Page 1 Technician Reference Booklet Vehicle Dynamics and Driver Assist Systems May 2017 Rev. 1 MSA5P2501C 05L402002I...
Page 3 May 2017. © 2016 Subaru of America, Inc. Printed in USA. All rights reserved. Contents may not be reproduced in whole or in part without prior written permission of publisher. Specifications in this Guide are based on the latest product information available at the time of publication.
Page 4: Table Of Contents
Vehicle Dynamics and Driver Assist Systems Table of Contents Brake Vacuum Pump Systems ....................9 Mechanical Pump Systems ....................10 Electric Pump Systems (Tribeca) ................... 12 Electric Pump Systems (from 14MY) ................17 Diagnostics ......................22 Electronic Parking Brake Systems (EPB) ................25 Electronic Parking Brake (From 10MY) .................
Page 5 Hill Descent Control (HDC) ................. 98 Brake Override System (BOS) ................100 Diagnostics ........................103 Self-Diagnostics ....................103 Mechanical Diagnostics ..................104 Diagnostics with the Subaru Select Monitor (SSM) ..........105 Service .........................106 Vehicle Dynamics Control (VDC/VSC) Centering Mode ........106 VDCCM Parameter Information ................107 Reading of Parameter ..................107 Writing of Parameter ..................108...
Page 6 High Beam Assist (HBA) .................. 168 Stereo Camera Adjustment and Inspection ............171 Camera Adjustment .................. 171 Camera Inspection ................... 171 Preparations ..................... 171 Subaru Select Monitor Work Support ............175 Camera All Adjustment Mode ................177 Camera Individual Adjustment Mode ............179 May 2017...
Page 7 Temporary Stop ..................220 Sensor Blocked ..................220 System Malfunction .................. 221 Radar Axis Alignment ................223 Point A ...................... 224 Point B ...................... 225 Radar Reflector and Stand ............... 226 Subaru Select Monitor (SSM) Work Support ..........228 May 2017...
Page 8 Vehicle Dynamics and Driver Assist Systems NOTES: May 2017...
Page 9: Brake Vacuum Pump Systems
Vehicle Dynamics and Driver Assist Systems Brake Vacuum Pump Systems During normal braking the intake manifold vacuum creates a reservoir of negative pressure in the power brake booster. A check valve located in the vacuum hose next to the booster traps the negative pressure in the booster.
Page 10: Mechanical Pump Systems
Vehicle Dynamics and Driver Assist Systems Mechanical Pump Systems Beginning with BRZ and then on 2017MY Impreza models, a mechanical vacuum pump was installed on the passenger side cylinder head. The pump is mechanically driven by the RH Intake camshaft when the engine is rotating. The pump assists in overcoming conditions where the engine is cold, ignition timing is significantly delayed, or the altitude is very high.
Page 11 Vehicle Dynamics and Driver Assist Systems The pump receives engine oil lubrication via a hard line located on top of the cylinder head. Brake Vacuum Pump — Lubrication Note: BRZ models recommend an inspection of the Brake Vacuum Pump every 200,000 km (125,000 miles).
Page 12: Electric Pump Systems (Tribeca)
Vehicle Dynamics and Driver Assist Systems Electric Pump Systems (Tribeca) Beginning with the 2006 Tribeca, an electric brake vacuum pump was equipped to supplement engine manifold vacuum during braking in low manifold vacuum conditions. Compared to a conventional brake booster system the brake vacuum pump system contained the following additional components;...
Page 13 Vehicle Dynamics and Driver Assist Systems When servicing the system, always pay close attention to the direction and or markings on the vacuum hoses. Incorrect orientation will cause the system to malfunction and not provide sufficient brake booster assist at the necessary times. To engine Marking (Marking to...
Page 14 Vehicle Dynamics and Driver Assist Systems The Vacuum Pump Relay is controlled by the Engine Control Module (ECM) 1-13 Brake Vacuum Pump Circuit The ECM determines the correct time to energize the brake vacuum pump based on information from the brake vacuum Pressure Sensor. The Pressure Sensor is secured to the bulkhead in the engine compartment.
Page 15 Vehicle Dynamics and Driver Assist Systems Conditions where the manifold vacuum is more positive and the vacuum in the brake booster has been depleted can be divided into two situations. The first situation is created as the vehicle is moving slowly and the brake has been applied and released several times in a short time period.
Page 16 Vehicle Dynamics and Driver Assist Systems The second situation occurs only above vehicle speeds greater than 49 m.p.h. (80 km/h). A difference of 355 to 365 mmHg or less between atmospheric pressure and brake booster pressure activates the vacuum pump (for example 413 mmHg booster pressure and 758 mmHg atmospheric pressure).
Page 17: Electric Pump Systems (From 14My)
Vehicle Dynamics and Driver Assist Systems Electric Pump Systems (from 14MY) Beginning with the 2014 Forester XT, a new brake vacuum pump system was adopted to compliment the Subaru Direct Injection system. 1-18 DIT Vacuum Pump System The vacuum pump is connected to the brake booster by a hose that is connected in parallel with the hose from the intake manifold.
Page 18 Vehicle Dynamics and Driver Assist Systems Pressure Sensor(s) mounted in the brake booster communicate the brake booster pressure to the engine control module. Note: The sensor(s) are not serviceable; replace the booster for a failed sensor. 1-20 Pressure Sensor CAUTION: DO NOT REMOVE THE VACUUM SENSOR. IF REMOVED, REPLACE THE VACUUM BOOSTER ASSEMBLY WITH A NEW PART.
Page 19 Vehicle Dynamics and Driver Assist Systems The following conditions must be met before the vacuum pump will operate: 1. The engine is running 2. The brake pedal is depressed 3. The vehicle is in a gear range other than park or neutral 4.
Page 20 Vehicle Dynamics and Driver Assist Systems The brake booster pressure will increase as the brake pedal is depressed to activate the start circuit (KAC vehicles). If the brake pedal is held stationary the pressure will remain constant. Continued movement of the brake pedal, up or down, will increase the brake booster pressure. 1-23 Brake Pedal Depressed, Engine OFF During this condition the ignition timing is retarded to assist with catalytic converter warm up.
Page 21 Vehicle Dynamics and Driver Assist Systems During this condition the manifold absolute pressure is greater than the brake booster pressure. The check valves will be closed to isolate the vacuum pump and brake booster from the intake manifold. 1-25 Vacuum Pump ON Vacuum pump turns off when brake booster pressure is less than 8.2 P.S.I.
Page 22: Diagnostics
Vehicle Dynamics and Driver Assist Systems Diagnostics Work support functions can be utilized to test the function of the brake vacuum pump system. 1-27 System Operation Check Mode The function check sequence will direct you to depress the brake pedal 5 times. The brake booster pressure will be at or near atmospheric pressure after pumping the brake pedal 5 times.
Page 23 Vehicle Dynamics and Driver Assist Systems Pressing OK again will activate the brake vacuum pump. As the pump operates, brake booster pressure should decrease by approximately 6 psi. Note: Actual values may vary depending on altitude and other barometric variable. 1-29 Pump Operation Test May 2017...
Page 24 Vehicle Dynamics and Driver Assist Systems May 2017...
Page 25: Electronic Parking Brake Systems (Epb)
Vehicle Dynamics and Driver Assist Systems Electronic Parking Brake Systems (EPB) Electronic Parking Brake (From 10MY) Equipped on all 10MY to 14MY Legacy and Outback models feature an Electronic Parking Brake (EPB) system. The EPB system provides convenient and consistent application of the parking brake and maximizes center console efficiency.
Page 26: Basic Operation
Vehicle Dynamics and Driver Assist Systems Basic Operation Parking Brake Application There are three methods of applying the Parking Brake: 1. Ignition switch OFF - Briefly depressing the Parking Brake Switch inward will apply the parking brake. The parking brake cannot be released with the ignition switch off (electrically).
Page 27: Hill Holder
Vehicle Dynamics and Driver Assist Systems Hill Holder Hill Holder holds the vehicle stationary when the vehicle is stopped at a 5% or greater incline angle. The input of the G Sensor to the VDC control unit is networked to the EPB control unit and controls when the EPB is activated for Hill Holder operation.
Page 28 Vehicle Dynamics and Driver Assist Systems The G Sensor provides the incline input to the VDCCM and H/U. The gear range signal from the TCM (AT vehicles) or BIU (MT vehicles) is delivered to the EPB actuator / CM via the high speed CAN.
Page 29 Vehicle Dynamics and Driver Assist Systems Operational habits of the EPB and Hill Holder systems can be monitored using the Subaru Select Monitor. Each mode of operation is recorded and counted to measure total usage. SSMIII Normal Sampling Data May 2017...
Page 30: System Construction
Vehicle Dynamics and Driver Assist Systems System Construction The EPB actuator and control module are integrated into a single unit located underneath the vehicle in front of the fuel tank. EPB Control Unit Location Access to service the unit and cables is achieved by removing the protective shielding under the vehicle.
Page 31 Vehicle Dynamics and Driver Assist Systems The EPB actuator consists of the EPB control unit, motor, cables, force sensor and stroke sensor. The cables for the left and right parking brake assemblies thread into each other. When the motor operates the cables are threaded in to activate the parking brake or out to release the parking brake.
