Toyota Avalon (XX50): Front Camera

Adjustment (sequential Recognition)

ADJUSTMENT (SEQUENTIAL RECOGNITION)

CAUTION / NOTICE / HINT

NOTICE:

Make sure to read Before Starting Adjustment before proceeding with work.

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PROCEDURE

1. SECURE APPROPRIATE AREA FOR PERFORMING LEARNING

(a) 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.

*a 3 m (9.84 ft.)

(b) Check the levelness of the ground.

(1) Check the levelness of the ground at the 3 points shown in the illustration.

*a	2.2 m (7.22 ft.)
	Levelness Check Point

(2) Place the level on each levelness check point and check that the air bubble of the level is centered.

(c) Adjust the tire inflation pressure to the specified pressure.

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(d) Clean the windshield glass.

2. CREATE TARGET

NOTICE:

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.

*a	Actual Target	*b	Target as Seen by Forward Recognition Camera
	Reflective Object or Surface	-	-

(a) Print the illustration.

(b) Check that the dimensions are within the values shown in the illustration.

NOTICE:

• 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.

(c) Cut a piece of cardboard to be slightly larger than the target sheet.

(d) Prepare a piece of cardboard and draw lines on it as shown in the illustration. HINT: The lines on the back of the target can help with aligning the target with SST (reflector).

*A Back of Target *a Target Sheet *b Cardboard

(e) Place the target sheet on the cardboard with the black area at the top right as shown in the illustration, and securely attach the target sheet using double-sided tape.

NOTICE:

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

(f) Remove SST (reflector) from SST (base stand).

SST: 09870-60000

09870-60010

09870-60020

(g) Align the center of the target sheet with SST (reflector) and attach the target to SST (reflector) with double-sided tape.

*a	Mark-off Line	*b	Equal Distance to Center
	Reflective Surface	-	-

(h) Apply masking tape to the reflective surface of SST (reflector) to cover it.

(i) Install SST (reflector) to SST (base stand).

(j) 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. HINT: Make sure that the points (A), (B) and (C) of the target sheet are aligned with the string.

*a String *b Weight *c Mark-off Line

(k) Move SST (reflector) up or down so that the center of the target sheet is at the height shown in the illustration, and secure SST (reflector) in place. 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.

*a 1350 mm (53.15 in.)

(l) 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:

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:

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

(a) Determine the target placement position.

(b) 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.

HINT:

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

(c) 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).

HINT:

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

(d) Using tape and a string, create a line that connects point B to point A and extends at least 2100 mm (6.89 ft.) beyond the front center point of the vehicle.

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.

(e) Mark point C at a position 276 mm (10.87 in.) in front of point B.

(f) Mark point D at a position 1946 mm (6.38 ft.) in front of point B.

(g) Using a string, mark line E at a position 1000 mm (3.28 ft.) from point C.

(h) Using a string, mark line H at a position 1000 mm (3.28 ft.) from point C.

(i) Using a string, mark line F at a position 1000 mm (3.28 ft.) from point D.

(j) Using a string, mark line I at a position 1000 mm (3.28 ft.) from point D.

(k) Mark point G (placement point 2) at the point where line E and line F intersect.

(l) Mark point J (placement point 3) at the point where line H and line I intersect.

(m) Using tape and a string, create a line that connects point G and point J (target position line).

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 points G and J.

(n) Mark point K (placement position 1) at the point the string connecting points C and D and the string connecting points G and J intersect.

(o) Confirm that the distance between points K and G (placement positions 1 and 2), and K and J (placement positions 1 and 3) is 550 mm (21.65 in.).

NOTICE:

If the distance between either pair of points is not within +/- 3 mm (0.118 in.) of the specified value, start over from the marking of point A.

4. PERFORM FORWARD RECOGNITION CAMERA OPTICAL AXIS LEARNING

NOTICE:

• 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.

(a) Perform Recognition Camera/Target Position Memory.

(1) Connect the Techstream to the DLC3.

(2) Turn the engine switch on (IG) (for Gasoline Model).

(3) Turn the power switch on (IG) (for HV Model).

(4) Turn the Techstream on.

(5) Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera/Target Position Memory.

(6) Press "Next".*1

(7) Confirm the conditions displayed on the screen and then press "Next".

(8) According to the display on the Techstream, enter the following values for each respective item.

(9) 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.

(10) Press "Exit" to exit the Recognition Camera/Target Position Memory utility.

(b) 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 K (placement position 1) as shown in the illustration.

*a Target Position Line *b Mark-off Line

(2) Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera Axis Adjust.

(3) Press "Next".*2

(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) Check that the target is placed at point K (placement position 1) 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".

(8) Position SST at point G (placement position 2) and then point J (placement position 3) in the same manner as it was positioned at point K (placement position 1).

