Driving Support System Description

Monocular Camera Driver Support System

The multipurpose camera unit analyzes the image information of a monocular camera with a wide field of view and advanced image recognition technology, and recognizes the object (lane lines, road boundary, vehicle, pedestrian, bicycle) to the object measure distance and direction.

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

Roles of Each Function

The monocular camera driver support system has four main categories of functions: safety support, driving support, lighting control, and notification. When the monocular camera driver support system detects a hazard, an alarm and/or warning notification is triggered. The system provides safety 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 1, LKAS 1ACC with LSF 2, LKAS with Traffic Jam Assist 2	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

*1: M/T *2: CVT

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 Multipurpose Camera

Camera image processing recognizes lane lines, road boundaries, vehicles (front vehicles, oncoming vehicles), pedestrians, and bicycles, and measures the distance and lateral position to the target.

Operation Conditions

Item	Leading Vehicle	Oncoming Vehicle	Pedestrian, Bicycle
Target Detection Range	0.5 - 185 m (1.6 - 607 ft)*	1 - 185 m (3.3 - 607 ft)*	1 - 75 m (3.3 - 246 ft)*

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

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 targets that are moving based on the outlines of the targets, relative position and speed of the targets. In order to distinguish between leading vehicles and pedestrians, the system uses the recognition result received from 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.
When the multipurpose camera unit detects a pedestrian or target-like object, the system recognizes the candidate for control by comparing it with a humanoid pattern.

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 the multipurpose camera image is covered (foggy/dirty windshield, backlight, dusk, frozen, heavy fog, heavy rain, heavy snow, etc.).	ACC, LKAS, CMBS and RDM 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.
System Temporary Stop	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).	ACC, LKAS, CMBS and RDM 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	Multipurpose camera unit failure, communication failure between the multipurpose camera unit 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.

Dynamic Camera Aiming

The vehicle is equipped with dynamic aiming, which can complete the multipurpose camera aiming process just by driving the vehicle around, and without the need for special tools. Dynamic camera aiming calculates and adjusts the aiming correction value based on the flow of the background of the multipurpose camera image information while driving the vehicle. When dynamic camera aiming is performed, make sure to drive safely at a constant speed with reference to the recommended environment. When dynamic camera aiming is performed, static camera aiming is not required.

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

Camera Heater

The camera heater is located on the windshield near the multipurpose camera. The camera heater heats the area around the multipurpose camera to warm the windshield. This helps prevent fogging of the windshield, facilitates the removal of icing, and provides a clear view for the multipurpose camera.