CHECK LIST (PRE-COLLISION BRAKE/Autonomous Emergency Steering)

Item name			Yes/No
1	Check that the current status applies to the condition that the pre-collision brake does not operate, or there is a high possibility that the vehicle cannot stop safely before collision in spite of pre-collision brake operation.
	1	Conditions such as the followings occurred: 1) Vehicle speed difference with the preceding vehicle is small. 2) Distance from the preceding vehicle is long. 3) Lateral deviation (offset amount) is large.	Yes	No
	2	The vehicle status (loading amount, number of passenger, etc.) was inappropriate.	Yes	No
	3	The road surface was very steep, slippery, sharp turn, or uneven.	Yes	No
	4	There was problem for the frontal visibility. (Rain, snow, fog, smoke, etc.)	Yes	No
	5	The objects were livestock, animals, guardrail, telephone pole, tree, fence, wall, etc.	Yes	No
	6	The object was motorcycle, bicycle, or pedestrian. However, the system could not recognize the object due to surrounding brightness, motion, posture, and/or angle.	Yes	No
	7	Crash avoidance operation (accelerator pedal, brake pedal, steering wheel, etc.) was performed.	Yes	No
	8	It was when the own vehicle turned, accelerated or decelerated, or it was immediately after the own vehicle changed the lane.	Yes	No
	9	While driving on a steep slope or a steep slope with a series of uphills and downhills	Yes	No
	10	The service maintenance condition of the vehicle (brake system, tire wear, tire pressure, spare tire, etc.) was inappropriate.	Yes	No
	11	The vehicle is towing the trailer or other vehicle.	Yes	No
	12	The brake was cold at low ambient temperature or immediately after the driving had started.	Yes	No
	13	The brake force becomes poor due to the overheating of the brake on the downhills.	Yes	No
	14	The brake force becomes poor because of the wet brake after driving onto the puddle or washing the vehicle.	Yes	No
2	Check that the current status applies to the condition that there is a high possibility that the pre-collision brake does not operate due to the recognition status of the stereo camera or the wide angle mono camera.
	1	It was bad weather (heavy rain, snowstorm, dense fog, etc.).	Yes	No
	2	The field of view was insufficient due to water, snow or sandy dust raised by the preceding vehicle or oncoming vehicle, or the moisture, sand or smoke blown in the wind.	Yes	No
	3	The headlight did not illuminate during nighttime hours or inside the tunnel.	Yes	No
	4	The tail light of the preceding vehicle did not illuminate during nighttime hours or inside the tunnel.	Yes	No
	5	The vehicle approached the motorcycle, bicycle or pedestrian in the night.	Yes	No
	6	It was dark in the evening or in the morning.	Yes	No
	7	The rearmost surface of the preceding vehicle was small, low or uneven. That was a truck equipped with an unloaded platform without gate, a vehicle that the luggage was protruding from the rear end of the vehicle, a vehicle of special shape (carrier car, side car, etc.) or a vehicle with low vehicle height.	Yes	No
	8	There was a wall in front of the stopping vehicle.	Yes	No
	9	There was an object close to the vehicle. Or, it was when other objects approached.	Yes	No
	10	That was a vehicle stopped sideways.	Yes	No
	11	That was a vehicle which was oncoming or driving in reverse.	Yes	No
	12	The object was small seen from the stereo camera. (Small animals, infants, person squatting down or lying down)	Yes	No
	13	The preceding vehicle made a sharp turn, or performed abrupt acceleration or deceleration.	Yes	No
	14	Other vehicle, motorcycle, bicycle or pedestrian existed extremely close to the bumper of the own vehicle.	Yes	No
	15	The speed difference was 5 km/h (3.1 MPH) or less. (The control is performed in close distance. Depending on the objects shape and size, the top surface may be outside the camera visibility area.)	Yes	No
	16	Other vehicle, motorcycle, bicycle or pedestrian cut in from the side or jumped in front of the own vehicle.	Yes	No
	17	The own vehicle changed the vehicle lane, and followed the preceding vehicle right behind.	Yes	No
	18	The vehicle was exposed to the intense light (backlight such as sunlight or headlight high-beam light) from the front of the vehicle.	Yes	No