Page 32: Electrical Operation
Vehicle Dynamics and Driver Assist Systems Electrical Operation The EPB CM receives driver inputs directly from the console mounted EPB Control and Hill Holder Switches. When commanded, the EPB CM operates the internal DC motor while monitoring the Stroke and Force Sensors. The EPB CM also communicates via the vehicle’s CAN for Engine, Transmission, and VDC related data.
Page 33 Vehicle Dynamics and Driver Assist Systems As the DC motor turns the revolutions are counted by the stroke sensor and calculated into a travel measurement (mm). A sliding force sensor built onto the cable drive mechanism and is combined with amperage detecting circuits in the control unit which determines the tension (N) placed on the parking brake cables.
Page 34: Emergency Release
Vehicle Dynamics and Driver Assist Systems Emergency Release The EPB manual release tool is located at the forward end of the storage compartment. (The screwdriver handle of the tool kit is used with this tool). The manual release is located on the passenger side of the vehicle just in front of the right rear tire.
Page 35: Service
Vehicle Dynamics and Driver Assist Systems Service The EBP features 6 service modes using the Subaru Select Monitor. 1. Parking Brake Removal Mode When removing the rear drum-in-hat brake rotors 2. Force Sensor Calibration Mode After removal, assembly, or adjustments have been performed 3.
Page 36: Force Sensor Calibration Mode
Vehicle Dynamics and Driver Assist Systems Force Sensor Calibration Mode Since the EPB Control Unit uses the Force Sensor data and the Stroke Sensor data to determine how many revolutions are needed to apply or release the parking brake or Hill Holder, The Force Sensor must be calibrated any time the relationship between the brake shoes, rotor/drum, or EPB Actuator is changed.
Page 37: Parameter Initialization Mode
Vehicle Dynamics and Driver Assist Systems Parameter Initialization Mode After replacing the EPB control unit with a new part, the Parameter must be initialized. 2-22 SSMIII Parameter Initialization Mode May 2017...
Page 38: Clutch Sensor Calibration And Engagement Position Setting Modes
Vehicle Dynamics and Driver Assist Systems Clutch Sensor Calibration and Engagement Position Setting Modes After the clutch has been replaced, the relationship of the new clutch engagement point and the release of the Hill Holder must be established. Navigate through the SSMIII and select “Clutch Engagement Position Setting”...
Page 39: Electronic Parking Brake (From 15My)
Caution: There is no manual release for the EPB. Servicing of the rear brake pads requires the use of the Subaru Select Monitor or generic caliper tool. 2-26 2-25...
Page 40: Basic Operation
Vehicle Dynamics and Driver Assist Systems Basic Operation Parking Brake Application There are three methods of applying the Parking Brake: 1. Ignition switch OFF - Briefly pulling the Parking Brake Switch upward will apply the parking brake. The parking brake cannot be released with the ignition switch off (electrically).
Page 41: Sliding Prevention
Vehicle Dynamics and Driver Assist Systems Sliding Prevention The Sliding Prevention feature of the EPB allows for self-activation of the EPB motor to increase the tension to the brake pads, if the parking brake had been previously set. Sliding Prevention is activated if the wheel speed sensors detect vehicle movement within 15 minutes of the EPB activation.
Page 42: System Construction
Vehicle Dynamics and Driver Assist Systems System Construction The EPB operates from the movement of a brushed DC voltage motor which is controlled by the Hydraulic Control Unit. A series of worm gears and reduction gears provide bidirectional movement of a ball nut that is keyed to the hydraulic piston. If the EPB is activated, the ball nut is screwed downward into the back face of the hydraulic piston and the piston moves into the inner brake pad.
Page 43 Vehicle Dynamics and Driver Assist Systems A dust seal O-ring is positioned around the circumference of the caliper to seal the motor to the caliper. This O-ring should be replaced if the motor is ever removed from the caliper. The motor output gear is splined to the ball nut worm gear. 2-29 2-30 Dust O-ring and Ball Nut Worm Gear...
Page 44 The notches located at 12:00 and 6:00 in this picture are used to turn the piston clockwise when the Subaru Select Monitor is not available. The piston must be turned during service work to rotate the ball nut back to a service park position if the Subaru Select Monitor is not available.
Page 45 Vehicle Dynamics and Driver Assist Systems The operation of the EPB at each rear brake caliper is accomplished using two wires that operate the bidirectional movement of the EPB motors. There are no sensors incorporated into the caliper. Sensing for apply and release is determined by the amount of amperage measured in the Hydraulic Control Unit.
Page 46: Electrical Operation
Vehicle Dynamics and Driver Assist Systems Electrical Operation Parking Brake Application During apply control, the polarity of the wires is controlled to turn the ball nut counter clockwise. This will screw the ball nut into the piston and place mechanical force on the inner brake pad, pulling the caliper inward to force the outer brake pad into the rotor.
Page 47: Emergency Braking
Vehicle Dynamics and Driver Assist Systems Emergency Braking The EPB can also serve as an emergency brake that can be activated while the vehicle is in motion. Pulling up on the EPB control lever and holding the lever upward will activate the Emergency Brake.
Page 48: Parking Brake Release
Vehicle Dynamics and Driver Assist Systems Parking Brake Release During EPB release, the polarity of the wires to the EPB motor is reversed and the ball nut rotates clockwise to release the mechanical tension on the inner brake pad and caliper. Voltage to the two caliper wires is pulsed at the same polarity which allows for faster control.
Page 49: Emergency Release
Vehicle Dynamics and Driver Assist Systems Emergency Release In emergency situations (such as motor failure), it may be necessary to manually release the parking brakes to allow the rear wheels to freely spin. How to release: 1. Disconnect the ground cable from the battery sensor. 2.
Page 50 Vehicle Dynamics and Driver Assist Systems 6. Pry the actuator assembly away from the caliper. 7. Prepare a TORX E12 socket and rotate the caliper spindle (appx. 1 rotation) until the rear rotors rotate freely. 2-44 Retracting Ball Nut 8. Temporally re-install the actuator assembly to prevent contamination of the caliper. It is also recommended to cover the electrical connections with tape to prevent contamination.
Page 51: Service
Prior to removing rear brake components such as the calipers, pads, or rotors, it is necessary to use the Subaru Select Monitor (SSM) to electrically release the EPB actuator assembly. This procedure is referred to as “Brake Maintenance Mode” and can be found in the Work Support section of the Brake Control System.
Page 52 Vehicle Dynamics and Driver Assist Systems During Brake Maintenance Mode, the “Brake” warning light on the Combination will be illuminated and DTC C1984 (Brake Maintenance Mode) will be stored in VDC system memory. Once service is complete and the system is returned to “normal” the DTC should be cleared. Always perform overall repair verifications by test driving and inspection for DTCs (Such as C1984) before returning the vehicle to the customer.
Page 53: Vehicle Dynamics Control (Vdc) Systems
• VDC OFF Switch • ABS and VDC Warning Lamps The Subaru VDC system is classified as a 4-sensor, 4-channel system, meaning each of the vehicle’s 4 wheels is individually monitored by a sensor and can be individually controlled. ABS warning light...
Page 54: Stop Light Switch
Vehicle Dynamics and Driver Assist Systems Stop Light Switch The Stop Light switch (Brake Light Switch) serves as the primary input to the VDCCM to indicate the driver’s application of the brake pedal. The Switch is located just above the brake pedal and generates ON/OFF signals to illuminate the Stop lights and provide the VDCCM (and various other Control Modules) with driver input information.
Page 55 Vehicle Dynamics and Driver Assist Systems May 2017...
Page 56 Vehicle Dynamics and Driver Assist Systems Conventional Stop Light Switches can be inspected by measuring the continuity between the specified terminals. Terminal No. Inspection conditions Standard When brake pedal is depressed 1 MΩ or more 1 — 2 Less than 1 Ω When brake pedal is released Less than 1 Ω...
Page 57 Vehicle Dynamics and Driver Assist Systems Internally the switch contains a plunger, magnet, Hall Integrated Circuit (IC), and spring. When the brake pedal is depressed, the plunger moves the magnet against the spring’s tension. This causes the magnetic field over the Hall IC to fluctuate indicating a change in brake pedal position.
Page 58 Vehicle Dynamics and Driver Assist Systems Due to the Hall IC design, inspection of the switch requires the application of battery voltage (aprx. 12.6V) between terminals 1 (+) and 3 (-). Always ensure proper connection and polarity before testing to prevent potential damage to the switch or other vehicle components. 3-11 Hall Type Stop Light Switch - Inspection May 2017...
Page 59 Vehicle Dynamics and Driver Assist Systems May 2017...
Page 60: Stop Light Switch
Vehicle Dynamics and Driver Assist Systems Regardless of the Switch type, the SSM provides ON/OFF data on the position of the Brake Light Switch. 3-13 Stop Light Switch-SSM Data Regardless of the switch type, the Brake Light Switch requires careful adjustment during service or replacement to ensure a proper gap (A) is present.
Page 61: Steering Angle Sensor
Vehicle Dynamics and Driver Assist Systems Steering Angle Sensor The Steering Angle Sensor measures the driver’s rotational input of the steering wheel to the VDCCM. With this information, the VDCCM can calculate the driver’s intended path and compare that to the vehicle’s actual path. The vehicle’s actual path is determined calculated by the Yaw Rate and G Sensor.
Page 62 Vehicle Dynamics and Driver Assist Systems 3-16 3-17 3-18 Drive Gear Driven Gear Gears Assembled The gear teeth rotate two gears that contain magnetic discs. Rotation is detected using two magneto-resistance element (MRE) style sensors. 3-19 3-20 Steering Angle Sensor Gear Mesh Steering Angle Sensor MRE May 2017...
