EyeSight
ES

EyeSight > General Description
LOCATION

For location, refer to “LOCATION” of “EyeSight (DIAGNOSTICS)” section. EyeSight (DIAGNOSTICS)>Electrical Component Location>LOCATION

EyeSight > General Description
COMPONENT
1. STEREO CAMERA

(1) | Washer | (4) | Cover ASSY stereo camera | Tightening torque: N·m (kgf-m, ft-lb)
(2) | Plate (adjuster) | (5) | Pre-collision brake OFF & lane departure warning OFF switch | T: | 5.5±1 (0.56±0.1, 4.1±0.7)
(3) | Camera ASSY | (6) | Cap |  |

EyeSight > General Description
CAUTION

- When performing service operation, refer to “Repair Contents” in “General Description”. REPAIR CONTENTS>Repair Contents

- Before disconnecting connectors of sensors or units, be sure to disconnect the ground terminal from the battery sensor. When replacing the audio and MFD parts provided with memory functions, record the memory contents before disconnecting the ground terminal from the battery sensor.

- Be careful of the following items. Failing to do so may cause the airbag system malfunction.

  - Yellow connectors and harnesses with yellow tapes around them are the connectors and harnesses for the airbag system. When using a tester on these circuits, follow the cautions of “AIRBAG SYSTEM”. AIRBAG SYSTEM>General Description>CAUTION

  - Be careful not to damage the airbag system wiring harness when servicing the electrical parts around the steering column.

- When removing, installing or replacing the VDCCM&H/U, VDCCM&H/U bracket, steering wheel or steering angle sensor (steering roll connector), perform “VSC(VDC) Centering Mode” of the VDC. VEHICLE DYNAMICS CONTROL (VDC)>VDC Control Module and Hydraulic Control Unit (VDCCM&H/U)>ADJUSTMENT > VDC SENSOR MIDPOINT SETTING MODE

- If the damage is found in the glass repair prohibited area, always replace the glass. Damage, dirt, aftermarket part installation or sticker attachment in the prohibited area can affect the recognition of stereo camera, and thereby the EyeSight function may not operate properly. CAUTION > CHECK WINDSHIELD GLASS INCLUDING PROHIBITED AREA FOR MODEL WITH HBA AND EyeSight

- When the suspension-related components have been removed, installed or replaced, or the wheel alignment is adjusted, perform “Clear Active Lane Keep System Learning Value”. EyeSight (DIAGNOSTICS)>Clear Active Lane Keep System Learning Value>OPERATION

EyeSight > General Description
PREPARATION TOOL
1. SPECIAL TOOL

ILLUSTRATION | TOOL NUMBER | DESCRIPTION | REMARKS
| 87599VA000 | RANDOM CHART | Used for adjusting stereo camera.
| — | SUBARU SELECT MONITOR 4 | Used for setting of each function and troubleshooting for electrical system. For detailed operation procedures, refer to “Help” of application.

2. GENERAL TOOL

TOOL NAME | REMARKS
Circuit tester | Used for measuring resistance, voltage and current.
DST-i | Used together with Subaru Select Monitor 4.
Clip remover | Used for removing clips.
Measure (5 m (16 ft) or more) | Used for adjusting stereo camera.
Leveling line
Plumb bob
Packing tape

EyeSight > Relay and Fuse
LOCATION

Fuse & relay box (F/B) | Fuse 7.5 A (stop light and brake switch, brake light relay) | (A)
Fuse 7.5 A (stereo camera) | (B)

For other related fuses, refer to the wiring diagram. WIRING SYSTEM>Power Supply Circuit>WIRING DIAGRAM

EyeSight > Relay and Fuse
INSPECTION
1. CHECK FUSE
1.

Remove the fuse and inspect visually.

2.

If the fuse is blown out, replace the fuse.

If the fuse is blown again, check the system wiring harness.

EyeSight > EyeSight System
WIRING DIAGRAM

Refer to “EyeSight System” in the wiring diagram. WIRING SYSTEM>EyeSight System>WIRING DIAGRAM

EyeSight > EyeSight System
INSPECTION
1. BASIC INSPECTION

For basic inspection, refer to “Basic Diagnostic Procedure” in the “EyeSight (DIAGNOSTICS)” section. EyeSight (DIAGNOSTICS)>Basic Diagnostic Procedure

2. SYSTEM BLOCK DIAGRAM

For system block diagram, refer to “System Block Diagram” in the “EyeSight (DIAGNOSTICS)” section. EyeSight (DIAGNOSTICS)>General Description>SYSTEM BLOCK DIAGRAM

3. MODULE I/O SIGNAL

For electrical specification, refer to “Control Module I/O Signal” of “EyeSight (DIAGNOSTICS)” section. EyeSight (DIAGNOSTICS)>Control Module I/O Signal>ELECTRICAL SPECIFICATION

EyeSight > EyeSight System
NOTE

For procedure of each component in the EyeSight system, refer to the respective section.

- Control module

  System control of the EyeSight is performed by each module. For procedure, refer to the following sections.

  - Engine control module (ECM): FUEL INJECTION (FUEL SYSTEMS)(H4DO)>Engine Control Module (ECM)

  - Transmission control module (TCM): CONTINUOUSLY VARIABLE TRANSMISSION(TR580)>Transmission Control Module (TCM)

  - VDC control module & hydraulic control unit (VDCCM&H/U): VEHICLE DYNAMICS CONTROL (VDC)>VDC Control Module and Hydraulic Control Unit (VDCCM&H/U)

  - Power steering control module: POWER ASSISTED SYSTEM (POWER STEERING)>Power Steering Control Module

  - Body integrated unit: SECURITY AND LOCKS>Body Integrated Unit

  - Reverse Automatic Braking CM: Reverse Automatic Braking>Reverse Automatic Braking CM

  - Headlight beam leveler control module: LIGHTING SYSTEM>Auto Headlight Beam Leveler Control Module

  - Driver monitoring unit: INSTRUMENTATION/DRIVER INFO>Driver Monitoring Unit

- Stereo camera: EyeSight>Stereo Camera

- Combination meter: INSTRUMENTATION/DRIVER INFO>Combination Meter

- Multi-function display (MFD): INSTRUMENTATION/DRIVER INFO>Multi-function Display (MFD)

- Stop light and brake switch: BRAKE>Stop Light Switch

- Switches and harness: EyeSight>Switches and Harness

- Roll connector (steering angle sensor): AIRBAG SYSTEM>Roll Connector

EyeSight > Control Unit
NOTE

System control of the EyeSight is performed by each module. For procedure, refer to the following sections.