	19	The windshield glass was covered with fog, snow, dirt, frost or sandy dust.	Yes	No
	20	The windshield glass has not yet been wiped off sufficiently during or after the use of the window washer.	Yes	No
	21	The recognition of the object was imperfect due to the raindrop or droplet of the window washer or the wiper blade blocking the visibility of the stereo camera or wide angle mono camera.	Yes	No
	22	Canoes etc. loaded on the roof blocked the visibility of the stereo camera or wide angle mono camera.	Yes	No
	23	Other vehicle, motorcycle, bicycle or pedestrian existed out of the illuminating area of the headlight.	Yes	No
	24	The vehicle drove on the sharp turn, steep uphills or steep downhills.	Yes	No
	25	The road surface was uneven due to roll or unpaved track.	Yes	No
	26	The vehicle passed through the outlet or inlet of a tunnel.	Yes	No
	27	The object was fence or wall.	Yes	No
	28	The object was a plate of glass, mirror wall or door.	Yes	No
	29	There was an oncoming vehicle when the own vehicle made a right/left turn. However, the own vehicle had already entered the course of the oncoming vehicle.	Yes	No
	30	There was an oncoming vehicle when the own vehicle made a right/left turn. However, the own vehicle did not turn on the turn signal indicator for the same direction as the travel direction.	Yes	No
	31	There was an oncoming vehicle when the own vehicle made a right/left turn. However, the oncoming vehicle was driving near obstacles on the side of the road.	Yes	No
	32	There was an oncoming vehicle when the own vehicle made a right/left turn. However, the oncoming vehicle was directly in front of the own vehicle.	Yes	No
	33	The own vehicle made a sharp turn and back.	Yes	No
3	In addition to the items above, check that the current status applies to the condition that there is a high possibility that Autonomous Emergency Steering does not operate depending on the recognition status of the stereo camera or Blind Spot Detection/Rear Cross Traffic Alert.
	1	Other vehicle, motorcycle, bicycle or pedestrian was moving to lateral direction.	Yes	No
	2	The driving lane of the own vehicle is difficult to be recognized from the stereo camera. (The lane division line (white line, etc.) does not exist or is almost disappearing. Or the color of the lane division line is similar to that of the road surface, which is difficult to be recognized. Or the lane division line is narrow, etc.)	Yes	No
	3	The vehicle approached close from front of the next lanes.	Yes	No
	4	There was no space for avoidance within the own traffic lane.	Yes	No
	5	The rear bumper vicinity was dirty or covered with ice, snow, mud, etc. (The vehicle cannot correctly emit the headlight beam against the object to recognize it.)	Yes	No
	6	The rear bumper had scratches, dents, or displacement.	Yes	No
	7	own and surrounding vehicles were driving a wet road, such as snowy road and water puddles, and raising water and snow on the road.	Yes	No
4	Check that the current status applies to the condition that the system does not operate correctly and the turning OFF of the pre-collision brake is desired.
	1	Tire pressure is not correct.	Yes	No
	2	The vehicle is equipped with the temporary spare tire.	Yes	No
	3	The vehicle is equipped with worn tire or tires with excessive wear difference.	Yes	No
	4	The vehicle is equipped with the tires out of specification.	Yes	No
	5	The suspension has been modified.	Yes	No
	6	The vehicle is equipped with the tire chain.	Yes	No
	7	Headlight is dirty or the optical axis is deviated. (The vehicle cannot correctly emit the headlight beam against the object and recognize it.)	Yes	No
	8	The driving status of own vehicle is unstable due to an accident or failure.	Yes	No
	9	The brake warning light illuminates.	Yes	No
	10	Vehicle is tilted by the heavy load. Or, passenger capacity is exceeded.	Yes	No
5	Check that the current status applies to the condition that the pre-collision brake OFF indicator light, the wide angle mono camera OFF indicator light, and the wide angle mono camera malfunction indicator light illuminate. (When the pre-collision brake OFF indicator light, the wide angle mono camera OFF indicator light, or the wide angle mono camera malfunction indicator light illuminates, the pre-collision brake/Autonomous Emergency Steering does not operate.)