Page 63 Based on the information from these sensors, direction and degree of rotation can be determined. The Steering Angle Sensor can be monitored using the Subaru Select Monitor (SSM). Accuracy and total degrees of rotation from lock to lock may vary by year and model.
Page 64 Vehicle Dynamics and Driver Assist Systems Information obtained from the Steering Angle Sensor is sent via the CAN to the VDCCM. 3-23 Steering Angle Sensor CAN Circuit During Service of the Steering Angle Sensor, always ensure the orientating marks/features are not disturbed.
Page 65: Yaw Rate & G Sensor
Vehicle Dynamics and Driver Assist Systems Yaw Rate & G Sensor The Yaw Rate and G Sensor detect the acceleration, deceleration, and rotation/angular speed (yaw) of the vehicle using piezoelectric resistor type sensors. The Yaw Rate and G Sensor is typically located in the center of the vehicle.
Page 66 Vehicle Dynamics and Driver Assist Systems The Yaw Rate and G Sensor can be inspected be removing the unit from its mounting location (if applicable) and rotating it in the lateral and longitudinal directions. 3-28 Yaw Rate and G Sensor - Neutral 3-29 3-30 Yaw Rate and G Sensor - 90°...
Page 67: Wheel Speed Sensors
Vehicle Dynamics and Driver Assist Systems Wheel Speed Sensors The VDC system uses a 4-sensor system to monitor the speed of the vehicle’s four wheels. Each sensor independently provides data to the VDCCM. B310 VDC CM i112 FRONT ABS FRONT ABS REAR ABS REAR ABS WHEEL SPEED...
Page 68 Vehicle Dynamics and Driver Assist Systems The wheel bearing and hub assembly contains an integrated Encoder Ring. Small magnetic strips are incorporated into the ring which generate pulses in the Wheel Speed Sensor hall switch element. If the encoder ring is cracked or otherwise damaged, the Hub Assembly must be replaced.
Page 69 Vehicle Dynamics and Driver Assist Systems Inspection of the Wheel Speed Sensors can be accomplished using the Subaru Select Monitor or with an oscilloscope. Inconsistent wheel speeds under normal driving conditions may indicate mismatched tires or malfunctions in the system.
Page 70 Vehicle Dynamics and Driver Assist Systems Diagnostics with an oscilloscope requires the preparation of a temporary circuit containing a 100Ω resistor and 12v power supply to generate a signal from the wheel speed sensor. Once the temporary circuit is prepared, the wheel is manually rotated at approximately 2 MPH. Caution: Always verify the oscilloscope, resistor, and ground connections before connecting the 12v power supply.
Page 71: Vdc Off Switch
Vehicle Dynamics and Driver Assist Systems VDC OFF Switch The VDC system features an OFF switch that can be controlled by the driver. Depending on the model there may be several levels of VDC OFF functions. Pressing and Holding the VDC OFF switch will cancel engine torque suppression which may be helpful if the vehicle is stuck in mud or snow.
Page 72: Vehicle Dynamics Control Module & Hydraulic Unit (Vdccm & H/U)
Vehicle Dynamics and Driver Assist Systems Vehicle Dynamics Control Module & Hydraulic Unit (VDCCM & H/U) The Vehicle Dynamics Control Module & Hydraulic Unit (VDCCM & H/U) assesses the vehicles condition based on input signals from various sensors throughout the vehicle. As the vehicle’s condition is assessed, the VDCCM commands the operation of an internal pump and series of electronic solenoid valves to regulate brake fluid pressure to each of the 4 wheels.
Page 73 Vehicle Dynamics and Driver Assist Systems The VDCCM sends a command to the TCM to control the gear position and transfer clutch so that torque is optimally distributed between the front and rear axles. 3-42 Request Torque Down Signal The VDCCM calculates the target engine output for each vehicle condition and sends commands to the ECM.
Page 74 Vehicle Dynamics and Driver Assist Systems The H/U is the central distribution point for the brake hydraulic system. Hydraulic pressure from the master cylinder is supplied through the Primary and Secondary Inlet passages. Front LH outlet Rear RH Front RH outlet outlet Rear LH...
Page 75 Vehicle Dynamics and Driver Assist Systems The H/U contains a hydraulic motor pump, solenoid valves (up to 12), housing, and relays to control the inlet and outlet of brake fluid to each wheel cylinder/caliper. This design is referred to as a 4-channel type system. 3-47 3-48 H/U Solenoids and Valves...
Page 76 Vehicle Dynamics and Driver Assist Systems The H/U contains an inlet solenoid and outlet solenoid for each wheel cylinder/caliper. The inlet solenoids are duty controlled to reduce brake fluid pulsation and operation noise. The outlet solenoids are 2 positions, ON/OFF type to control the brake fluid passage between a wheel cylinder/caliper and the H/U internal reservoir.
Page 77 The H/U contains a valve relay and motor relay to control the power supplies to the motor pump and solenoid valves. Operation of the valve and motor relays are controlled by the VDCCM. The control signals and voltages for the valve and motor relays can be monitored with the Subaru Select Monitor (SSM)
Page 78: Normal Braking
Vehicle Dynamics and Driver Assist Systems Normal Braking Since both solenoids are not energized, fluid pressure generated in the master cylinder is transmitted directly to the wheel cylinder/caliper. This fluid path/valve state also represents conditions when the VDC system is inactive due to a malfunction. 3-57 Normal Braking Pressure Increase Mode...
Page 79: Pressure Decrease Mode
Vehicle Dynamics and Driver Assist Systems Pressure Decrease Mode During Pressure Decrease mode, the H/U motor pump is energized to produce additional hydraulic pressure. However, the inlet valve is energized/closed preventing pressure from increasing in the wheel cylinder/caliper. At the same time, the outlet valve is opened and brake fluid is allowed to drain from the wheel cylinder/caliper decreasing pressure.
Page 80: Brake Fluid Pressure Sensor(S)
Vehicle Dynamics and Driver Assist Systems Brake Fluid Pressure Sensor(s) The VDCCM contains up to three internal Brake Fluid Pressure sensors. The sensors detect the hydraulic pressure resulting from the driver’s brake pedal operation and the H/U motor pump. Note: 1 BAR = 14.5 PSI 3-61 Brake Fluid Pressure Sensor - SSM Data Earlier VDC systems utilized external pressure sensors / switches.
Page 81 Vehicle Dynamics and Driver Assist Systems Late model systems have incorporated the brake fluid pressure sensor(s) into the VDCCM & H/U assembly. Therefore, the sensor is not serviceable separately. Models with the Eyesight Driver Assist system may contain three pressure sensors to additionally monitor the FL and FR wheel hydraulic circuits.
Page 82: System Functions
Vehicle Dynamics and Driver Assist Systems System Functions Each system performs unique driving condition assessments and reactions based on information from a multitude of sensors located throughout the vehicle. Availability of these driver assist systems vary based on year and model. In general, VDC systems are designed to improve vehicle stability during running (driving/accelerating), braking, and/or turning.
Page 83: Anti-Lock Braking System (Abs)
Vehicle Dynamics and Driver Assist Systems Anti-Lock Braking System (ABS) The Anti-Lock Braking System (ABS) is designed to minimize wheel lock-up during braking events. This allows the driver to retain the ability to steer the vehicle. When the brake pedal is depressed during driving, both the wheel speed and vehicle speed decrease.
Page 84 Vehicle Dynamics and Driver Assist Systems Depressing the brake pedal increases the brake fluid pressure in each wheel cylinder, which decreases the wheel speed (or increases the wheel deceleration rate). When the brake fluid pressure is increased to a level (point “A”), the brake fluid pressure curve in the diagram (at which the wheel deceleration rate exceeds threshold “−b0”), the VDCCM commands pressure “hold”...
Page 85 Vehicle Dynamics and Driver Assist Systems During ABS operation, the SSM will display an “ABS Control Flag” and energize the Motor Relay and Valve Relay. Once energized, the motor pump begins rotating and the individual Inlet and Outlet solenoids are controlled. Brake fluid pressure, wheel speeds, and Yaw/G rate are monitored to achieve a desirable rate of braking while maintaining steering control and vehicle stability.
Page 86: Electronic Brake Force Distribution (Ebd)
Vehicle Dynamics and Driver Assist Systems Electronic Brake Force Distribution (EBD) Electronic Brake Force Distribution (EBD) utilizes the inlet and outlet valve control of the VDCCM & H/U to prevent premature locking of the rear wheels. This system eliminates the need for the proportioning valve and optimizes brake force distribution based on vehicle load.
Page 87: Brake Assist
Vehicle Dynamics and Driver Assist Systems Brake Assist Introduced with some 2007 MY vehicles, a Brake Assist system was added to assist in deceleration during panic situations. In an emergency stopping situation, a driver has the natural tendency not to brake hard enough and soon enough. Brake Assist helps the driver by monitoring the depression speed applied to the brake pedal.
Page 88: Vehicle Dynamics Control (Vdc)
Vehicle Dynamics and Driver Assist Systems Vehicle Dynamics Control (VDC) The VDC system monitors vehicle stability and reacts to minimize understeer, oversteer, and drift conditions helping to maintain the directional stability of the vehicle on all road surfaces. VDC can sense impending loss of control at either the front or rear of the vehicle and momentarily apply the brake on one or more wheels to restore stability.