- Engine control module (ECM): FUEL INJECTION (FUEL SYSTEMS)(H4DO)>Engine Control Module (ECM)

- Transmission control module (TCM): CONTINUOUSLY VARIABLE TRANSMISSION(TR580)>Transmission Control Module (TCM)

- VDC control module & hydraulic control unit (VDCCM&H/U): VEHICLE DYNAMICS CONTROL (VDC)>VDC Control Module and Hydraulic Control Unit (VDCCM&H/U)

- Power steering control module: POWER ASSISTED SYSTEM (POWER STEERING)>Power Steering Control Module

- Body integrated unit: SECURITY AND LOCKS>Body Integrated Unit

- Reverse Automatic Braking CM: Reverse Automatic Braking>Reverse Automatic Braking CM

- Headlight beam leveler control module: LIGHTING SYSTEM>Auto Headlight Beam Leveler Control Module

- Driver monitoring unit: INSTRUMENTATION/DRIVER INFO>Driver Monitoring Unit

EyeSight > Stereo Camera
REMOVAL

- When the stereo camera or windshield glass has been replaced, removed or installed, always perform the adjustment and inspection of the camera. (When the stereo camera has been replaced with a new part, the camera remains in a failed state until adjustment and inspection are performed.)

- Since the stereo camera is a precision equipment, install the protective cover before handling it. (New stereo camera is equipped with a protective cover as a service part.)

- During removal, do not hold at the left and right cameras.

- Do not apply any impact to the stereo camera. Even the slightest shock will deviate the optical axis of the camera, resulting in the loss of normal operation of the camera.

- Avoid hitting the stereo camera cover assembly. Hitting may apply impact to the stereo camera.

- Do not disassemble the stereo camera.

- Attach the protective cover to the replacement part, put it into the box in the same way as the other parts and return it.

- Do not touch the lens filter on the stereo camera. If touched, replace the stereo camera.

- When removing the stereo camera cover assembly, cover with dust-free paper such as copy paper to avoid interference with the lens filter section, and attach the paper using tape while being careful not to let the adhesive surface contact the glass surface. Be sure to remove the paper after the procedure.

  Also, do not put your hand on the polyurethane section of the windshield contact surface. Doing so may cause the polyurethane section to be removed, which may interfere with the normal operation if it hangs down in front of the lens filter section.

1.

Disconnect the ground terminal from battery sensor. REPAIR CONTENTS>NOTE > BATTERY

2.

Attach dust-free paper (a) such as copy paper to the cover assembly stereo camera.

3.

Remove the cover assembly stereo camera.

(1)

Disconnect the claws and hooks and remove the cap.

(2)

Remove the bolt.

(3)

Slowly pull down the rear of the cover assembly stereo camera, and then release the clips and claws. (1)

(4)

Slide the cover assembly stereo camera toward the windshield glass, and detach the front hook. (2)

(5)

Disconnect the connectors, and remove the cover assembly stereo camera.

4.

Remove the camera assembly.

Handle the camera assembly with special care.

(1)

Disconnect the connector.

(2)

Remove the nuts, and then remove the camera assembly.

5.

Remove the plate (adjuster).

(1)

Remove the bolts, then remove the plate (adjuster).

EyeSight > Stereo Camera
INSTALLATION

- Do not remove the protective cover until just before installing the stereo camera cover assembly. Using the bolt and nut, install the stereo camera with the protective cover attached, connect the connectors, and then remove the protective cover.

- During installation, do not hold at the left and right cameras.

- Do not change the installation position of the stereo camera or do not modify the surrounding structure.

- Remove the protective cover, install the stereo camera cover assembly, and then perform adjustment and inspection of the stereo camera. EyeSight>Camera Adjustment, Inspection

- Do not touch the lens filter on the stereo camera. If touched, replace the stereo camera.

- Do not apply any impact to the stereo camera. Even the slightest shock will deviate the optical axis of the camera, resulting in the loss of normal operation of the camera.

- Avoid hitting the stereo camera cover assembly. Hitting may apply impact to the stereo camera.

- When installing the stereo camera cover assembly, cover with dust-free paper such as copy paper to avoid interference with the lens filter section, and attach the paper using tape while being careful not to let the adhesive surface contact the glass surface. Be sure to remove the paper after the procedure.

  Also, do not put your hand on the polyurethane section of the windshield contact surface. Doing so may cause the polyurethane section to be removed, which may interfere with the normal operation if it hangs down in front of the lens filter section.

- When installing the stereo camera cover assembly, take care so that the harness or other similar parts do not interfere with the stereo camera or do not get caught.

- Do not allow the stereo camera cover assembly to come in contact with the stereo camera. Install the stereo camera cover assembly precisely so that it will not block the visibility of the camera.

- Because the stereo camera is incompatible, be sure to check the part number before installation.

1.

Install the plate (adjuster).

Tightening torque:

5.5±1 N·m (0.56±0.1 kgf-m, 4.1±0.7 ft-lb)

Align the positioning pins of plate (adjuster) to the positioning holes of front rail.

2.

Install the camera assembly.

Tightening torque:

5.5±1 N·m (0.56±0.1 kgf-m, 4.1±0.7 ft-lb)

Align the positioning holes of camera assembly to the positioning pins of camera plate.

3.

Install the cover assembly stereo camera.

(1)

Connect each connector.

(2)

Place the front hook of the cover assembly stereo camera over the plate (adjuster) so that the hook catches the plate, and slide it towards the rear side of the vehicle.

(3)

Push the section (a) of the cover assembly stereo camera upward and engage the clips and claws to install the cover assembly stereo camera.

Tightening torque:

5.5±1 N·m (0.56±0.1 kgf-m, 4.1±0.7 ft-lb)

(4)

Install cap.

4.

Connect the ground terminal to battery sensor. REPAIR CONTENTS>NOTE > BATTERY

5.

Remove the paper affixed on the cover assembly stereo camera.

6.

Visually check from the vehicle front that the lens portion of stereo camera is set in the center of the cover assembly stereo camera opening.