	1	The pre-collision brake is set to OFF on the "Pre-collision brake ON/OFF" setting screen of the center information display.	Yes	No
	2	Approximately for 10 seconds after the engine has started.	Yes	No
	3	EyeSight is malfunctioning.	Yes	No
	4	EyeSight is stopped temporarily.	Yes	No
	5	TRC and VDC are stopped.	Yes	No
	6	Wide angle mono camera is malfunctioning.	Yes	No
	7	Wide angle mono camera is stopped temporarily.	Yes	No
6	Check that the current status applies to the condition that Autonomous Emergency Steering OFF indicator illuminates. (When Autonomous Emergency Steering OFF indicator illuminates, Autonomous Emergency Steering does not operate.)
	1	Blind Spot Detection/Rear Cross Traffic Alert has a failure.	Yes	No
	2	Blind Spot Detection/Rear Cross Traffic Alert is stopped temporarily.	Yes	No
7	Check that the current status applies to the condition that turning OFF of the pre-collision brake is desired.
	1	The vehicle is towed.	Yes	No
	2	The vehicle is loaded on the carrier car.	Yes	No
	3	The chassis dynamometer or free roller is used.	Yes	No
	4	The vehicle is lifted up, engine is started and the tire is spun.	Yes	No
	5	The vehicle passes through the banners, flags, drooping branches or grass while making contact with them.	Yes	No
	6	The vehicle performs sporty driving on the circuit.	Yes	No
	7	When the vehicle uses the movable type car wash machine.	Yes	No
	8	When the rear bumper is deformed or damaged.	Yes	No
8	Check that the current status applies to the condition that the pre-collision brake may operate due to the recognition status of the stereo camera or the wide angle mono camera.
	1	The vehicle passes through the ETC gate at a speed exceeding the specification.	Yes	No
	2	The vehicle drives close to the preceding vehicle.	Yes	No
	3	The vehicle drives on the place where the road surface gradient changed suddenly.	Yes	No
	4	The vehicle passes through the moisture or mass of smoke.	Yes	No
	5	When the exhaust gas emitted from the preceding vehicle is visible clearly at cold weather.	Yes	No
	6	There is an obstacle on the curve or crossing.	Yes	No
	7	The vehicle passes through close to other vehicles or obstacles such as pedestrians, bicycles, motor cycles, plants and trees.	Yes	No
	8	The vehicle parks close to the wall in front or to other vehicle.	Yes	No
	9	The vehicle passes through watering such as snow melting pipes and automobile sprinklers.	Yes	No
	10	There is an oncoming vehicle decelerating to stop immediately before the own vehicle makes a right/left turn.	Yes	No
	11	There is an oncoming vehicle passing through immediately before the own vehicle makes a right/left turn.	Yes	No
	12	There is an oncoming vehicle making a right/left turn and passing through at the same time as the own vehicle makes a right/left turn.	Yes	No
	13	The own vehicle came close to oncoming vehicles rapidly when changing the lane or avoiding obstacles.	Yes	No
	14	There are pedestrians slowing down to stop immediately before the own vehicle makes a right/left turn.	Yes	No
	15	There are pedestrians crossing near the own vehicle when the own vehicle makes a right/left turn.	Yes	No
9	In addition to the items above, check that the current status applies to the condition that there is a possibility that Autonomous Emergency Steering operates depending on the recognition status of the stereo camera or Blind Spot Detection/Rear Cross Traffic Alert.
	1	When other objects jumped out suddenly from the vehicle rear area that was covered by a target object.	Yes	No
	2	When other objects cut in or jumped out suddenly from the side of the own vehicle.	Yes	No
	3	The own driving lane has no division lines, but is distinguished from next lanes and roadsides by road surface colors.	Yes	No