Page 89: Oversteer
Vehicle Dynamics and Driver Assist Systems Oversteer If the vehicle begins to spin during cornering (oversteer), the VDCCM actuates the brakes on the front and rear outer wheels. As a result, a yaw moment is generated in a direction that counteracts the oversteer improving the vehicle’s stability.
Page 90: Hydraulic Control
Vehicle Dynamics and Driver Assist Systems Hydraulic Control While the VDC system hydraulically operates identically to the ABS (during brake pedal depression), it also has the ability to function while the brake pedal is not depressed. In order to achieve this function, vehicles with VDC utilize four additional solenoid valves (2 Suction/ 2 Cut) that activate based on brake pedal depression to establish the role of the master cylinder.
Page 91: Normal Braking
Vehicle Dynamics and Driver Assist Systems Normal Braking Normal braking utilizes the conventional hydraulic path. In this state all solenoids are de- energized and in their resting positions. This fluid path/valve state also represents conditions when the VDC system is inactive due to a malfunction. Master cylinder Pressure...
Page 92: Operation: Brake Pedal Depressed
Vehicle Dynamics and Driver Assist Systems Operation: Brake Pedal Depressed Operation: Brake Pedal NOT Depressed Having the brake pedal depressed during When the brake pedal is not depressed, the any VDC related functions places the Master primary source of brake fluid pressure is the Cylinder as the primary pressure source for H/U Motor Pump.
Page 93: Super Sport Abs
Vehicle Dynamics and Driver Assist Systems Super Sport ABS Introduced with the 2004 Impreza WRX STi, a Super Sport ABS system was added to improve vehicle stability while under heavy braking. In the Super sports ABS system, brake fluid pressure control for the rear wheels is switched to independent control while turning. This design helps to increase the cornering force of the front wheels to reduce under steer.
Page 94: Traction Control System (Tcs)
Vehicle Dynamics and Driver Assist Systems Traction Control System (TCS) The Traction Control System (TCS) is designed to prevent spinning of the drive wheels on slippery road surfaces in order to maintain traction and directional control. TCS operates similar to Limited Slip Differentials (LSD) in that torque is reduced from a slipping wheel and applied to a wheel with traction.
Page 95: Hill Start Assist
Vehicle Dynamics and Driver Assist Systems Hill Start Assist Introduced with some 2008 MY vehicles, a Hill Start Assist system was added to prevent the vehicle from rolling downhill when the vehicle is on an incline. The system assists the driver in the transitional period of moving one’s foot from the brake pedal to the accelerator pedal during clutch engagement.
Page 96: X-Mode
Vehicle Dynamics and Driver Assist Systems X-Mode™ Introduced with some 2014 Forester models, X-Mode™ is a driver assistance system that increases driveability on rough roads and maintains the driver’s sense of security by performing optimized integrated control of the engine, AWD system, and brakes. X-Mode™ also includes Hill Decent Control (HDC) which allows the driver to maintain a constant speed when driving down slopes.
Page 97 Vehicle Dynamics and Driver Assist Systems X-MODE™ performs the following functions: Effect Operation Description Contents Details range Dedicated torque Low load range: Late throttle opening characteristics. Prevents 40 km/h or map setting abrupt changes in torque to improve driving on slippery roads. less High load range: Early throttle opening characteristics.
Page 98: Hill Descent Control (Hdc)
Vehicle Dynamics and Driver Assist Systems Hill Descent Control (HDC) HDC provides braking automatically to maintain the vehicle’s speed which existed at the time the driver released the gas pedal or the brake pedal. NOTE: HDC is not a cruise control function. It will not advance the throttle setting to increase speed.
Page 99 Vehicle Dynamics and Driver Assist Systems 3-93 Subaru Select Monitor III Data X-MODE™ ON 3-94 Subaru Select Monitor III Data X-MODE™ OFF May 2017...
Page 100: Brake Override System (Bos)
Vehicle Dynamics and Driver Assist Systems Brake Override System (BOS) Introduced with some 2012 Models, the Brake Override System (BOS) is designed to prevent unintentional vehicle acceleration. The system monitors the simultaneous application of both the Brake Pedal and accelerator pedal by the driver. The BOS activates when the brake is depressed and accelerator pedal is applied from 80 to 100 percent of operation.
Page 101 Vehicle Dynamics and Driver Assist Systems The activation time is delayed slightly to allow the driver time to release the Brake Pedal. If the Brake Pedal remains depressed, the Engine ECM removes the Accelerator Pedal Input and Throttle opening Duty Ratio in a stepped logic. The BOS will remain active until the accelerator pedal is fully released.
Page 102 Vehicle Dynamics and Driver Assist Systems The BOS activates immediately. If the Brake Pedal remains depressed, the Engine ECM removes the Accelerator Pedal Input and Throttle opening Duty Ratio in a stepped logic. The BOS will remain active until the accelerator pedal is fully released. 3-98 Heavy Brake ECM Note:...
Page 103: Diagnostics
Vehicle Dynamics and Driver Assist Systems Diagnostics Self-Diagnostics The VDC system has extensive self-diagnostic capabilities. When the ignition switch is turned from OFF to ON, the VDCCM performs an electrical self-check and illuminates the VDC, ABS, Hill Holder, and/or other related warning lights on the combination meter. If there are no electrical problems, the warning lights should turn OFF after approximately 2 seconds.
Page 104: Mechanical Diagnostics
Vehicle Dynamics and Driver Assist Systems Mechanical Diagnostics The hydraulic functions of the VDC system may be inspected with the aid of a brake hydraulic pressure gauge. Warning: The VDC system can generate high pressures. Therefore, only use a gauge exclusively designed for brake fluid measurement.
Page 105: Diagnostics With The Subaru Select Monitor (Ssm)
Vehicle Dynamics and Driver Assist Systems Diagnostics with the Subaru Select Monitor (SSM) The SSM provides comprehensive Diagnostic Trouble Codes (DTCs) that are associated with the VDC system. Refer to STIS for specific diagnostic procedures for each DTC. 3-104 Diagnostic Trouble Code Display The Freeze Frame display provides critical information about the vehicle’s condition at the time...
Page 106: Service
Vehicle Dynamics and Driver Assist Systems Service Vehicle Dynamics Control (VDC/VSC) Centering Mode After installing, replacing, or adjusting the following components, it is necessary to perform the VSC(VDC) Centering Mode. This mode is performed by placing the vehicle on a level surface with the steering wheel in the straight ahead position.
Page 107: Vdccm Parameter Information
Vehicle Dynamics and Driver Assist Systems VDCCM Parameter Information The VDCCM contains “parameter” information that identifies vehicle specific information such as model and grade (trim) level. Whenever the VDCCM is replaced, the Parameter information must be read, written, selected, and/or confirmed. There are 4 SSM functions related to the VDCCM Parameter;...
Page 108: Writing Of Parameter
Vehicle Dynamics and Driver Assist Systems Writing of Parameter Once the Parameter has been saved to the local PC, it can be written to the new VDCCM using the Writing of Parameter function. 3-109 Writing of Parameter Selection of Parameter The Selection of Parameter function requires the user to manually enter the Applied Model code for the vehicle being serviced.
Page 109: Confirm On Parameter
Vehicle Dynamics and Driver Assist Systems Applied model and option codes can be found on the “Model Number Plate” located on the inside of the front passenger door frame. 3-111 Model Number Plate s t i s l i Series LEGACY Body type N: Sedan...
Page 110 Vehicle Dynamics and Driver Assist Systems NOTES: May 2017...
Page 111: Eyesight
Vehicle Dynamics and Driver Assist Systems EyeSight ® Introduction Introduced with 2013 Legacy and Outback models, EyeSight is a driver assist system that ® uses a wide range of functions provide safer, more comfortable driving and to reduce driver fatigue. EyeSight uses two Stereo Cameras to identify vehicles, pedestrians, obstacles, ®...
Page 112: Driver Assist Functions
Vehicle Dynamics and Driver Assist Systems Driver Assist Functions The EyeSight System provides the following driver assist functions: ® 1. Adaptive Cruise Control (ACC) Adaptive Cruise Control combines the benefits of Cruise Control with active monitoring of the road ahead by EyeSight , and it issues warnings and activates automatic braking ®...
Page 113: System Versions
Vehicle Dynamics and Driver Assist Systems 5. High Beam Assist (HBA) (Beginning with 2017MY Vehicles) High Beam Assist increases the use of the vehicle’s High Beam headlights to improve low ambient light visibility by automatically switching the headlight mode. Caution: It is the responsibility of drivers to operate their vehicles safely at all times.
Page 114: System Construction
Vehicle Dynamics and Driver Assist Systems System Construction The EyeSight system contains the following unique components; ® Stereo Camera Assembly Brake Lamp Relay Steering Wheel Switches Pre-Collision Brake OFF switch Lane Departure Warning OFF switch Body Cruise control intergrated Combination command switch unit (BIU) meter...
Page 115: Driver Interfaces
Vehicle Dynamics and Driver Assist Systems Driver Interfaces Steering Wheel Switches The EyeSight system features steering wheel mounted control buttons to adjust Adaptive ® Cruise Control and customizing functions through the Multi-Function Display (MFD) if equipped. INFO/SET switch Use the arrows above and below to set or view information on various functions in the multi information display.