If the lens portion of stereo camera is not centered and the gap to the cover assembly stereo camera is large, check the installation condition of cover assembly stereo camera.

7.

Perform the adjustment or inspection of the stereo camera. EyeSight>Camera Adjustment, Inspection

EyeSight > Camera Adjustment, Inspection
PROCEDURE

- Perform the stereo camera adjustment and inspection at curb weight without passengers.

- Handle RANDOM CHART (ST) carefully so as not to break it with the adhesive force of the tape.

Perform inspection or adjustment according to the following procedures.

- Readjustment of stereo camera

  Perform the adjustment in the following order: [1. Preparations] → [4. Camera all adjustment mode (replacement/removal)] → [5. Automatic adjustment and function check by driving].

- Replacement of stereo camera

  Perform the replacement in the following order: [1. Preparations] → [2. Vehicle Model Information Registration] → [3. Adjustment value clear] → [4. Camera all adjustment mode (replacement/removal)] → [5. Automatic adjustment and function check by driving].

- When the stereo camera or windshield glass has been removed or installed, always perform readjustment of the stereo camera.

- If camera adjustment and inspection are started when the model information is not registered, NG termination will occur because the implementation conditions are not met.

1. PREPARATIONS

Perform the preparation of the adjustment and inspection for the stereo camera.

•
WHEN PERFORMING ADJUSTMENT OR INSPECTION BY AFFIXING RANDOM CHART ONTO PARTITION
1.

Before preparation, check the following items.

(1)

The headlight is off.

(2)

The vehicle is parked on a level surface.

(3)

The inflation pressure of tires is correct.

(4)

The vehicle does not have load.

(5)

The front wheels are directed to the straight ahead position, when the steering wheel is set to the center position.

When the front wheels are not directed to the straight ahead position, adjust the alignment. FRONT SUSPENSION>Wheel Alignment>ADJUSTMENT

2.

Prepare the Subaru Select Monitor, measure, plumb bob, leveling line and RANDOM CHART (ST).

Preparation tool:

ST: RANDOM CHART (87599VA000)

3.

Place the vehicle on a level surface, where approximately 5 m (16.41 ft) space can be secured in front of the vehicle.

4.

Suspend the plumb bob with leveling line from front center position of vehicle (center clip of under cover), and mark the position where the plumb bob touches the ground. (Point A)

(a) | Point A | (b) | Plumb bob | (c) | Leveling line

Stick the packing tape etc. on the floor, then make a marking on the tape.

5.

Suspend the plumb bob with leveling line from rear center position of vehicle (center of rear ornament), and mark the position where the plumb bob touches the ground. (Point B)

(a) | Point B | (b) | Plumb bob | (c) | Leveling line

Stick the packing tape etc. on the floor, then make a marking on the tape.

6.

Strain approximately 5 m (16.41 ft) leveling line from the marking point B through the marking point A toward front of the vehicle, and fix it with packing tape. (A-B line)

(a) | Point A | (b) | Point B | (c) | Leveling line

Confirm that there is no wet condition or unevenness on the floor, to strain the leveling line correctly.

7.

Mark the installation position of the partition.

(1)

Suspend the plumb bob from the center of each front wheel, and mark the point C and point D.

(2)

Strain the leveling lines from the point C and point D toward the front of vehicle parallel to the vehicle body center line (A-B line), and fix the leveling lines with packing tape.

(3)

Make markings at the points 4,000 mm (13 ft, 1 1/2 in) ahead of the vehicle from the point C and point D. (Point E and point F)

(4)

Strain the leveling line so that it passes through the point E and point F. (E-F line)

(a) | Vehicle body center line (A-B line) | (c) | Point C | (e) | Point E
(b) | 4,000 mm (13 ft, 1 1/2 in) | (d) | Point D | (f) | Point F

8.

Place the partition and RANDOM CHART.

- Affix the RANDOM CHART onto the vertical partition with flat surface.

- When affixing the RANDOM CHART using tape, place the tape within 10 mm (0.39 in) from the edge of the CHART. In this case, do not affix with lustrous tapes which may reflect the light.

- Perform the adjustment work at lighted places. If the lighting is not enough, adjustment cannot be done, and accuracy rate may not be acquired.

- The adjustment in the outdoors cannot be recommended. Note the sun position, when adjusting it in outdoor. (It is not acceptable when the sunlight comes from front or rear of the vehicle)

(1)

Using the plumb bob, attach the RANDOM CHART on the partition, so that the setting reference (vertical line) center is aligned with the vehicle body center line (leveling line) and the height of the setting reference (horizontal line) center from the floor is 1,000 mm (3 ft, 3 3/8 in).

(2)

Adjust the partition so that it is parallel to E-F line.

(a) | = Setting reference (vertical line) and vehicle body center line (A-B line) | (c) | Plumb bob | (e) | 1,000 mm (3 ft, 3 3/8 in)
(b) | = Setting reference (horizontal line) | (d) | E-F line |  |

- Centering accuracy of the plumb bob shall be ±4 mm (±0.16 in) or less.

  (a) | ±4 mm (±0.16 in) | (b) | Marking | (c) | Plumb bob

- Positioning accuracy of the measure shall be ±2 mm (±0.08 in) or less.

- Centering accuracy of the tire shall be ±4 mm (±0.16 in) or less.

  (a) | ±4 mm (±0.16 in) | (c) | Plumb bob | (d) | Marking
  (b) | Tire center line |  |  |  |

- Apply the lighting from the upper direction of RANDOM CHART, and make adjustment so that brightness is even in the CHART. (If the lighting is applied from the position where light reflects at RANDOM CHART, the adjustment cannot be done, because the reflected light enters the camera.)

  (a) | RANDOM CHART | (b) | Lighting |  |

- When using a white board as a partition, affix the RANDOM CHART on the flat surface without protrusion such as penholder. When suspending the plumb bob, suspend it vertically from the RANDOM CHART by avoiding protrusion.

  (a) | RANDOM CHART | (c) | Protrusion (penholder, etc.) | (e) | Vehicle travel direction
  (b) | White board | (d) | Plumb bob |  |

9.

Turn the ignition switch to OFF.

10.