NOTICE:

Position SST and press "Next" within 3 minutes of the screen changing to the Recognition Camera Axis Adjust screen.

(9) If "Recognition Camera Axis Adjust has failed." is displayed on the screen.

1. Confirm that the following conditions are met and then press "YES".
   • The height of the target is correct.
   • The surfaces of the target and object used to block the background are not reflective and do not have reflective objects attached.
   • The orientation of the target sheet is correct (black area positioned at the top right).
   • The target is not backlit.
   • The windshield glass is clean.
   • The center of the target is at the correct height and the target placement position is correct.
2. Repeat the procedure from *2.

(10) If "Set the headlight type in the next screen." is displayed:

1. Press "Next".
2. Select the type of high beam headlights the vehicle is equipped with and then press "Next".*3
3. If "Headlight Type Setting has failed." is displayed on the Techstream screen, confirm the conditions, then press "Yes" and repeat the procedure from *3.
4. Confirm the high beam headlight type selected and then press "Exit" to exit the Recognition Camera Axis Adjust utility.

(11) If "Set the headlight type in the next screen." is not displayed:

1. Press "Exit" to exit the Recognition Camera Axis Adjust utility.

(12) Turn the engine switch off (for Gasoline Model).

(13) Turn the power switch off (for HV Model).

(14) Disconnect the Techstream from the DLC3.

(c) Forward recognition camera optical axis learning is complete.

Before Starting Adjustment

BEFORE STARTING ADJUSTMENT

CAUTION / NOTICE / HINT

NOTICE:

When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or the pre-collision system may not operate properly due to a difference in the transmissivity of the windshield glass or the shape of the black ceramic border.

HINT:

1. Purpose of Forward Recognition Camera Optical Axis Learning
   1. If the installation position or orientation of the forward recognition camera is changed due to it being replaced with a new one or the windshield glass sub-assembly being replaced or removed and installed, it is necessary to perform forward recognition camera optical axis learning for the forward recognition camera to learn the driving direction of the vehicle and its horizontal axis in order for each driving support system to operate correctly.
2. Characteristics of Forward Recognition Camera
   1. As the forward recognition camera recognizes targets using image processing based on differences in contrast, when performing forward recognition camera optical axis learning, if there are overhead lights, windows, reflective objects, or high contrast objects behind the target, the contrast between background objects may be detected as high and may be misrecognized as a target.
   2. By blocking objects behind the target which may be misrecognized as a target, the forward recognition camera can more easily recognize the target and complete forward recognition camera optical axis learning.

      *a	Target	-	-
      	Target recognition area	-	-

   3. Forward recognition camera optical axis learning may fail if it is performed under any of the following conditions.
      1. Light Shining from Behind Target (Backlit)

         As the target will appear dark to the camera if the target is backlit, the contrast of the black and white parts of the target will decrease and the target may not be recognized.

         
      2. Target Partially Illuminated by Light from Windows

         If the surface of the target is unevenly illuminated, the contrast of the black and white parts of the target will decrease and the target may not be recognized.

         
      3. Entire Target not Illuminated

         If the target is placed in an area that is dark, the contrast between the target and the background will decrease and the target may not be recognized.

         
      4. Shadow of Target is Cast onto Wall

         Make sure that the shadow of the target is not cast onto a wall as this may cause a target recognition error.

         
      5. Reflective Object on Target Surface

         If an object, such as clear adhesive tape, is attached to the target surface or if the target is laminated, the target surface will reflect light. As the reflected light will appear white to the camera, the target may not be recognized.

         

         *a	Actual Target	*b	Target as Seen by Forward Recognition Camera
         	Reflective Object or Surface	-	-

      6. Border of Black and White Parts of Target are Blurry or Distorted

         If the borders of the black and white parts of the target appear blurry to the camera, the detected contrast will be low and the target may not be recognized.

         
      7. Target is Moving

         If the target is moving, due to being blown by the wind, etc., it may not be recognized.

         
      8. Target and Vehicle are not Level

         If the target and vehicle are not level when learning is performed, an incorrect center of the direction of travel of the vehicle may be learned or the forward recognition camera may not be able to detect the target.

         
3. Recognition Method
   1. Forward recognition camera optical axis learning can be performed by using Sequential Recognition.

      *A

      for One Time Recognition

      *B

      for Sequential Recognition

      Recognition Method	Target Position	Number of Times Target Recognition Performed
      One Time Recognition	1 (In front of front bumper)	1
      Sequential Recognition	3 (3 m (9.84 ft.) from the forward recognition camera)	3

      • One Time Recognition is an optical axis learning method in which 3 targets are recognized simultaneously at 1 position directly in front of the front bumper.
      • Sequential Recognition is an optical axis learning method in which 1 target is recognized sequentially at 3 positions 3 m (9.84 ft.) from the forward recognition camera.

