Lincoln Navigator: Cruise Control - Vehicles With: Adaptive Cruise Control / Cruise Control - System Operation and Component Description. Description and Operation

System Diagram

*.sttxt { visibility: hidden; } *.stcallout { visibility: visible; } 1 Electric Brake Booster (EBB) E361930 2 IPC 3 Accelerator Pedal 4 Deactivator Switch 5 Stoplamp Switch 6 SCCM 7 PCM 8 Cruise Control Switches 9 Gateway Module 10 RCM 11 BCM 12 ABS 13 CCM 14 PSCM 15 IPMA Camera 16 IPMA

Item	Description
1	EBB
2	IPC
3	Accelerator Pedal
4	Deactivator Switch
5	Stoplamp Switch
6	SCCM
7	PCM
8	Cruise Control Switches
9	GWM
10	RCM
11	BCM
12	ABS
13	CCM
14	PSCM
15	IPMA Camera
16	IPMA

System Operation

Overview

The ACC system is controlled by the PCM .

The ACC mode is selected from the steering wheel mounted switches which are integrated into the steering wheel. Refer to Owners Literature for additional information.

When a MyKey® restricted key is in use and maximum speed limiter is turned on, vehicle speed is limited to 129 kmh (80 mph).

During normal driving, the vehicle speed can vary slightly from the set speed due to road conditions. The vehicle speed can fluctuate when driving up and down a steep hill. If the vehicle speed decreases more than 16 kmh (10 mph) below the set speed, the cruise control disengages.

Network Message Chart

  Network Input Messages - ABS Module

Broadcast Message	Originating Module	Message Purpose
ACC brake deceleration request	IPMA	Used for ACC automatic braking.
ACC stop mode request	PCM	Used for ACC cruise control automatic braking.
Brake pedal applied	PCM	Used for brake switch input.
Accelerator pedal applied	PCM	Driver overriding ACC with accelerator pedal.

  Network Input Messages - CCM

Broadcast Message	Originating Module	Message Purpose
APP	PCM	Used for accelerator pedal status.
ACC enabled	IPC	Activates ACC
ACC stop mode request	PCM	Used for ACC automatic braking.
ACC switch commands	SCCM	Used for speed control enable/disable, gap settings and operating mode request.
Brake pedal applied	PCM	Used for brake switch input.
Cruise control override	PCM	Driver overriding ACC with accelerator pedal.
Ignition status	BCM	Used for ignition switch position input.
Stability-traction control event in progress	ABS module	Deactivates ACC when requested.
Vehicle configuration data	BCM	Used for comparison checking ACC configuration.
Vehicle yaw rate	RCM	Deactivates ACC when requested.

  Network Input Messages - IPC

Broadcast Message	Originating Module	Message Purpose
ACC gap distance display	IPMA	Data used to generate message center display indicating ACC gap setting.
ACC follow mode display	IPMA	Data used to activate the follow vehicle indicator.
ACC stop mode display	IPMA	Data used to activate the stop and go auto mode indicator.
ACC resume display	IPMA	Data used to activate the stop and go auto resume mode indicator.

  Network Input Messages - SCCM

Broadcast Message	Originating Module	Message Purpose
Steering wheel switch speed control	SCCM	Used for ACC enable/disable and operating mode request.

  Network Input Messages - PCM

Broadcast Message	Originating Module	Message Purpose
Steering wheel switch speed control	SCCM	Used for ACC enable/disable and operating mode request.
Stability-traction control event in progress	ABS	Deactivates ACC in traction event.
Vehicle yaw rate	RCM	Deactivates ACC .
Vehicle lateral acceleration
Vehicle longitudinal acceleration

  Network Input Messages -IPMA

Broadcast Message	Originating Module	Message Purpose
Collision avoidance and driver support radar status	CCM	Data used to communicate the function status of the radar in the CCM .

ACC Operation

Intelligent ACC

Intelligent ACC has several features such as lane centering, stop and go, speed sign recognition with navigation and highway assist that contains active drive assist. These features may or may not be available based on vehicle options and content.

Intelligent ACC with speed sign recognition has a number of speed warning levels that are programmed within the IPMA . The system is designed to set the vehicle speed to the speed limit detected by the speed sign recognition system before the vehicle passes the speed limit sign. Speed sign recognition uses the IPMA camera to detect speed signs.

Speed Sign Recognition

Speed sign recognition detects speed limit signs and informs the driver in the display unit of the current speed limit.

Speed sign recognition may not operate correctly due to:

• Outdated map data from navigation.
• Incorrect recognition of speed limits by the sensor of signs on parallel roads or exit ramps.
• Missed recognition of faded, dirty or distorted signs.

For additional speed sign recognition information, refer to the Owners Literature.

ACC Indicator

The ACC gap indicator located in the IPC illuminates a gray indicator lamp and displays the previous gap setting and SET graphic indicating the system is in standby mode. This notifies the driver the system is ready and the vehicle can accelerate to the desired speed. A green ACC indicator illuminates when the system is active. For additional ACC indicator information,
Refer to: Instrument Panel Cluster (IPC) - System Operation and Component Description (413-01 Instrumentation, Message Center and Warning Chimes, Description and Operation).