Check the windshield glass and the dashboard. EyeSight (DIAGNOSTICS)>General Description>INSPECTION > WINDSHIELD GLASS AND DASHBOARD

If there are any dirt, object or reflection from dashboard within the visibility of stereo camera, the correct adjustment and inspection can not be performed. Especially, do not put paper etc. on the dashboard.

11.

Connect the Subaru Select Monitor.

12.

Turn the ignition switch to ON.

13.

Wait for 10 seconds.

14.

On [Start] screen, select [Diagnosis].

15.

On [Vehicle selection] screen, enter vehicle information and select [OK].

16.

On [Main Menu] screen, select [Each System].

17.

On the [Select System] screen, select [EyeSight], and then select [Next] while pressing the pre-collision brake OFF switch and the lane departure warning OFF switch mounted on the stereo camera cover assembly at the same time.

If [EyeSight] is selected without pressing two switches at the same time, the camera adjustment items are not displayed in [Work Support]. (For preventing misoperation)

Also, the message is not displayed, when the camera does not finish the start-up (approx. 10 seconds after ignition switch ON). In that case, repeat from the selection of [EyeSight].

18.

On [Select Function] screen, select [Work Support].

19.

From the work support item list, select and perform camera adjustment or other inspections.

- When performing the camera adjustment and inspection, pre-collision brake OFF indicator light, lane departure warning OFF indicator light in the meter will illuminate, and the normal function will be disabled.

- After camera adjustment, the function will be enabled, when the ignition switch is turned to OFF and system is restarted.

WHEN PERFORMING ADJUSTMENT OR INSPECTION BY AFFIXING RANDOM CHART ONTO WALL
1.

Before preparation, check the following items.

(1)

The headlight is off.

(2)

The vehicle is parked on a level surface.

(3)

The inflation pressure of tires is correct.

(4)

The vehicle does not have load.

(5)

The front wheels are directed to the straight ahead position, when the steering wheel is set to the center position.

When the front wheels are not directed to the straight ahead position, adjust the alignment. FRONT SUSPENSION>Wheel Alignment>ADJUSTMENT

2.

Prepare the Subaru Select Monitor, measure, plumb bob, leveling line and RANDOM CHART (ST).

Preparation tool:

ST: RANDOM CHART (87599VA000)

3.

Mark the park position of the vehicle.

(1)

Strain the leveling line so that it is at right angles to wall on which the RANDOM CHART is affixed, and fix the leveling line with packing tape.

(2)

Make a marking 4,000 mm (13 ft, 1 1/2 in) away from the wall where the leveling line is fixed. (Point A and point B)

Stick the packing tape etc. on the floor, then make a marking on the tape.

(3)

Strain the leveling line so that it passes through the point A and point B. (A-B line)

(a) | Point A | (c) | 4,000 mm (13 ft, 1 1/2 in) | (d) | Wall
(b) | Point B |  |  |  |

4.

Suspend the plumb bob from the center of each front wheel of the vehicle, and place the vehicle so that it is aligned with the leveling line (A-B line).

5.

Suspend the plumb bob with leveling line from front center position of vehicle (center clip of under cover), and mark the position where the plumb bob touches the ground. (Point C)

(a) | Point C | (c) | Plumb bob | (e) | Leveling line

Stick the packing tape etc. on the floor, then make a marking on the tape.

6.

Suspend the plumb bob with leveling line from rear center position of vehicle (center of rear ornament), and mark the position where the plumb bob touches the ground. (Point D)

(a) | Point D | (b) | Plumb bob | (c) | Leveling line

Stick the packing tape etc. on the floor, then make a marking on the tape.

7.

Strain the leveling line from the making point D through the marking point C to the wall, and fix it with packing tape. (C-D line)

(a) | Point C | (b) | Point D | (c) | Leveling line

8.

Place the RANDOM CHART.

- Affix the RANDOM CHART onto the vertical wall, etc. with flat surface.

- When affixing the RANDOM CHART using tape, place the tape within 10 mm (0.39 in) from the edge of the CHART. In this case, do not affix with lustrous tapes which may reflect the light.

- Perform the adjustment work at lighted places. If the lighting is not enough, adjustment cannot be done, and accuracy rate may not be acquired.

- The adjustment in the outdoors cannot be recommended. Note the sun position, when adjusting it in outdoor. (It is not acceptable when the sunlight comes from front or rear of the vehicle)

(1)

Using the plumb bob, attach the RANDOM CHART on a wall, so that the setting reference (vertical line) center is aligned with the vehicle body center line (leveling line) and the height of the setting reference (horizontal line) center from the floor is 1,000 mm (3 ft, 3 3/8 in).

(a) | Vehicle body center line (C-D line) | (b) | Wall | (c) | Setting reference (vertical line)

(a) | = Setting reference (vertical line) and vehicle body center line (C-D line) | (c) | Plumb bob | (e) | 1,000 mm (3 ft, 3 3/8 in)
(b) | = Setting reference (horizontal line) | (d) | Floor |  |

- Centering accuracy of the plumb bob shall be ±4 mm (±0.16 in) or less.

  (a) | ±4 mm (±0.16 in) | (b) | Marking | (c) | Plumb bob

- Positioning accuracy of the measure shall be ±2 mm (±0.08 in) or less.

- Centering accuracy of the tire shall be ±4 mm (±0.16 in) or less.

  (a) | ±4 mm (±0.16 in) | (c) | Plumb bob | (d) | Marking
  (b) | Tire center line |  |  |  |

- Apply the lighting from the upper direction of RANDOM CHART, and make adjustment so that brightness is even in the CHART. (If the lighting is applied from the position where light reflects at RANDOM CHART, the adjustment cannot be done, because the reflected light enters the camera.)

  (a) | RANDOM CHART | (b) | Lighting |  |

9.

Turn the ignition switch to OFF.

10.

Check the windshield glass and the dashboard. EyeSight (DIAGNOSTICS)>General Description>INSPECTION > WINDSHIELD GLASS AND DASHBOARD

If there are any dirt, object or reflection from dashboard within the visibility of stereo camera, the correct adjustment and inspection can not be performed. Especially, do not put paper etc. on the dashboard.

11.

Connect the Subaru Select Monitor.

12.

Turn the ignition switch to ON.

13.

Wait for 10 seconds.

14.

On [Start] screen, select [Diagnosis].

15.

On [Vehicle selection] screen, enter vehicle information and select [Set].