Page 116: Pre-Collision Brake Off Switch
Vehicle Dynamics and Driver Assist Systems The EyeSight system contains two switches to control the ON and OFF functions of the ® Pre-Collision Braking and Lane Departure Warning systems. Depending on the model, these switches may be located on the Stereo Camera cover or the left driver’s console. Pre-Collision Brake OFF Switch Press and hold the Pre-Collision Brake OFF switch to turn off the Pre-Collision Braking System and the Pre-Collision Throttle Management.
Page 117: Combination Meter/ Multi-Function Display (Mfd)
Vehicle Dynamics and Driver Assist Systems Combination Meter/ Multi-Function Display (MFD) The Combination Meter and Multi-Function Display are used to communicate various warnings and information to the driver. Specific icons and warning messages vary slightly by make and model. Selector indicator / shift position indicator <Multi information display>...
Page 118: Brake Lamp Relay
Vehicle Dynamics and Driver Assist Systems Brake Lamp Relay The EyeSight system has the ability control the operation of the brake lights (stop lights) ® during braking operations. To accomplish this a Brake Lamp relay, controlled by commands from the EyeSight system, is located in the Main Box.
Page 119: Stereo Camera Assembly
Vehicle Dynamics and Driver Assist Systems Stereo Camera Assembly The primary component of the EyeSight system is the Stereo Camera assembly. The ® Stereo Camera assembly is securely mounted to the roof structure of the vehicle behind the windshield. All EyeSight commands, functions, and image processing are performed by the ®...
Page 120 Vehicle Dynamics and Driver Assist Systems The Stereo Cameral assembly contains a pair of CCD (charge-coupled device) cameras that capture images of objects in front of the vehicle. The Cameras view through lenses that are protected by lens hoods. Care must be taken when handling the Stereo Camera assembly as to not soil the lenses or lens hoods.
Page 121: Camera Characteristics
Vehicle Dynamics and Driver Assist Systems Camera Characteristics During operation the Stereo Cameras produce simultaneous left and right images. When the two images are superimposed, a deviation is present due to the difference in the individual cameras line of sight. This deviation becomes smaller or larger depending on the distance of the captured object.
Page 122 Vehicle Dynamics and Driver Assist Systems The Version 3 EyeSight system features approximately 40% improvement to both the forward ® distance range and horizontal range of the Stereo Cameras. Improvement of 40% Crossing (Distance performance) pedestrian EyeSight camera’s ® field of view EyeSight 15MY ®...
Page 123 Vehicle Dynamics and Driver Assist Systems Version 3 systems are enhanced to capture images using color recognition. This allows the EyeSight system to identify brake lamps from vehicles ahead. ® Motorcycle Bicycle Adult Vehicle Stop lamp Child 4-29 Version 3 Object Detection The characteristics of the Stereo Cameras are similar to those of human eyes.
Page 124 Vehicle Dynamics and Driver Assist Systems When the rear aspect of the vehicle in front is low, small or irregular the system may recognize another part of the vehicle as its rear and will determine operation from that: When there is an empty truck or trailer with no rear and/or side panels on the cargo bed With vehicles that have cargo protruding from their back ends With non-standard shaped vehicles (vehicle transporters or vehicles with a sidecar fitted, etc.) - When the height of the vehicle is low, etc.
Page 125 Vehicle Dynamics and Driver Assist Systems The EyeSight system’s Pre-Collision Braking function also identifies pedestrians as potential ® obstacles. Depending on the conditions, there may be cases when the system cannot detect a pedestrian. In the following conditions, there is a possibility that the system may not be able to detect a pedestrian or similar object.
Page 126 Vehicle Dynamics and Driver Assist Systems Objects that are small or in difficult to view areas such as in front of the bumper may not be detected. Low objects surrounding the vehicle cannot be detected. 4-35 Small Objects • Other conditions that may be difficult for EyeSight to interpret are;...
Page 127 Vehicle Dynamics and Driver Assist Systems 4-36 Bicycles/Motorcycle 4-37 Difficult Environmental Conditions May 2017...
Page 128: Driver Assist Functions
Vehicle Dynamics and Driver Assist Systems Driver Assist Functions Adaptive Cruise Control When driving on a highway or freeway, Adaptive Cruise Control allows the vehicle to follow a vehicle directly ahead while maintaining an appropriate distance without operation of the brake or accelerator pedal.
Page 129 Vehicle Dynamics and Driver Assist Systems When the system detects a lead vehicle, an indicator will be displayed on the combination meter or MFD and an audible beep will be heard. The system will use driver set vehicle speed as the maximum speed to follow the preceding vehicle. If the vehicle moves from the lane ahead or travels too far away, the lead vehicle indicator will turn off and the vehicle will accelerate to the preset vehicle speed automatically.
Page 130 Vehicle Dynamics and Driver Assist Systems Adaptive Cruise Control can be canceled by pressing the Steering Wheel mounted CANCEL switch, the Cruise Control switch, or depressing the brake pedal. 4-45 Cruise Control Cancel Switch Some models feature redesigned steering wheel switches for Adaptive Cruise Control functions.
Page 131 Vehicle Dynamics and Driver Assist Systems No Vehicle Detected When no vehicle in front is detected, the EyeSight vehicle ® drives constantly at the set target vehicle speed between approximately 25 MPH (40 km/h) and 90 MPH (145 km/h). 4-47 No Vehicle Detected Lead Vehicle Detected A vehicle in front is detected (lead vehicle), the EyeSight...
Page 132 Vehicle Dynamics and Driver Assist Systems Beginning with 2017MY Impreza models, the driver can customize “Cruise Control Acceleration Characteristics” to better match their driving style and the prevailing conditions. These settings can be found through the Multi-Information Display (MID) settings menus. 4-51 4-52 Multi –...
Page 133: Stay-Stopped
Vehicle Dynamics and Driver Assist Systems Stay-Stopped If the vehicle in front comes to a stop while utilizing Adaptive Cruise Control, the EyeSight ® vehicle also will also come to a stop and will stay stopped until further action is taken. When the EyeSight vehicle comes to a stop after the vehicle in front has stopped, Adaptive Cruise ®...
Page 134: Lead Vehicle Start Alert
Vehicle Dynamics and Driver Assist Systems Lead Vehicle Start Alert Lead Vehicle Start Alert functions when the EyeSight vehicle remains stopped while the ® vehicle in front has started to move forward approximately 10 ft (3 m) or more. The driver is alerted by means of a two-tone audible beep and flashing lead vehicle indicator on the multi information display.
Page 135: Conventional Cruise Control
Vehicle Dynamics and Driver Assist Systems Conventional Cruise Control Depending on the model, Conventional Cruise Control can be enabled by depressing and holding either the Adaptive Cruise Control switch or Following Distance (combination of both on certain models) switch for approximately 2 seconds. When the system is transitioned, the icon on the trip meter will change to conventional cruise control symbol.
Page 136: Pre-Collision Braking
Vehicle Dynamics and Driver Assist Systems Pre-Collision Braking Pre-Collision Braking calculates probability of collision based on the distance to the obstacle ahead, overlap rate, steering angle, and relative speed calculated by the Stereo Cameras in order to warn the driver of a collision and control braking effort. EyeSight initiated pre-collision ®...
Page 137: Pre-Collision Steering Assist (Beginning With 2015My Legacy/Outback)
Vehicle Dynamics and Driver Assist Systems The Pre-Collision Braking function is adjusted according to the offset of the obstacle in front. When the overlap of the EyeSight vehicle and the obstacle is small, the possibility that a ® collision can be avoided by steering operation is higher. As a result, the Pre-Collision Braking functions are delayed 4-62 Intervention Timing and Overlap Rate...
Page 138: Recommended Off Conditions
Vehicle Dynamics and Driver Assist Systems Recommended OFF Conditions The Pre-Collision Braking System may unexpectedly activate in the following (but not limited to) situations. Therefore, it is recommended to turn off the Pre-Collision Braking system by pressing the camera cover or console mounted Pre-Collision Brake OFF switch. •...
Page 139: Pre-Collision Throttle Management
Vehicle Dynamics and Driver Assist Systems Pre-Collision Throttle Management Pre-Collision Throttle Management operates when an obstacle is detected in front of the vehicle, and the driver attempts to accelerate at an unsafe rate. If the obstacle in front is stopped or is travelling very slowly, and the system determines that the accelerator pedal has been depressed more than the necessary amount (by mistake or another reason), engine output is restricted, repeated short beeps can be heard, and the leading vehicle indicator/ following distance setting indicator on the combination meter flashes.
Page 140: Lane Departure Warning (Ldw)
Vehicle Dynamics and Driver Assist Systems Lane Departure Warning (LDW) Lane Departure Warning operates when the vehicle is likely to depart the traffic lane. The EyeSight system monitors the lane markings on the road and determines if the vehicle is ®...
Page 141: Lane Sway Warning
Vehicle Dynamics and Driver Assist Systems The following situations may cause incorrect lane detection and faulty Lane Departure Warnings to occur. Therefore, is it recommended to turn OFF the Lane Departure Warning system by pressing the Lane Departure Warning OFF switch. •...
Page 142: Lane Keep Assist (Lka)
Vehicle Dynamics and Driver Assist Systems Lane Keep Assist (LKA) Beginning with some 2017 MY vehicles, Lane Keep Assist (LKA) is a new feature for the existing EyeSight system. LKA provides lane departure prevention by using the EyeSight ® ® cameras to identify lane markings and requesting steering movement from Electronic Power Steering (EPS) system to assist in keeping the vehicle in the current lane of travel if it is likely to depart.
