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Target Adjustment (One Time Recognition) [05/2023 - ]: Procedure

  1. SECURE APPROPRIATE AREA FOR PERFORMING LEARNING 
    1. Park the vehicle on a level surface.

      HINT: 

      • Make sure that the target recognition area of the forward recognition camera is free of objects which may be misrecognized as a target, such as overhead lights, windows, reflective objects, etc.
      • If there are any objects which may be misrecognized as a target behind the area where a target will be placed, prepare an appropriate object to block the background.
      GTY747342Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a 2 m (6.56 ft.)
      *b 1 m (3.28 ft.)
    2. Check the levelness of the ground.
      1. Check the levelness of the ground at the 2 points shown in the illustration.
        GTY752125Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        Levelness Check Point
      2. Place the level on each levelness check point and check that the air bubble of the level is centered.
        GTY579905Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
    3. Adjust the tire inflation pressure to the specified pressure.

      Refer to PROCEDURE - Step 2

    4. Clean the windshield glass.
  2. CREATE TARGET 
    1. When using a target SST or previously created target:
      1. Prepare SST.
        GTY972744Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        • SST: 09870-60000 
          1. 09870-60010
          2. 09870-60020
        • SST: 09870-6006009870-6110009870-62200 
    2. When not using a target SST or previously created target:
      NOTE:

      Do not laminate the target or attach reflective materials, such as clear adhesive tape, to its surface. If there are reflective areas on the surface of the target, they will appear white to the forward recognition camera and the target may not be recognized.

      GTY677393Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a Actual Target *b Target as Seen by forward recognition camera
      Reflective Object or Surface - -
      1. Print 3 copies of the illustration.
        GTY579587Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      2. Check that the dimensions are within the values shown in the illustration.
        GTY635592Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a 12 mm (0.472 in.) *b 60 mm (2.36 in.)
        *c 120 mm (4.72 in.) *d Blurry
        *e Distorted - -
        NOTE:
        • Make sure that the black areas of the target sheet are not glossy.
        • Make sure that the borders of the black and white areas on the target sheet are straight, and are not warped or blurry.

        HINT: 

        If the dimensions of the created target sheet are not within +/- 5 mm (0.197 in.) of the specified values, adjust the printer settings and reprint the target sheet so that the dimensions are as specified.

      3. Prepare a piece of cardboard and draw lines on it as shown in the illustration.
        GTY746705Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Cardboard *b 130 mm (5.12 in.) or more
        *c 730 mm (2.39 ft.) or more *d 297 mm (11.69 in.)
        *e 65 mm (2.56 in.) or more *f 90°
      4. Place the 3 target sheets on the cardboard with the black area of each at the top right and align the borders of the black and white areas with the lines as shown in the illustration.
        GTY698123Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Border of Black and White Area *b Line
      5. Securely attach the target sheets to the cardboard using double-sided tape.
        GTY783615Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Border of Black and White Area *b 297 mm (11.69 in.) +/- 3 mm (0.118 in.)
        NOTE:

        Do not attach reflective materials, such as clear adhesive tape, to the target sheet surface as this may affect target recognition.

      6. Remove SST (reflector) from SST (base stand).
        • SST: 09870-60000 
          1. 09870-60010
          2. 09870-60020
      7. Align the center of the target sheet with SST (reflector) and attach the target to SST (reflector) with double-sided tape.
      8. Install SST (reflector) to SST (base stand).
    3. Hang a weight with a pointed tip from the top center of the target sheet and align it with the mark-off line of SST (base stand) as shown in the illustration.
      GTY769594Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a String
      *b Weight
      *c Mark-off Line

      HINT: 

      • Make sure that the points (A), (B) and (C) of the target sheet are aligned with the string.
      • As SST may fall forward, make sure to place a weight on the base of SST.
    4. Move SST (reflector) up or down so that the center of the 3 target sheets is at the height shown in the illustration, and secure SST (reflector) in place.
      GTY785105Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a 1350 mm (53.15 in.)

      HINT: 

      If the center of the target sheet is not within +/- 6 mm (0.236 in.) of the height specified, adjust the position of SST (reflector) so that the height is as specified.

    5. Prepare an object to block the area behind the target. (If there are any objects which may be misrecognized as a target behind the area where a target will be placed.)
      1. When blocking the background by holding cardboard behind the target:
        GTY761542Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Cardboard *b 1160 mm (3.80 ft.) or more
        *c 560 mm (1.84 ft.) or more *d 580 mm (1.90 ft.) or more
        *e 280 mm (11.0 in.) or more - -
        1. Prepare a piece of cardboard with the dimensions shown in the illustration.