16.

On [Main Menu] screen, select [Each System].

17.

On the [Select System] screen, select [EyeSight], and then select [Next] while pressing the pre-collision brake OFF switch and the lane departure warning OFF switch mounted on the stereo camera cover assembly at the same time.

If [EyeSight] is selected without pressing two switches at the same time, the camera adjustment items are not displayed in [Work Support]. (For preventing misoperation)

Also, the message is not displayed, when the camera does not finish the start-up (approx. 10 seconds after ignition switch ON). In that case, repeat from the selection of [EyeSight].

18.

On [Select Function] screen, select [Work Support].

19.

From the work support item list, select and perform camera adjustment or other inspections.

- When performing the camera adjustment and inspection, pre-collision brake OFF indicator light, lane departure warning OFF indicator light in the meter will illuminate, and the normal function will be disabled.

- After camera adjustment, the function will be enabled, when the ignition switch is turned to OFF and system is restarted.

2. VEHICLE INFORMATION REGISTRATION

Perform when replacing stereo camera. (Do not perform when performing stereo camera re-adjustment and inspection)

Register the vehicle information according to the procedure of “Selection of Parameter”, and confirm the vehicle information content in “Confirm on parameter”.

PARAMETER SELECTION

- To check the applied model, refer to the “Model number plate” attached to the vehicle. IDENTIFICATION

- If you entered a wrong applied model, you can re-write it.

1.

Connect the Subaru Select Monitor.

2.

On [Start] screen, select [Diagnosis].

3.

On [Vehicle selection] screen, enter vehicle information and select [Confirmed].

4.

On [Main Menu] screen, select [Each System].

5.

On [Select System] screen, select [EyeSight], and then select [Enter].

6.

On [Select Function] screen, select [Work Support].

7.

On the work support item list, select [Selection of Parameter].

8.

Check the applied model and option code indicated on the “Model number plate”. IDENTIFICATION

9.

Enter the applied model (alphanumeric characters) and press the Enter key.

10.

When the option code input screen appears after entering the applied model, enter the option code (alphanumeric characters), and press the Enter key.

11.

When the confirmation screen indicating the vehicle information appears, check that the correct applied model and option code are displayed and click the [OK] button.

When the displayed applied model and option code are different from those of the vehicle, click the [OK] button and then perform the registration operation again.

Note that checking the digit corresponding to option code is not required if “∗” or “_” is displayed for option code.

PARAMETER CHECK

The parameter data registered in the stereo camera is shown on the display.

1.

Connect the Subaru Select Monitor.

2.

On [Start] screen, select [Diagnosis].

3.

On [Select Vehicle] screen, enter vehicle information and select [Set].

4.

On [Main Menu] screen, select [Each System].

5.

On [Select System] screen, select [EyeSight], and then select [Enter].

6.

On [Select Function] screen, select [Work Support].

7.

On the work support item list, select [Confirm on parameter].

8.

On the [Confirm on parameter] screen, check that the applied model and option code for the relevant vehicle are displayed, and click the [OK] button.

9.

If the applied model and option code for the relevant vehicle are not displayed on the [Confirm on parameter] screen, perform parameter selection and registration.

Note that checking the digit corresponding to option code is not required if “∗” or “_” is displayed for option code.

3. ADJUSTMENT VALUE CLEAR

Perform when replacing stereo camera. (Do not perform when performing stereo camera re-adjustment and inspection)

1.

On the work support item list, select [Clear adjustment value].

2.

When [Make the following adjustment/inspection. Please push OK if ready. If you finish the camera adjustment/inspection mode, you push cancel sw, and turn off IGN SW.] is displayed, select [OK] if preparation is ready.

3.

After [Clear the adjustment value. CAUTION! Perform this only under the conditions listed in the service manual.] is displayed, select [OK].

4.

When [Clearing adjustment value...] is displayed, wait until it finishes.

5.

When the adjustment value clear operation is finished correctly, [Adjustment value clear OK! Adjustment value clear is completed. Please to IG OFF more than 5 seconds. (CODE &BYTE03)] is displayed. Select [OK] to finish.

6.

Turn the ignition switch to OFF and wait for approx. 5 seconds or more.

If the ignition switch OFF period is short, the adjustment value clear operation cannot be performed correctly.

7.

Next, perform the camera all adjustment mode (replacement/removal). EyeSight>Camera Adjustment, Inspection>PROCEDURE > CAMERA ALL ADJUSTMENT MODE (REPLACEMENT/REMOVAL)

4. CAMERA ALL ADJUSTMENT MODE (REPLACEMENT/REMOVAL)

Perform this procedure when the stereo camera is replaced or re-adjustment is necessary (when stereo camera malfunctioning, when stereo camera reinstalled, when windshield glass replaced).

- When the stereo camera is replaced, be sure to perform the adjustment value clear operation first. When the adjustment value clear operation was skipped, restart the procedure from the adjustment value clear operation again. EyeSight>Camera Adjustment, Inspection>PROCEDURE > ADJUSTMENT VALUE CLEAR

- Perform the stereo camera adjustment and inspection at curb weight without passengers.

- When the camera all adjustment mode is performed, the procedures must be completed correctly to the end. Otherwise, the warning is displayed on the meter LCD when the vehicle moves.

1.

On the work support item list, select [Camera all adjustment mode (replacement/removal)].

2.

When [Make the following adjustment/inspection. Please push OK if ready. If you finish the camera adjustment/inspection mode, you push cancel sw, and turn off IGN SW.] is displayed, select [OK] if preparation is ready.

3.

When [In process...] is displayed, wait until it finishes.

4.

When the accuracy rate inspection is finished correctly, and [Accuracy rate % OK!] is displayed, select [OK] to go to step 9).

5.

When [Distance inspection NG! Distance inspection abnormal. Reconfirm distance from vehicle to chart. If distance is OK, press "OK" to continue. Perform distance correction & accuracy rate check If distance is NG, press "Cancel". Correct distance installation and start over again ( CODE 03-2 )] is displayed, refer to the NOTE below.

Distance check and adjustment of RANDOM CHART EyeSight>Camera Adjustment, Inspection>PROCEDURE > PREPARATIONS

6.

