3 to about 43.5 MPH) for stationary obstacles.

NOTE: The hazard braking is defined over the actuation speed and the actuation strength with which the brake pedal is actuated.

The ICC sensor takes the current distance and the closing speed to the obstacle into account to permanently calculate the required brake force. If there is no actuation or the intensity of actuation of the brake pedal by the driver considerably decreases, the brake boost on the driver braking is reduced and the Adaptive Brake Assist System is also deactivated. The Brake Assist System will also be deactivated if the driver presses the accelerator pedal.

Additional Function Requirements For Autonomous Partial Braking 

Autonomous Partial Braking 

If the driver fails to react in an accident-critical situation to the warning, the ICC sensor initiates autonomous partial braking and reduction in engine torque. The ICC sensor calculates the braking torque required (maximum deceleration approx. 6 m/s) taking the following variables into account:

The ICC sensor transmits the respective request to increase the braking torque and for engine torque reduction via CAN communication to the electronic stability program control unit. The electronic stability program control unit evaluates the incoming requests, actuates the traction system hydraulic unit directly, and sends the request to reduce engine torque via CAN communication to the ECM.

If the driver then reacts to the autonomous partial braking and brakes, the Adaptive Brake Assist System provides support for the best possible utilization of the braking distance to the obstacle.

Automated Stop Vehicle 

For an active ICC the vehicle will follow the vehicle driving immediately ahead to standstill. The deceleration here is due to the service brake. The service brake also secures a stationary vehicle against rolling away.

After a defined time period the electric parking brake is also activated (standstill coordinator safety strategy).

NOTE: Securing the vehicle using the ICC function (standstill coordinator) does not replace securing the vehicle for parking.

Technical implementation

The ICC sensor receives or sends the following information or requests for this:

Input factors:

Initial parameters:

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