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• The forward sensing camera (FSC) recognizes light-emitting objects and vehicle lane lines based on the images picked up at the front of the vehicle. The following systems are controlled based on target information from the forward sensing camera (FSC).
― Mazda radar cruise control (MRCC) system
― Smart brake support (SBS) system
― Distance & speed alert (DSA) system
― Traffic Jam Assist (TJA) system
― Lane-keep assist system
― Lane departure warning system (LDWS)
― Traffic sign recognition system (TSR)
― Driver attention alert system
― Driver monitoring (DM)
― High beam control (HBC)


• In the following cases, the Forward Sensing Camera (FSC) may not be able to detect target objects correctly.
― Under bad weather condition, such as rain, fog and snow.
― The window washer is being used or the windshield wipers are not used when it’s raining.
― Ice, fog, snow, frost, rainfall, dirt, or foreign matter such as a plastic bag is stuck on the windshield.
― Trucks with low loading platforms and vehicles with an extremely low or high profile.
― When driving next to walls with no patterning (including fences and longitudinally striped walls).
― The taillights of the vehicle ahead are turned off.
― A vehicle is outside the illumination range of the headlights.
― The vehicle is making a sharp turn, or ascending or descending a steep slope.
― Entering or exiting a tunnel.
― Heavy luggage is loaded causing the vehicle to tilt.
― Strong light is shone at the front of the vehicle (back light or high-beam light from on-coming vehicles).
― There are many light emitters on the vehicle ahead.
― When the vehicle ahead is not equipped with taillights or the taillights are turned off at nighttime.
― Elongated luggage or cargo is loaded onto installed roof rails and covers the Forward Sensing Camera (FSC).
― Exhaust gas from the vehicle in front, sand, snow, and water vapor rising from manholes and grating, and water splashed into the air.
― When towing a malfunctioning vehicle.

Light-emitting object (on-coming vehicle, vehicle ahead, street lights) recognition function

• Analyzes the light-emitting object picked up by the camera, and recognizes it as an on-coming vehicle, vehicle ahead, or street lights (traveling on town/city streets).
On-coming vehicle recognition function
• The forward sensing camera (FSC) recognizes a light-emitting object which meets any of the following conditions and is at least within 600 m {1,968 ft 6 in} from the monitoring vehicle as an on-coming vehicle.
― Light-emitting object approaches having brightness of specified value or more
― Light-emitting object approaches having white color and certain level of brightness or more (if it approaches and brightness changes, determination made at point of image capture)

• If the on-coming vehicle and the surrounding conditions are as follows, the forward sensing camera (FSC) may require time until it recognizes an on-coming vehicle.
― Poor visibility due to rain and fog
― On-coming vehicle is travelling with only TNS or fog lights
― Brightness of light source is low, such as a bicycle
Vehicle ahead recognition function
• The forward sensing camera (FSC) recognizes a light-emitting object which meets any of the following conditions and is at least within 500 m {1,640 ft 5 in} from the monitoring vehicle as a vehicle ahead.
― Red light emitted from light-emitting object is detected
― Determines that there is a pair of light-emitting objects

• If visibility is poor, the system could recognize reflecting objects on the road surface or a guard rail as a vehicle ahead.
• If visibility is poor due to rain or fog, the system may not recognize a vehicle ahead even though one may exist.
Town/city streets recognition function
• In the following cases, the forward sensing camera recognizes that the vehicle is traveling on town/city streets.
― Several light-emitting objects of certain height or more from road surface along same line are detected
― Camera image gray color is certain level or more

• Even during travel other than on town/city streets at night, if the road surface is bright from moonlight, the system may recognize that the vehicle is traveling on town/city streets.

Vehicle lane lines and travel lane recognition function

• The forward sensing camera (FSC) recognizes lineal objects which are white/yellow and paler than the surrounding color as vehicle lane lines by the contrast (color density) of the camera image.
• If the vehicle lane lines are continuous they are recognized as actual lines and if discontinuous they are recognized as broken lines.
• The travel lanes recognized from the vehicle lane lines on the left and right of the vehicle are used to calculate the width.
• Traveling in a straight line or cornering is determined by the status of the vehicle lane lines.


Pedestrian and traffic sign recognition function

• The forward sensing camera (FSC) recognizes pedestrians and traffic signs based on the camera image.


Aiming correction function

• The forward sensing camera (FSC) adjusts the camera shot angle by aiming, and stores the vanishing point *1. The stored vanishing point and the current vanishing point are compared and if there is a deviation of a certain value or more in the vanishing point, the current vanishing point is stored as the new vanishing point.
*1 :The vehicle lane lines on the road surface are parallel and do not intersect, however, when viewed by the camera image, the lines converge in the distance and eventually cross. The point at which the lines cross is called the vanishing point.

On-board diagnostic function

• The forward sensing camera (FSC) detects internal malfunctions and outputs DTCs. Regarding dirt and fogging of the camera lens and windshield glass and FSC communication errors, the body control module (BCM) outputs DTCs based on the signal from FSC.


• The forward sensing camera (FSC) is positioned on the windshield.
• By integrating a small, color CMOS camera *1 with the control module, lightness and size reduction have been achieved.
• The forward sensing camera (FSC) communicates with other modules via CAN.
*1 :Camera equipped with high sensitivity CMOS (Complementary Metal-Oxide Semiconductor) image sensor


Camera range

• The forward sensing camera (FSC) shoots in the following range.
• Depending on the surrounding conditions (ascending roads, winding roads, walls), the forward sensing camera (FSC) may be unable to pickup an object in front of the vehicle within the camera range and not recognize it as a controlled target object.

Position calculation

• When an object appears on the screen, the forward sensing camera (FSC) determines the position coordinates and calculates the direction and distance to the object.