          HINT: 

          • Do not use cardboard that is bent or has a pattern or image on it.
          • Do not use cardboard which has a reflective surface or reflective objects attached to it.
          • Make sure to hold the cardboard in such a way that fingers are not within the target recognition area.
      2. When blocking the background using a light colored plain cloth:
        GTY763515Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Light Colored Plain Cloth *b Whiteboard or Equivalent
        *c 1160 mm (3.80 ft.) or more *d 560 mm (1.84 ft.) or more
        *e 580 mm (1.90 ft.) or more *f 280 mm (11.0 in.) or more
        1. Cover a whiteboard or equivalent with light colored plain cloth and secure it.

          HINT: 

          • Make sure to stretch the cloth to remove wrinkles before securing it.
          • Make sure that the target recognition area is free of clear adhesive tape, reflective surfaces and reflective objects.
  3. DETERMINE TARGET PLACEMENT POSITION 
    1. Hang a weight with a pointed tip from the center of the rear emblem, and mark the rear center point of the vehicle (point A) on the ground.
      GTY1243113Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a String *b Weight
      *c Center *d Bilateral Symmetry

      HINT: 

      Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.

    2. Hang a weight with a pointed tip from the center of the front emblem, and mark the front center point of the vehicle (point B) on the ground (placement position).
      GTY1241699Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      *a String *b Weight
      *c Center *d Bilateral Symmetry

      HINT: 

      Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.

    3. When using a laser line marker:
      NOTE:

      Do not look directly into the laser beam.

      1. Press the laser mode button on the laser line marker to activate the laser line emitters.
        GTY952816Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
      2. Align the laser beam ground marking point (cross portion) with point B.
        GTY1008496Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Ground Marking Point (Cross Portion)
      3. Align the center of the target panel with point A, and set the target panel so that it faces forward.
        GTY1008147Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Center Line *b Target Panel
      4. Adjust the position of the laser line marker so that the laser beam is aligned with the center line of the target panel.
      5. At point B, apply an approximately 200 mm (7.87 in.) piece of tape alongside the laser beam, centered on point B.
        GTY1007900Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Tape
      6. Mark point B again.
    4. When not using a laser line marker:
      1. Using tape and a string, create a line that connects point B to point A and extends at least 200 mm (7.87 in.) beyond the front center point of the vehicle (target position line).
        GTY750232Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a String *b Tape

        HINT: 

        • Make sure the string is taut when securing it with tape.
        • Lightly flick the string with your fingers several times to confirm that the string is aligned with point B.
  4. PERFORM FORWARD RECOGNITION CAMERA OPTICAL AXIS LEARNING 
    NOTE:
    • Close all of the doors.
    • Make sure that no one is inside the vehicle.
    • Do not lean on the vehicle.
    • Make sure that the headlights are turned off.
    • Make sure the vehicle is unloaded.
    1. Perform Recognition Camera/Target Position Memory.
      1. Connect the Techstream to the DLC3.
      2. Turn the engine switch to ON.
      3. Turn the Techstream on.
      4. Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera/Target Position Memory.

        Chassis > Front Recognition Camera > Utility 

        Tester Display
        Recognition Camera/Target Position Memory
      5. Press "Next".*1
      6. Confirm the conditions displayed on the screen and then press "Next".
      7. According to the display on the Techstream, enter the following values for each respective item.
        Item Value
        Target Height 1350 mm (53.15 in.)
        Target Distance 2107 mm (82.95 in.)
        Distance between Targets 297 mm (11.69 in.)
        Target Size 120 mm (4.72 in.)
        Pitch Offset Angle 0 deg.
      8. If "Recognition Camera/Target Position Memory has failed." is displayed on the Techstream screen, confirm the conditions displayed on the screen, then press "Yes" and repeat the procedure from *1.
      9. Press "Exit" to exit the Recognition Camera/Target Position Memory utility.
    2. Perform Recognition Camera Axis Adjust (target positioning).
      1. Position SST so that it is aligned with the target position line and the mark-off line is aligned with point B (placement position) as shown in the illustration.
        GTY743831Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
        *a Target Position Line
        *b Mark-off Line
      2. Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera Axis Adjust.

        Chassis > Front Recognition Camera > Utility 

        Tester Display
        Recognition Camera Axis Adjust
      3. Press "Next".
      4. Check that the values stored in the ECU are correct and then press "Next".
      5. If "Failed to read axis adjustment data" is displayed, perform Recognition Camera/Target Position Memory, and repeat the procedure from *1.
      6. Confirm the conditions displayed on the screen and then press "Next".
      7. Select "One time recognition" and then press "Next".
      8. Check that the target is placed at point B (placement position) and then press "Next".