When [Perform distance correction. CAUTION! Perform only at the time of distance inspection NG (CODE 03-2).] is displayed, select [OK]. When the distance correction is finished correctly, and [Distance correction OK! Distance correction has been completed normally. Perform accuracy rate inspection again.] is displayed, select [OK] and go to the accuracy rate inspection.

7.

When [Perform accuracy rate inspection.] is displayed, select [OK]. When the accuracy rate inspection is finished correctly, and [Accuracy rate &INT03% OK! Camera inspection has been completed normally. To save and apply adjustment, inspection results, turn OFF ignition SW more than 5 seconds.] is displayed, select [OK] to go to the next step.

8.

When [ NG!] is displayed during adjustment, refer to the NOTE below.

For details on the displayed items, refer to the following list. Check the list items, and if the same NG item is displayed even when camera adjustment and inspection are performed again, replace the stereo camera.

LIST

Error code | Display | Check items on error | Remarks
1401 | [Vehicle State • Environment NG!] | Check body integrated unit. | —
1402 | [Vehicle Model Information Registration NG!] | Confirm the part numbers and parameters (variant setting information) of EyeSight system components, and reconfirm that the unit should be installed to that vehicle. To confirm the components, check each item. | —
1403 | [Optical Axis Contrast NG!] | Make sure that the stereo camera cover assembly is installed correctly. There should be no obstacles that blocks the stereo camera. Stereo camera and camera plate are assembled with no gap. Random chart for ver. 3 must be used. There should be no obstacles that blocks the random chart. Random chart must be set correctly for the vehicle. Grid pattern of random chart should not be dirty or damaged. Lighting circumstance for random chart should be normal. Make sure that the headlight is off. There should be no objects (reflection) on the instrument panel. Dirt should not adhere to the windshield or the lens filter of the stereo camera. There should be no crack on the windshield. Detecting measures for the error codes 1403, 1404, 1405, 1406 and 1407 are different. Check items on error with high relevance are shown in the remarks. | Highly relevant with the check items 1 to 12.
1404 | [Optical Axis Target Detection NG!] | Highly relevant with the check items 4, 6, 7, 8, 9, 10, 11 and 12.
1405 | [Optical Axis Target Detection NG!] | Highly relevant with the check items 4, 6, 7, 8, 9, 10, 11 and 12.
1406 | [Optical Axis Right and Left Target Detection NG!] | Highly relevant with the check items 1 to 12.
1407 | [Out of the Optical Axis Adjustment Range NG!] | Highly relevant with the check items 3 and 6.
1408 | [Optical axis adjustment Upward inclination NG!] | Random chart must be set correctly for the vehicle. Camera adjustment and inspection are performed with the vehicle at curb weight. There should be no malfunction in the suspension. If there are no problems above, perform washer adjustment so that optical axis turns downward. | —
1409 | [Optical axis adjustment Downward inclination NG!] | Random chart must be set correctly for the vehicle. Camera adjustment and inspection are performed with the vehicle at curb weight. There should be no malfunction in the suspension. If there are no problems above, perform washer adjustment so that optical axis turns upward. | —
140A | [Rough Adjustment Matching NG!] | Make sure that the stereo camera cover assembly is installed correctly. There should be no obstacles that blocks the stereo camera. Stereo camera and camera plate are assembled with no gap. There should be no obstacles that blocks the random chart. Random pattern of random chart should not be dirty or damaged. Lighting circumstance for random chart should be normal. There should be no objects (reflection) on the instrument panel. Dirt should not adhere to the windshield or the lens filter of the stereo camera. There should be no crack on the windshield. Detecting measures for the error codes 140A, 140B and 140C are different. Check items on error with high relevance are shown in the remarks. | Highly relevant with the check items 1 to 9.
140B | [Coarse adjustment NG!] | Highly relevant with the check items 3, 5, 7 and 9.
140C | [Coarse adjustment NG!] | Highly relevant with the check items 3, 5, 7 and 9.
140E | [Inspection range field of view NG!] | Make sure that the stereo camera cover assembly is installed correctly. There should be no obstacles that blocks the random chart. Random pattern of random chart should not be dirty or damaged. Lighting circumstance for random chart should be normal. There should be no objects (reflection) on the instrument panel. Dirt should not adhere to the windshield or the lens filter of the stereo camera. There should be no crack on the windshield. Windshield for EyeSight should be assembled. | —
140F | [Distance inspection NG!] | Distance from random chart to wheel center of the vehicle should be 4,000 mm (13.12 ft). Lighting circumstance for random chart should be normal. | —
1410 | [Accuracy rate 00% NG!] | Lighting circumstance for random chart should be normal. Random pattern of random chart should not be dirty or damaged. There should be no objects (reflection) on the instrument panel. Dirt should not adhere to the windshield or the lens filter of the stereo camera. There should be no crack on the windshield. | —
1501 | [Distance correction NG!] | When [Distance inspection NG!] is displayed and distance correction is performed without inspection, check the following. Distance from random chart to wheel center of the vehicle should be 4,000 mm (13.12 ft). Lighting circumstance for random chart should be normal. | —

- Washer adjustment: EyeSight>Camera Adjustment, Inspection>PROCEDURE > WASHER ADJUSTMENT

- Basic inspection items: EyeSight (DIAGNOSTICS)>General Description>INSPECTION

- Camera adjustment and inspection preparation items: EyeSight>Camera Adjustment, Inspection>PROCEDURE > PREPARATIONS

9.

Turn the ignition switch to OFF and wait for approx. 10 seconds. (Time necessary to save adjustment and inspection result)

- If the ignition switch OFF period after adjustment and inspection finished is short, the adjustment and inspection result cannot be saved correctly. The warning is displayed on the meter LCD, when the vehicle moves.

- When camera adjustment and inspection begin, normal recognition process stops and the warning is displayed on the meter LCD. The warning display will be cleared by turning the ignition switch OFF → ON.

- If the steering wheel is operated many times during adjustment and inspection preparation, the power steering control module is overheated. Therefore, you may have to wait for at least 10 seconds after turning the ignition switch to OFF.

10.

Turn the ignition switch to ON. Make sure the [Aiming Completion Status] of [Data Monitor] is [Exit] using Subaru Select Monitor.

11.

Perform the clear memory, and turn the ignition switch to OFF.

12.