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Components

COMPONENTS

ILLUSTRATION

Installation

INSTALLATION

CAUTION / NOTICE / HINT

NOTICE:

• When replacing the forward recognition camera, replace it with a new one.
• Do not touch the camera lens. If the camera lens has been touched, do not use the forward recognition camera.
• If the forward recognition camera has been struck or dropped, replace it with a new one.
• If the forward recognition camera is not properly installed, forward recognition camera optical axis learning cannot be performed properly. Make sure the forward recognition camera is installed securely.
• Replace the forward recognition camera if there is any foreign matter on the camera lens.
• When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket. Also, the dynamic radar cruise control system, lane departure alert system, pre-collision system, front camera system or automatic high beam system may not operate properly due to a difference in the transmissivity or black ceramic border.
• If the forward recognition camera bracket is deformed or damaged, replace it together with the windshield glass.
• If there is any foreign matter on the area of the windshield glass in front of the forward recognition camera, clean the windshield glass before installing the forward recognition camera.

PROCEDURE

1. INSTALL FORWARD RECOGNITION CAMERA

(a) When using a new forward recognition camera:

(1) Remove the protective film. NOTICE: Do not touch the camera lens after removing the protective film.

*a Protective Film

(b) Engage the 4 guides as shown in the illustration.

NOTICE:

Do not touch the camera lens.

Install in this Direction

(c) Connect the connector to install the forward recognition camera.

2. INSTALL FORWARD RECOGNITION LATCH

(a) Engage the 4 guides and 2 claws as shown in the illustration to install the forward recognition latch.

Install in this Direction

3. INSTALL NO. 1 FORWARD RECOGNITION COVER

(a) Engage the 2 clips and 2 guides as shown in the illustration to install the No. 1 forward recognition cover.

Install in this Direction

4. INSTALL NO. 2 FORWARD RECOGNITION COVER

(a) Engage the 2 guides and 2 claws as indicated by the arrows, in the order shown in the illustration to install the No. 2 forward recognition cover.

	Install in this Direction (1)
	Install in this Direction (2)

5. ADJUST FORWARD RECOGNITION CAMERA

(a) If the forward recognition camera has been replaced with a new one or the windshield glass has been removed and installed, it is necessary to perform Forward Recognition Camera Learning.

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Removal

REMOVAL

CAUTION / NOTICE / HINT

The necessary procedures (adjustment, calibration, initialization, or registration) that must be performed after parts are replaced during front camera removal/installation are shown below.

NOTICE:

• When replacing the forward recognition camera, replace it with a new one.
• Do not touch the camera lens or the front windshield glass in front of the camera.
• If the forward recognition camera has been struck or dropped, replace it with a new one.
• When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket. Also, the dynamic radar cruise control system, lane departure alert system, pre-collision system, front camera system or automatic high beam system may not operate properly due to a difference in the transmissivity or black ceramic border.

PROCEDURE

1. REMOVE NO. 2 FORWARD RECOGNITION COVER

(a) Pull the No. 2 forward recognition cover in the direction indicated by the arrow (1) shown in the illustration to disengage the 2 claws.

NOTICE:

If these claws are disengaged separately, they may break. Insert a molding remover between them and pull it down to disengage the claws simultaneously.

	Remove in this Direction (1)
	Remove in this Direction (2)

(b) Pull the No. 2 forward recognition cover in the direction indicated by the arrow (2) shown in the illustration to disengage the 2 guides and remove the No. 2 forward recognition cover.

2. REMOVE NO. 1 FORWARD RECOGNITION COVER

(a) Disengage the 2 clips and 2 guides to remove the No. 1 forward recognition cover as shown in the illustration.

NOTICE:

To avoid damaging the guides, always slide the No. 1 forward recognition cover parallel to the windshield glass.

Remove in this Direction

3. REMOVE FORWARD RECOGNITION LATCH

(a) Disengage the 2 claws in the direction indicated by the arrow (1) shown in the illustration.

	Remove in this Direction (1)
	Remove in this Direction (2)

(b) Disengage the 4 guides in the direction indicated by the arrow (2) shown in the illustration to remove the forward recognition latch.

4. REMOVE FORWARD RECOGNITION CAMERA

(a) Disconnect the connector.

Remove in this Direction

(b) Disengage the 4 guides and remove the forward recognition camera as shown in the illustration.

NOTICE:

• Do not pull the harness forcibly when disconnecting the connector.
• If the forward recognition camera bracket is deformed or damaged, replace it together with the windshield glass.
• If the forward recognition camera has been struck or dropped, replace it with a new one.
• Do not touch the camera lens.