        HINT: 

        If there are any objects which may be misrecognized as a target behind the area where a target will be placed, block the area behind the target with an appropriate object before pressing "Next".

      9. Perform the adjustment according to the display on the Techstream.
        NOTE:

        If an error code is displayed, perform troubleshooting according to the following table, then perform the adjustment again.

        Error No. Error Description Cause of Error Action to be Taken
        1 Target 1 (Center) malfunction
        • Center target cannot be recognized
        		 Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the vehicle)
        The values stored in recognition camera/target positions are correct
        The target height and placement points are appropriate
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        • There is an appropriate amount of light (brightness)
        • There are no reflective objects such as cellophane tape on the target or object used to conceal the background
        • The target is correctly orientated (black area positioned on top right)
        • Not in a backlight condition
        • The windshield glass is clean
        Check the camera installation condition
        (The camera is properly installed (completely installed) and has been installed after the cover is attached)
        2 Target 2 (Left) malfunction
        • Left target cannot be recognized
        		 Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the vehicle)
        The values stored in recognition camera/target positions are correct
        The target height and placement points are appropriate
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        • There is an appropriate amount of light (brightness)
        • There are no reflective objects such as cellophane tape on the target or object used to conceal the background
        • The target is correctly orientated (black area positioned on top right)
        • Not in a backlight condition
        • The windshield glass is clean
        Check the camera installation condition
        (The camera is properly installed (completely installed) and has been installed after the cover is attached)
        3 Target 3 (Right) malfunction
        • Right target cannot be recognized
        		 Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the vehicle)
        The values stored in recognition camera/target positions are correct
        The target height and placement points are appropriate
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        • There is an appropriate amount of light (brightness)
        • There are no reflective objects such as cellophane tape on the target or object used to conceal the background
        • The target is correctly orientated (black area positioned on top right)
        • Not in a backlight condition
        • The windshield glass is clean
        Check the camera installation condition
        (The camera is properly installed (completely installed) and has been installed after the cover is attached)
        1 and 4 displayed simultaneously Target 1 (Center) stuck malfunction
        • SST (Center Target) shaking during beam axis adjustment
        • Vehicle shaking during beam axis adjustment
        		 SST (Target) does not move due to the wind, etc.
        Adjust the vehicle so that it does not move
        • Do not enter the vehicle while beam axis adjustment is in progress
        • Do not lean on the vehicle during beam axis adjustment
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        2 and 4 displayed simultaneously Target 2 (Left) stuck malfunction
        • SST (Left Target) shaking during beam axis adjustment
        • Vehicle shaking during beam axis adjustment
        		 SST (Target) does not move due to the wind, etc.
        Adjust the vehicle so that it does not move
        • Do not enter the vehicle while beam axis adjustment is in progress
        • Do not lean on the vehicle during beam axis adjustment
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        3 and 4 displayed simultaneously Target 3 (Right) stuck malfunction
        • SST (Right Target) shaking during beam axis adjustment
        • Vehicle shaking during beam axis adjustment
        		 SST (Target) does not move due to the wind, etc.
        Adjust the vehicle so that it does not move
        • Do not enter the vehicle while beam axis adjustment is in progress
        • Do not lean on the vehicle during beam axis adjustment
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        5 Target position and interval malfunction
        • Detected target position and interval is incorrect
        		 The target height and placement points are appropriate
        There are no objects in the background that could be mistakenly detected as the target and the background is hidden
        9 FOE and role angle malfunction
        • Calculated parameter values are incorrect
        		 The target height and placement points are appropriate (The levelness of the placement area is within the specified value. (See SECURE APPROPRIATE AREA FOR PERFORMING LEARNING))
        The values stored in recognition camera/target positions are correct
        The camera is installed correctly (The camera is properly installed (completely installed) and has been installed after the cover is attached)
        10 Target outside recognition area
        • The target position captured by the camera is outside of the presumed viewing angle
        		 The values stored in recognition camera/target positions are correct
      10. Press "Exit" to exit the Recognition Camera Axis Adjust utility.
      11. Turn the engine switch off.
      12. Disconnect the Techstream from the DLC3.
    3. Forward recognition camera optical axis learning is complete.
    4. After optical axis adjustment completes, clear the following system vehicle control history entries.
      1. Clear vehicle control history (Dynamic radar cruise control system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

      2. Clear vehicle control history (Front camera system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

      3. Clear vehicle control history (Lane tracing assist system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

      4. Clear vehicle control history (Road sign assist system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

      5. Clear vehicle control history (Pre-collision system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

      6. Clear vehicle control history (Lighting system).

        Refer to VEHICLE CONTROL HISTORY (RoB) [05/2023 - ]

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