Page 143 Vehicle Dynamics and Driver Assist Systems In order for the LKA system to provide lane departure functions, the EyeSight system must be ® able to learn the lane markings on the current road surface. As the lane marking are identified, the left and right “Lane Indicators”...
Page 144 Vehicle Dynamics and Driver Assist Systems If the system does not detect steering operation by the driver for a certain period of time, the “Keep Hands On Steering Wheel” message may appear on the multi-information display. This message will continue to appear until the system detects steering input. If the system still cannot detect steering input, then lane departure prevention functions may be automatically canceled.
Page 145: High Beam Assist (Hba)
Vehicle Dynamics and Driver Assist Systems High Beam Assist (HBA) Optionally available with some 2017MY Subaru vehicles, the High Beam Assist (HBA) system is designed to increase the use of the vehicle’s High Beam headlights to improve low ambient light visibility. This is accomplished by automatically switching the headlights between high and low beam according to the conditions in front of the vehicle.
Page 146 Vehicle Dynamics and Driver Assist Systems Based on the preceding (in front of the vehicle) conditions, the system will toggle the low and high beam headlights to maximize visibility while reducing distraction to other objects in front of the vehicle. The system detects light sources in a 30° (approximate) range in front of the vehicle.
Page 147 Vehicle Dynamics and Driver Assist Systems The HBA system uses the EyeSight® (Ver. 3) system’s stereo cameras to identify driving conditions such as oncoming vehicles and road curvature. However, light source identification may be derived from one of two potential sources depending on the model. On some models, the EyeSight®...
Page 148 Vehicle Dynamics and Driver Assist Systems Regardless of the input method, the HBA system will monitor the light source of objects in front of the vehicle such as the headlamps of oncoming vehicles, tail/brake lamps of preceding vehicles, street lights, and reflectors. 4-80 HBA Recognition Theory (Right hand drive image) Caution:...
Page 149 Vehicle Dynamics and Driver Assist Systems To enable the HBA system, the driver must select the “AUTO” position on the Light Control Switch and push the Turn Signal Lever forward to the “High Beam” position. When these two selections are made, a green “High Beam Assist Indicator” will be displayed on the combination meter.
Page 150: Hba Variations
Vehicle Dynamics and Driver Assist Systems HBA Variations Currently, there are two types of HBA input methods. However, both systems feature the same basic functionality: • EyeSight stereo cameras for light source detection ® • Monocular camera for light source detection 2017MY Forester uses the EyeSight (Ver.
Page 151 Vehicle Dynamics and Driver Assist Systems 2017 Legacy and Outback models utilize a dedicated Monocular (single) camera mounted to the rear view mirror. The Monocular Camera also serves as the High Beam Assist Module. 4-87 Monocular Camera 4-88 HBA System Architecture — Monocular May 2017...
Page 152 Vehicle Dynamics and Driver Assist Systems Rear view mirrors that utilize the monocular camera also feature a front light sensor to measure the ambient source in the forward direction. 4-89 Front Light Sensor The HBA Unit/Monocular Camera is directly connected to the vehicle’s Main CAN network to transmit and receive necessary information for HBA function.
Page 153 Owner’s Manual. 4-91 2017MY Owner’s Manual — HBA Operational Setting Fulfillment of this request is accomplished by accessing the function setting in the Body Control menu on the Subaru Select Monitor. 4-92 Body Control Customizing — Monocular May 2017...
Page 154: Service And Diagnostics
• Do not change the positions where the Stereo Cameras are installed or modify any of the surrounding structures. • Do not install any interior rearview mirror other than a genuine SUBARU rearview mirror (such as a wide-type mirror). Also, use the rearview mirror so it does not obstruct the Stereo Camera assembly.
Page 155: Windshield Care
® damage, unauthorized accessories, or exceptional debris. The windshield also contains “prohibited” areas in which no obstructions or damage can be present. models use a Subaru genuine windshield glass specifically designed Note: EyeSight ®...
Page 156 Vehicle Dynamics and Driver Assist Systems Models that utilize a Monocular Camera (High Beam Assist (HBA)) have an additional “prohibited area” in the front windshield. This area must be free of oil film, dirt, fogging or any other obstructions in order for the HBA system to function properly. Ceramic line 30 mm (1.2 in) 100 mm (3.9 in)
Page 157 Note: Only Subaru genuine wiper blades should be used. Use of other than genuine parts may affect the recognition of the Stereo Camera. If the wiper blades produce streaking, they should be replaced as soon as possible.
Page 158 Vehicle Dynamics and Driver Assist Systems It is permissible to repair minor damage to the windshield in the “repairable” areas (C and D) as shown in the diagram below. However, if any damage is found in the prohibited areas, the windshield must be replaced.
Page 159 Vehicle Dynamics and Driver Assist Systems Installation of roof mounted accessories/cargo must be installed with consideration to avoid the Stereo Camera field of view. 880 mm (34.6 in) 520 mm (20.5 in) 100 mm (3.9 in) Highest Prohibited area surface of the roof 4-106 Roof Accessory/Cargo Prohibited Area...
Page 160: Eyesight (General)
EyeSight system. If the system does not restart, even when the S00701 temperature inside the vehicle is normal, contact your SUBARU dealer for an inspection. • When the EyeSight The system will restart once system is starting the cause has been eliminated.
Page 161 If the system does not S00863 restart, even when the <Multi function display> temperature inside the vehicle is normal, contact EyeSight Disabled your SUBARU dealer for an Temp Range inspection. S00864 • When the EyeSight The system will restart once <Meter display>...
Page 162: Temporary Stop (Cancel Codes)
® Cancel Codes, DTCs, and Temporary Stop Count(s). This information can be retrieved using the Subaru Select Monitor (SSM). 4-109 Temporary Code Display (SSM) There are up to 32 unique (depending on the Version) Temporary Stop condition (pause or cancel) codes that the EyeSight system may identify.
Page 163: Adaptive Cruise Control (Acc) Cancel Codes
Vehicle Dynamics and Driver Assist Systems Diagnosing customer concerns involving Temporary Stop conditions should be supplemented with the “Check List for Interview” found on STIS. Identifying the environmental conditions at the time of the Temporary Stop can aid in isolating the root cause as well as educating the customer on the operation of the EyeSight system.
Page 164: Diagnostic Trouble Codes And Freeze Frame Data
Vehicle Dynamics and Driver Assist Systems Diagnostic Trouble Codes and Freeze Frame Data Diagnostic Trouble Codes (DTCs) derived from system malfunctions should always be supported with Freeze Frame Data (FFD). FFD provides relevant information leading up to and at the time the DTC was set. 4-113 Freeze Frame Data-SSMIII Menu 4-114...
Page 165: Lane Keep Assist (Lka)
Vehicle Dynamics and Driver Assist Systems Lane Keep Assist (LKA) Diagnosis of the LKA system should begin by completing the “CHECK LIST (ACTIVE LANE KEEP)” . Completing the check list may identify any potential external factors that may affect the operation of the LKA system. This check list can be found in the “Diagnostics with Phenomenon”...
Page 166 Vehicle Dynamics and Driver Assist Systems Up to 8 Cancel Codes related to the LKA system may be stored. In the event more than 8 codes are stored, the oldest code will be deleted to store the latest. 4-116 SMM — EyeSight® System Cancel Codes 4-117 SSM —...
Page 167: Lka Learning Value
Vehicle Dynamics and Driver Assist Systems LKA Learning Value When suspension parts are replaced or a wheel alignment is performed, the “Clear Active Lane Keep System Learning Value” function should be executed. 4-119 SSM — Target Each System 4-120 SSM — EyeSight® Utilities 4-121 4-122 SSM —...
Page 168: High Beam Assist (Hba)
Vehicle Dynamics and Driver Assist Systems High Beam Assist (HBA) A “yellow” High Beam Assist warning indicator may be displayed on the Combination Meter Multi Information Display (MID) if a malfunction is present in the system (Monocular camera vehicles). 4-123 HBA Malfunction Indicator Basic diagnosis of the HBA system should always begin with the completion of the Check List for Interview found in the Service Manual.
Page 169 Vehicle Dynamics and Driver Assist Systems Data related to the HBA system’s inputs and outputs can be found under the EyeSight® system Data Monitor information. 4-125 ® HBA Data Monitor — EyeSight Models that use a Monocular camera contain HBA related data within the Body Control system menu of the SSM.
Page 170 Vehicle Dynamics and Driver Assist Systems EyeSight based systems do not contain any unique HBA DTCs since the system contains ® no unique components. However, monocular camera systems contain approximately eleven unique DTCs due to the additional complexity. Item Note B2680 HIGH BEAM ASSIST SENSOR <Ref.
Page 171: Stereo Camera Adjustment And Inspection
Vehicle Dynamics and Driver Assist Systems Stereo Camera Adjustment and Inspection Camera Adjustment Whenever removed or replaced, the Stereo Camera must be adjusted/calibrated to correct errors which exist in manufacturing tolerances in the body shell or in the Stereo Camera assembly.
Page 172 Vehicle Dynamics and Driver Assist Systems The “Preparation” step requires the placement of a SST Random Chart at a specific height and distance so that it is centered and square in relation to the vehicle. Height and distance of the SST varies by make and model and there are 2 SST random charts available for the Version 2 and Version 3 EyeSight systems.