Subsequently perform the automatic adjustment and function check by a test driving. EyeSight>Camera Adjustment, Inspection>PROCEDURE > AUTOMATIC ADJUSTMENT AND FUNCTION CHECK BY DRIVING

5. AUTOMATIC ADJUSTMENT AND FUNCTION CHECK BY DRIVING

Make sure to perform the automatic adjustment and function check by driving after replacing or readjusting the stereo camera and windshield for securing the stereo camera recognition accuracy.

The automatic adjustment and function check by driving can adjust the stereo camera more in detail in addition to the stereo camera adjustment using RANDOM CHART.

1.

Perform this procedure after finishing stereo camera adjustment and inspection.

2.

Connect the Subaru Select Monitor.

3.

On [Start] screen, select [Diagnosis].

4.

On [Select Vehicle] screen, enter vehicle information and select [Confirmed].

5.

On [Main Menu] screen, select [Each System].

6.

On [Select System] screen, select [EyeSight], and then select [Next].

7.

On [Select Function] screen, select [Data monitor].

8.

From the data monitor item list, select [Automatic Adjustment Status].

9.

Drive the vehicle until [Automatic adjustment status] displays [0F], [1F], [2F] or [3F].

- For the automatic adjustment, drive the vehicle on straight road with white lines on both sides at a speed of 40 km/h (25 MPH) or more for at least five minutes, while maintaining distance from the preceding vehicle 40 m (132 ft) or more.

- Maintain the following conditions until [Automatic Adjustment Status] displays [0F], [1F], [2F] or [3F].

  - Turn the active lane keep and cruise main to OFF.

  - Hold down the pre-collision brake OFF switch for two seconds to turn OFF the pre-collision brake function.

Display | Contents | Unit of measure | Note (at idling)
[Automatic adjustment status] | Index for automatic adjustment operation performed by the driving test after the completion of the optical axis adjustment | — | [0F], [1F], [2F] or [3F] is displayed when completed.

- It may takes long until [0F], [1F], [2F] or [3F] is displayed depending on the road condition etc.

- For new vehicles, [00] may be displayed. A test-drive is not necessary before delivery because high-accuracy camera adjustment and inspection setting has been performed at the factory.

10.

From the data monitor item list, display [Lane recognition status] to check if any of the following appears.

When driving does not continue until [0F], [1F], [2F] or [3F] is displayed, it may take long before recognition completes.

- Recognizing white lines on both sides during driving at 40 km/h (25 MPH) or more: [03]

- Recognizing white lines with lane width of 3 m (10 ft) or more on both sides during driving at 60 km/h (37 MPH) or more: [05]

Display | Contents | Unit of measure | Note (at idling)
[Lane Recognition Status] | Display of lane recognition status | — | Recognized when vehicle lane can be seen by 20 m (66 ft) or more.

11.

From the data monitor item list, display [Preceding vehicle distance] to check if the distance from the preceding vehicle is approximately the same.

6. WASHER ADJUSTMENT
1.

Turn the ignition switch to OFF.

2.

Detach the stereo camera cover assembly, and remove the stereo camera. EyeSight>Stereo Camera>REMOVAL

3.

Remove the plate (adjuster), and insert the washer into the vehicle body and plate (adjuster).

Preparation items:

Genuine part: Washer (031105000)

- Inserting the washer into the vehicle front side makes camera downward.

- Inserting the washer into the vehicle rear side makes camera upward.

- There is a case that the washer may be inserted at the production line, but it is not abnormal.

4.

Install the plate (adjuster).

Tightening torque:

5.5±1 N·m (0.56±0.1 kgf-m, 4.1±0.7 ft-lb)

5.

Install the stereo camera and stereo camera cover assembly. EyeSight>Stereo Camera>INSTALLATION

6.

Perform the camera all adjustment mode (replacement/removal). EyeSight>Camera Adjustment, Inspection>PROCEDURE > CAMERA ALL ADJUSTMENT MODE (REPLACEMENT/REMOVAL)

7. CAMERA INITIALIZATION

This is a recovery measures prepared for the data failure caused by the low battery voltage during data storage to inside the stereo camera.

Do not usually perform camera initialization because it will clear the camera adjustment and inspection data and/or DTCs.

Perform the camera initialization only when the camera adjustment and inspection result is NG even if the vehicle is placed correctly as shown in the flowchart described in “A: Procedure”. After camera initialization, perform camera adjustment and inspection in the same procedure as for camera replacement.

1.

Connect the Subaru Select Monitor.

2.

Turn the ignition switch to ON.

3.

Wait for 10 seconds.

4.

On [Start] screen, select [Diagnosis].

5.

On [Select Vehicle] screen, enter vehicle information and select [Confirmed].

6.

On [Main Menu] screen, select [Each System].

7.

On [Select System] screen, select [EyeSight], and then select [Confirmed].

8.

On [Select Function] screen, select [DTC].

9.

Select [Clear memory] while pressing the pre-collision brake OFF switch and the lane departure warning OFF switch mounted on the stereo camera cover assembly at the same time.

10.

Turn the ignition switch to OFF.

11.

Wait for 5 seconds.

12.

Next, perform the adjustment value clear operation. EyeSight>Camera Adjustment, Inspection>PROCEDURE > ADJUSTMENT VALUE CLEAR

EyeSight > Switches and Harness
REMOVAL
1. PRE-COLLISION BRAKE OFF & LANE DEPARTURE WARNING OFF SWITCH

The pre-collision brake OFF switch and the lane departure warning OFF switch are integrated.

1.

Disconnect the ground terminal from battery sensor. REPAIR CONTENTS>NOTE > BATTERY

2.

Remove the cover assembly stereo camera. EyeSight>Stereo Camera>REMOVAL

3.

Remove the pre-collision brake OFF & lane departure warning OFF switch.

(1)

Disconnect the connector.

(2)

Release the claws and remove the screws, and remove the pre-collision brake OFF & lane departure warning OFF switch.

Be careful not to damage the connector bracket. If damaged, replace the cover assembly stereo camera.

2. EyeSight STEERING SWITCH

Before handling the airbag system components, refer to “CAUTION” of “General Description” in “AIRBAG SYSTEM”. AIRBAG SYSTEM>General Description>CAUTION

1.

Set the tire to the straight-ahead position.

2.

Disconnect the ground terminal from the battery sensor, and wait for at least 60 seconds before starting work. REPAIR CONTENTS>NOTE > BATTERY

3.