Page 173: Measuring Accuracy
Vehicle Dynamics and Driver Assist Systems Setting the height and distance of the SST Random Chart requires the use of plumb bobs, strings, tape, and tape measures. Each measurement requires great care and attention to ensure accuracy. easure shall be ±2.0 mm (±0.08 in) •...
Page 174 Vehicle Dynamics and Driver Assist Systems The second series of measurements are designed to place the vehicle squarely in relation to the SST Random Chart mounting surface. The preferred mounting surface is mobile white board or similar flat/mobile surface. However, a wall may be used as a mounting surface for the Random Chart.
Page 175: Subaru Select Monitor Work Support
Vehicle Dynamics and Driver Assist Systems Subaru Select Monitor Work Support Once preparations have been completed, the Subaru Select Monitor (SSM) is used to perform the Work Support functions of the EyeSight system. Readjustment of stereo camera Replacement of stereo camera 1.
Page 176 Vehicle Dynamics and Driver Assist Systems May 2017...
Page 177: Camera All Adjustment Mode
Vehicle Dynamics and Driver Assist Systems Camera All Adjustment Mode The Camera All Adjustment Mode (replacement/removal) is the primary SSM function that is used if the Stereo Camera assembly has been removed, replaced, or disturbed for any reason. 4-141 All Adjustment Mode (Replacement/Removal) If a “Distance Inspection NG!”...
Page 178 Vehicle Dynamics and Driver Assist Systems If the “Optical Axis Adjustment, Upward or Downward Inclination NG!” messages are displayed, it may be necessary to add a shim (washer) between the vehicle body and camera plate. Only one shim part number is available to achieve adjustment in either the upward or downward directions.
Page 179: Camera Individual Adjustment Mode
Vehicle Dynamics and Driver Assist Systems Camera Individual Adjustment Mode Three additional functions exist under the “Camera Individual Adjustment Mode” menu: Optical Axis Adjustment (Auto) – No field functionality Accuracy Rate Inspection – Measures current accuracy rate (requires preparation). If the measured distances are correct at more than 70% of the divided sections, the EyeSight system judges that the ®...
Page 180 Vehicle Dynamics and Driver Assist Systems NOTES: May 2017...
Page 181: Reverse Automatic Braking (Rab)
Reverse Automatic Braking (RAB) Introduction Optionally available with some 2017 MY Subaru vehicles, the Reverse Automatic Braking (RAB) system is a driver assist system designed to help avoid collisions or reduce collision damage when reversing the vehicle. If a wall or other obstacle is detected in the reversing direction, the system will notify the driver with progressive audible warnings, reduce engine power, and activate the vehicle’s brakes automatically.
Page 182: System Operation
Vehicle Dynamics and Driver Assist Systems System Operation The Reverse Automatic Braking (RAB) system detects and measures the distance of objects from the vehicle using ultrasonic sonar sensors installed in the rear bumper area. When the system determines there is a moderate possibility of a collision, it will provide progressive audible alerts to the driver through the Combination Meter speaker.
Page 183 Vehicle Dynamics and Driver Assist Systems The RAB system utilizes four bumper-mounted sonar sensors that provide a maximum detecting range of approximately 4.9ft (1.5m) from the rear of the vehicle and approximately 5.9in (150mm) outside the vehicle width. Caution: The sensors cannot detect objects that are moving and/or too close to the rear bumper (Appx.
Page 184 Vehicle Dynamics and Driver Assist Systems When the shifter lever is placed in the “R” position, a visual representation of the detecting range is displayed on the Multi-Function Display (MFD), if equipped. Each of the four colored blocks represents a specified range from the detected object. As the vehicle becomes closer to objects in the reversing direction, the colored blocks will illuminate to indicate the proximity of the object and relative location behind the vehicle.
Page 185 Vehicle Dynamics and Driver Assist Systems As the vehicle approaches an obstacle the warning messages are displayed on the Navigation screen or MFD. The visual warnings are supplemented by progressive audible warnings from the Combination Meter speaker. Visual warning messages differ depending on the model as shown below: Vehicle without MFD Models with MFD...
Page 186 Vehicle Dynamics and Driver Assist Systems Beginning with 2017MY Impreza models, reverse display is enhanced are displayed with color coordinated boxes indicating their distance from the rear of the vehicle. RAB Warning – Green RAB Warning – Yellow 5-10 5-11 RAB Warning –...
Page 187 Vehicle Dynamics and Driver Assist Systems When reversing the vehicle, new guidance lines are displayed when the steering wheel is turned. 5-13 Reverse – Straight 5-14 Reverse – Left 5-15 Reverse – Right May 2017...
Page 188 Vehicle Dynamics and Driver Assist Systems When the shifter lever is in the “R” position, the MFD or Navigation will display driver selectable options to temporally disable the automatic braking and audible warning functions. Control of these selections varies depending on the model equipment. Note: Both functions are restored to the default “ON”...
Page 189 Vehicle Dynamics and Driver Assist Systems The driver can customize Warning Volume and Sonar Audible Alarm ON/OFF settings through the Multi-Information Display (MID) located in the center of the Combination Meter. These selections can be toggled by using the steering wheel mounted controls. 5-21 RAB Customization Setting...
Page 190: System Construction
Vehicle Dynamics and Driver Assist Systems System Construction The RAB system is comprised of a Control Module (RAB CM), four (4) Sonar Sensors, four (4) Sensor Holders/Bezels, and a Sensor Harness. RAB Control Module (CM) Rear Right (RR) Rear Right Center (RRC) Rear Left Center (RLC)
Page 191 Vehicle Dynamics and Driver Assist Systems Each Sonar Sensor is attached to the bumper by a flush mount Sensor Holder or a Sensor Bezel. Holders and bezels may be serviced separately from the bumper cover or sonar sensors and do not come pre-installed in replacement bumper covers. Flush mount style holders are a one-time use part due to a pre-installed adhesive material.
Page 192 Vehicle Dynamics and Driver Assist Systems The sonar sensors are independently connected directly to the RAB CM through a dedicated harness. FB-58 FB-21 F/B FUSE NO. 5 F/B FUSE NO. 14 (IG) RAB CM R167 i102 STEREO CAMERA REF. TO CAN COMMUNICATION SYSTEM [b] R339 R137...
Page 193 Vehicle Dynamics and Driver Assist Systems The RAB CM can be found in different locations depending on the model. In this example (Legacy/Outback/WRX), the control module is located under the Driver’s seat whereas in a Forester model, the module is located under the rear cargo tray. 5-35 5-36 RAB Control Module (CM)
Page 194 Vehicle Dynamics and Driver Assist Systems The RAB CM is connected to the Vehicle’s Main CAN network. • Network diagram : WITH TELEMATICS : WITH IMMOBILIZER CM : WITH PUSH BUTTON IGNITION SWITCH : WITH 7 INCH DISPLAY : WITH SRF CM OR AHLCM : WITH HIGH BEAM ASSIST : WITH EyeSight : WITH BSD/RCTA...
Page 195 Vehicle Dynamics and Driver Assist Systems Integration with the vehicle’s Main CAN allows the RAB system to receive basic vehicle information such as wheel speed, brake fluid pressure, shifter position and accelerator angle to calculate the appropriate RAB actions. Additionally, the RAB system is able to coordinate with the human-machine interface (HMI) functions such as MFD and Combination Meter display/ control.
Page 196: Inspection
Vehicle Dynamics and Driver Assist Systems Inspection Pre-Delivery Inspection During a Pre-Delivery Inspection (PDI), the RAB system should be inspected for normal operation and proper appearance. 56. Blind Spot Detection / Rear Cross Traffic Alert 1. Press the BSD/RCTA OFF switch several times to check that the system (BSD/RCTA) is activated and deactivated correctly.
Page 197: Basic Inspection
Vehicle Dynamics and Driver Assist Systems Basic Inspection During basic diagnostics, the height and installation angle of each Sonar Sensor should be inspected. These inspections may identify potential issues such as impact damage or improper installation. Sonar sensor Height Leveling line Plumb bob Point A 5-45...
Page 198 Vehicle Dynamics and Driver Assist Systems 5) Using an angle gauge and try square, measure the installation angle as shown in the figure. Angle gauge Sonar sensor Try square 5-49 5-50 Sensor Angle Inspection Angle Inspection Preparation Tools 6) Use the measurement tools while placing them perpendicular to the sonar sensor. 7) Confirm that sensor installation angle is within the acceptable limit.
Page 199: Service
Vehicle Dynamics and Driver Assist Systems Service Removal of a sonar sensor is accomplished by depressing the lock tabs on the top and bottom of the assembly in order to release the claws. Care should be taken so as to not damage the lock release tabs on the Sensor Holder/bezel or harness connector.
Page 200 Vehicle Dynamics and Driver Assist Systems If the bumper is damaged or has been replaced it may be necessary to fit new Sensor Holders or bezels to the rear bumper. Flush mount style Sensor Holders are one-time use and cannot be transferred to new or replacement bumpers.
Page 201 Vehicle Dynamics and Driver Assist Systems Prior to installing the Sensor Holder, it is necessary to thoroughly clean and oil, dirt or contamination around the Sensor Holder installation area and apply an adhesion promoter such as 3M K-540NT or an equivalent. Note: Do not remove the protective adhesive backing until this step has been completed.
Page 202 Vehicle Dynamics and Driver Assist Systems Some models (such as Outback), utilize two (2) different types of Sensor Holders to accommodate the bumper cover shape. 5-60 Outback Sensor Holders 5-61 5-62 Outback Sensor Holder — Outer Outback Sensor Holder — Inner May 2017...
Page 203 Vehicle Dynamics and Driver Assist Systems Vehicles that use bezels are serviced by depressing the tabs located inside the bumper cover. There are four lock release tabs located around the bezel. Take care during removal not to damage the tabs. 5-63 Bezel Type Sensor Holder —...
Page 204: Diagnostics
Vehicle Dynamics and Driver Assist Systems Diagnostics The Multi-Information Display (MID) will display warning messages related to the RAB system status. These messages may indicate the system is “OFF” , “Temporarily Stopped” , or in a state of “Failure” . 5-65 5-66 5-67...
Page 205 Vehicle Dynamics and Driver Assist Systems The Subaru Select Monitor contains a new menu heading for the “Reverse Automatic Braking” system that features DTC, Cancel Code, Data Monitor, Work Support, and Customizing functions. 5-69 SSM — RAB Main Menu The RAB system features comprehensive diagnostics that include over 30 unique diagnostic trouble codes (DTCs).
Page 206 Vehicle Dynamics and Driver Assist Systems Similar to EyeSight and Blind Spot Detection & Rear Cross Traffic Alert (BSD/RCTA) systems, the RAB system features cancel codes that may assist in phenomena diagnosis. Only the three (3) most recent Cancel Codes will be stored in memory. After the stored Cancel Codes exceed three, the oldest code will be deleted.
Page 207 Vehicle Dynamics and Driver Assist Systems The Work Support menu features the ability to export saved RAB data, initialize the RAB CM, and identify basic part number and software version information. 5-73 SSM— RAB Work Support RAB Operation Record Data Save Exports a .bin (binary) log file of RAB operation.
Page 208 Vehicle Dynamics and Driver Assist Systems NOTES: May 2017...
Page 209: Blind Spot Detection (Bsd) / Rear Cross Traffic Alert (Rcta)
Note: Beginning with all 2016MY vehicles, the “Subaru Rear Vehicle Detection (SRVD) system” name has been changed to “Blind Spot Detection (BSD) / Rear Cross Traffic Alert (RCTA) System” . System functions have remained the same despite the name change.
Page 210: Lane Change Assist (Lca)
Vehicle Dynamics and Driver Assist Systems Lane Change Assist (LCA) Lane Change Assist (LCA) notifies the driver of fast-approaching vehicles in neighboring lanes by illuminating the LED indicator in the side mirror. The detection area for LCA is approximately 230 ft from the rear bumper cover and is based on “Time to Collision” (TTC) calculations. Note: If the driver attempts to change lanes by enabling the turn signal while a vehicle is approaching at a higher speed, a flashing LED indicator in the side mirror will...
Page 211: Rear Cross Traffic Alert (Rcta)
Vehicle Dynamics and Driver Assist Systems Rear Cross Traffic Alert (RCTA) Rear Cross Traffic Alert (RCTA) detects vehicles approaching from a perpendicular direction while in reverse. A flashing LED indicator in the side mirror, a pattern of audible tones, and a flashing indicator in the rear view camera display alert the driver of potential hazards with a Time to Collision (TTC) of approximately 3.5 seconds.
Page 212: Driver Interface
Vehicle Dynamics and Driver Assist Systems Driver Interface Approach indicator lights Side mirror LED indicators promote awareness without interrupting the driver’s line of sight. These indicators may illuminate or flash during BSD, LCA, and RCTA operations. Side Mirror LED OFF Side Mirror LED ON Beginning with 2017MY Impreza models, new BSD/RCTA approach indicator lights have been incorporated in the side mirrors to improve visibility.
Page 213: Approach Warning Buzzer
Vehicle Dynamics and Driver Assist Systems Approach Warning Buzzer An audible warning buzzer can be heard from the Combination Meter during Rear Cross Traffic Alert (RCTA) functions. This volume can be customized through the Combination Meter. 6-10 BSD/RCTA Settings BSD/RCTA Warning Volume Rear View Camera Indicator RCTA uses the rear view camera to display alerts on the upper corner of the corresponding side from which a vehicle is detected.
Page 214: Bsd/Rcta "Off" Switch
Vehicle Dynamics and Driver Assist Systems BSD/RCTA “OFF” Switch A console mounted BSD/RCTA “OFF” switch functions to disable the BSD/RCTA system. In the following cases, press the BSD/RCTA “OFF” switch to deactivate the system: 1. When towing a trailer. 2. When a bicycle carrier or other item is fitted to the rear of the vehicle. 6-13 6-14 BSD/RCTA OFF Switch Placement...
Page 215: Rear Radar Characteristics
Vehicle Dynamics and Driver Assist Systems Rear Radar Characteristics The BSD/RCTA system will not operate in the following situations: • The BSD/RCTA OFF indicator is illuminated • The vehicle speed is below 10 mph (15 km/h) even when the BSD/RCTA OFF indicator is not illuminated (Except when reversing) The following may cause the BSD/RCTA system indicators to illuminate: •...
Page 216: System Construction
Vehicle Dynamics and Driver Assist Systems System Construction The BSD/RCTA system consists of two rear Radar units symmetrically fitted behind the bumper cover under the rear tail lights. 6-17 6-18 Radar Units (Legacy) Radar Units (Outback) Bracket Legacy Radar unit Bracket Outback 6-19 Radar Unit Mounting...
Page 217 Vehicle Dynamics and Driver Assist Systems The Subaru Rear Vehicle Detection system is classified as a Short Range Radar system. Each of the two Radar units contains a Radio Frequency (RF) antenna that emits electromagnetic radiation in the 24 GHz frequency range. At a distance of 20cm from the sensor, the radiated power is 0.0027 mW/cm2.
Page 218 Vehicle Dynamics and Driver Assist Systems Each Radar unit contains an internal control unit that processes information from the RF antenna and controls alert decisions. The left and right rear Radar units are distinguished as Master (LH) and Slave (RH). The Master and Slave Radar units are connected to each other via a private CAN network where alert decisions are determined.
Page 219 1 MΩ or more 8 ←→ Chassis ground Less than 1 V → 9 Subaru Rear Vehicle — • Ignition switch ON Detection OFF switch • Subaru Rear Vehicle — 16 V Detection switch OFF → 9 ←→ Chassis ground — — —...
Page 220: Service And Diagnostics
Vehicle Dynamics and Driver Assist Systems Service and Diagnostics Temporary Stop The “BSD/RCTA Disabled” message is displayed when the system experiences a “temporary stop” condition such as extremely high or low temperatures or when abnormal voltage exists. Once these conditions are corrected, the system will recover from the temporary stop condition and the indicator will turn off.
Page 221: System Malfunction
If the BSD/RCTA system experiences a general malfunction, such as circuit or communication failures, the BSD/RCTA indicator and “Check Owner’s Manual” will be displayed on the Combination Meter. The Owner’s Manual will direct the driver to contact their Subaru Retailer. 6-30...
Page 222 Vehicle Dynamics and Driver Assist Systems The BSD/RCTA system features conventional diagnostics with DTC, FFD, and normal sampling data through the Subaru Select Monitor (SSM). Note: Refer to the appropriate Service Manual for a complete listing of Diagnostic Trouble Codes (DTCs)
Page 223: Radar Axis Alignment
Vehicle Dynamics and Driver Assist Systems Radar Axis Alignment Alignment of the Radar Axis is performed after removal/installation or replacement of a BSD/ RCTA Radar unit. This includes body repairs or the replacement of a mounting bracket. Note: This procedure outlines the Radar Axis Alignment for the Master (LH) Radar unit.
Page 224: Point A
Vehicle Dynamics and Driver Assist Systems Point A Suspend a line with a plumb bob from the center of the rubber cap located in driver’s side torque box gauge hole, and mark Point A on the floor with tape. Torque Box Hole Point A Torque Box Hole 6-32...
Page 225: Point B
Vehicle Dynamics and Driver Assist Systems Point B Suspend a line with plumb bob from the center of the vehicle rear, and mark the center point on the floor with tape. 1. Remove the clip located in the vehicle center at the rear bumper. 2.
Page 226: Radar Reflector And Stand
Vehicle Dynamics and Driver Assist Systems Radar Reflector and Stand 5. Prepare SSTs J-51658 (Radar Reflector) and J-51662 (Stand). 6-39 Radar Reflector and Stand 6. Using the stand, set the Height of the Radar Reflector to the corresponding vehicle body style.
Page 227 Vehicle Dynamics and Driver Assist Systems 7. Suspend a line with plumb bob to align the rear of the Radar Reflector pyramid with the convergence point established by L1 and L2. 6-43 6-44 Radar Reflector Pyramid Radar Reflector and Stand 8.
Page 228: Subaru Select Monitor (Ssm) Work Support
Vehicle Dynamics and Driver Assist Systems Subaru Select Monitor (SSM) Work Support Once preparations are complete, the Radar Axis Alignment is executed using the Subaru Select Monitor (SSM). Note: Turn the Ignition switch to the ON position. Wait for 10 Seconds...
Page 229 Vehicle Dynamics and Driver Assist Systems After executing the Radar Axis Alignment, the system will determine the success of the alignment. If the result is “Successful” then repairs should be verified by test drive. 6-49 Radar Alignment SSMIII Messages Note: “Quantity of Object Reflection (dB)”...
Page 230 Vehicle Dynamics and Driver Assist Systems NOTES: May 2017...
Page 232 MSA5P2501C...

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