Remove the driver’s airbag module. AIRBAG SYSTEM>Driver’s Airbag Module>REMOVAL

4.

Remove the steering wheel. POWER ASSISTED SYSTEM (POWER STEERING)>Steering Wheel>REMOVAL

5.

Remove the EyeSight steering switch. POWER ASSISTED SYSTEM (POWER STEERING)>Steering Wheel>DISASSEMBLY

EyeSight > Switches and Harness
INSTALLATION
1. PRE-COLLISION BRAKE OFF & LANE DEPARTURE WARNING OFF SWITCH
1.

Install the pre-collision brake OFF & lane departure warning OFF switch.

2.

Install the cover assembly stereo camera. EyeSight>Stereo Camera>INSTALLATION

3.

Connect the ground terminal to battery sensor. REPAIR CONTENTS>NOTE > BATTERY

2. EyeSight STEERING SWITCH

- Before handling the airbag system components, refer to “CAUTION” of “General Description” in “AIRBAG SYSTEM”. AIRBAG SYSTEM>General Description>CAUTION

- Do not allow harness and connectors to interfere or get tangled up with other parts.

- Make sure that the steering roll connector is not turned from the original position.

- If the steering wheel and steering angle sensor (steering roll connector) are removed, perform “VSC(VDC) Centering Mode” of the VDC. VEHICLE DYNAMICS CONTROL (VDC)>VDC Control Module and Hydraulic Control Unit (VDCCM&H/U)>ADJUSTMENT > VDC SENSOR MIDPOINT SETTING MODE

- Securely install the switch. Improper insertion of the pin or claw of the switch may cause improper installation.

1.

Install the EyeSight steering switch.

2.

Align the center position of the steering roll connector. AIRBAG SYSTEM>Roll Connector>ADJUSTMENT

3.

Install the steering wheel. POWER ASSISTED SYSTEM (POWER STEERING)>Steering Wheel>INSTALLATION

4.

Install the driver’s airbag module. AIRBAG SYSTEM>Driver’s Airbag Module>INSTALLATION

5.

Connect the ground terminal to battery sensor. REPAIR CONTENTS>NOTE > BATTERY

EyeSight > Switches and Harness
INSPECTION
1. PRE-COLLISION BRAKE OFF SWITCH AND LANE DEPARTURE WARNING OFF SWITCH
•
SWITCH
1.

Measure the resistance between connector terminals.

Preparation tool:

Circuit tester

- Pre-collision brake OFF switch

  Terminal No. | Inspection conditions | Standard
  3 — 5 | OFF | Approx. 1 kΩ
  ON | Less than 1 Ω

- Lane departure warning OFF switch

  Terminal No. | Inspection conditions | Standard
  4 — 5 | OFF | Approx. 1 kΩ
  ON | Less than 1 Ω

2.

Apply battery voltage between the connector terminals to check lighting condition of illumination inside the switch.

When applying battery voltage, do not mix up the positive (+) side and the negative (−) side.

Incorrect polarity connection may cause LED damage inside the switch.

Terminal No. | Inspection conditions | Specification
1 (+) — 2 (−) | Apply battery voltage. | Light ON

3.

Replace the pre-collision brake OFF switch and the lane departure warning OFF switch if it is found defective.

•
HARNESS
1.

Check the continuity between the connector terminals.

Preparation tool:

Circuit tester

- Pre-collision brake OFF switch

  Terminal No. | Inspection conditions | Standard
  A10 — B3 A13 — B5 | Always | Less than 1 Ω

- Lane departure warning OFF switch

  Terminal No. | Inspection conditions | Standard
  A9 — B4 A13 — B5 | Always | Less than 1 Ω

- Illumination

  Terminal No. | Inspection conditions | Standard
  A8 — B1 A12 — B2 | Always | Less than 1 Ω

2.

Replace the cover assembly stereo camera if faulty is found in the inspection.

2. EyeSight STEERING SWITCH
1.

Measure the resistance between connector terminals.

Preparation tool:

Circuit tester

Terminal No. | Inspection conditions | Standard
3 — 9 | DISTANCE− SET/− DISTANCE+ RES/+ | All OFF | Approx. 4,020 Ω
DISTANCE− | ON | Less than 1 Ω
SET/− | ON | Approx. 250 Ω
DISTANCE+ | ON | Approx. 680 Ω
RES/+ | ON | Approx. 1,470 Ω
4 — 9 | CRUISE LANE KEEP | All OFF | Approx. 4,020 Ω
CRUISE | ON | Less than 1 Ω
LANE KEEP | ON | Approx. 680 Ω
8 — 7 | I S#/ or S | All OFF | 3 MΩ or more
I | ON | Less than 1 Ω
S#/ or S | ON | Approx. 1,800 Ω

2.

Apply battery voltage between the connector terminals to check lighting condition of illumination inside the switch.

When applying battery voltage, do not mix up the positive (+) side and the negative (−) side.

Incorrect polarity connection may cause LED damage inside the switch.

Terminal No. | Inspection conditions | Specification
10 (+) — 11 (−) | Apply battery voltage. | Light ON

3.

Replace the EyeSight steering switch if it is found defective.

EyeSight > Combination Meter
NOTE

For the operation procedures for combination meter, refer to “INSTRUMENTATION/DRIVER INFO” section. INSTRUMENTATION/DRIVER INFO>Combination Meter

EyeSight > Stop Light & Brake Switch
NOTE

For the operation procedures for stop light and brake switch, refer to “BRAKE” section. BRAKE>Stop Light Switch

EyeSight > Roll Connector
NOTE

For the operation procedures for roll connector (steering angle sensor), refer to “AIRBAG SYSTEM” section. AIRBAG SYSTEM>Roll Connector

EyeSight > Multi-function Display (MFD)
NOTE

For the operation procedures for Multi-Function Display (MFD), refer to “INSTRUMENTATION/DRIVER INFO” section. INSTRUMENTATION/DRIVER INFO>Multi-function Display (MFD)

EyeSight > Diagnostics with Phenomenon
INSPECTION

For diagnostics with phenomenon, refer to “Diagnostics with Phenomenon” of “EyeSight (DIAGNOSTICS)” section. EyeSight (DIAGNOSTICS)>Diagnostics with Phenomenon