Gap Setting

ACC gap setting operates normally when the intelligent ACC system functions. The ACC gap setting automatically adjusts the vehicle speed to maintain a set distance from the front of the vehicle and the vehicle in the same path of travel. When the ACC system is on and is following a vehicle or a vehicle enters the same driving lane, a follow vehicle graphic is displayed in the message center.

Four horizontal bars with preset graph settings are displayed in the message center. Pressing up (decrease) or down (increase) on the steering wheel gap switch increases or decreases the distance from the vehicle ahead. When all the bars are illuminated, this indicates the longest gap setting. If one bar is illuminated, is indicates the shortest gap setting.

Vehicle maintains the distance gap to the vehicle ahead until:

• Vehicle ahead accelerates to a speed above the set speed.
• Vehicle ahead moves out of the lane or out of view.
• Vehicle speed falls below 20 kmh (12 mph).
• New gap distance is set.

For deceleration control, the IPMA sends a command to the ABS module to automatically apply the brakes and slow the vehicle to maintain a safe distance to the vehicle in front.

The distance gap is overridden by pressing the accelerator pedal. The graphic icon representing follow vehicle is not displayed in the message center and a green indicator illuminates. When the accelerator pedal is released, the ACC system returns to normal operation and the vehicle speed decreases to the set speed or a lower speed if following a vehicle ahead.

After each ignition cycle, the previous gap setting is remembered and the system is set to that gap setting. For additional ACC gap setting information, refer to the Owners Literature.

Intelligent Speed Limiter

The intelligent speed limiter feature allows the diver to set a desired speed that the vehicle cannot exceed during normal driving conditions along with using the current speed limit detected by the traffic sign recognition system to set as a temporary speed limit.

This feature works in combination with the camera-based traffic sign recognition system and the navigation system data (if installed). When the feature is activated, the intelligent speed limiter detects the speed limit and limits the vehicle speed accordingly. An implicit speed limit also applies on freeways after a cancellation sign and the system automatically adopts this limit based on navigation system data if a navigation system installed. If there is no navigation system installed, the speed limiter is interrupted and thus the speed is no longer limited. The speed limit can be exceeded at any time by accelerating strongly.

The speed limit can be overridden without pressing the steering wheel switch by pressing the accelerator pedal to 90% of travel. The speed limit automatically resumes when the accelerator pedal is released and the vehicle slows to below the set speed limit. If the system is not overridden and the set speed limit is exceeded, an audible chime sounds after 20 seconds.

This feature operates exclusive of the cruise control and is not connected to the brakes. Applying the brake pedal does not override or deactivate the intelligent speed limiter feature.

Stop and Go

ACC with the stop and go uses the radar and camera sensors to maintain a set gap between the vehicle being driven and the vehicle that is being followed. Stop and go is set to follow the vehicle directly in front of the vehicle being driven and adjust the set speed. If the vehicle being followed comes to a complete stop, the vehicle that is being driven also comes to a complete stop. For additional ACC stop and go information, refer to the Owners Literature.

Steering Wheel Switch Function

The ACC steering wheel mounted switches are momentary contact switches that toggle up and down for the ACC switch state. Pressing and releasing the steering wheel ACC ON or OFF switch turns the ACC system on. Pressing up SET+ and releasing the set switch sets the vehicle's speed and stores the set speed in memory. The ACC indicator illuminates and the message center displays the set speed and gap setting graphic.

There are two ways to change the set speed. The first way is to accelerate or brake to the desired speed and press and release the SET cruise control switch until the desired set speed is shown on the message center. The second way is by tapping the SET+ or the SET- switch while in the set mode, increasing or decreasing the displayed set speed by 1.6 kmh (1 mph) per tap. If the respective switch is pressed and held, the displayed set speed continues to increase or decrease until the switch is released. The ACC system may apply the brakes to slow the vehicle down to the new set speed. The set speed displays continuously in the message center while the ACC system is active.

Pressing and releasing the OFF switch or switching the ignition to OFF, turns the ACC system off. The ACC set speed memory is erased.

Applying the brake pedal or pressing the CNCL switch puts the ACC system in standby mode and the last set speed is displayed in the message center with a strike through. Pressing the RES switch when the ACC system is in standby mode causes the vehicle to accelerate to the last set speed. The set speed continuously displays in the message center while the ACC system is active. The RES switch does not function if the OFF switch is pressed, the ignition is cycled OFF or if the current vehicle speed is below the minimum operational speed.

The ACC system has the capability for the driver to change from ACC to standard cruise control. The LH steering wheel switch is used to switch from the ACC system to standard cruise control system within the message center.

Lane Centering

The ACC with the lane centering system uses the IPMA camera to assist in keeping the vehicle within the lane by applying a continuous assistance steering torque input toward the center of the lane. When the system is active in the alert mode and the vehicle unintentionally drifts out of its lane, the system provides an alert by vibrating the steering wheel. In aid mode, the system provides steering assistance by counter steering the vehicle back into the lane.

The IPC message center indicates status of lane centering.

• Gray indicates the system is on but inactive.
• Green indicates the system is active and applying steering torque assistance input to keep the vehicle in the center of the lane.
• Amber with an audible tone and then gray indicates a system automatic cancelation.

Lane centering activates when all the following requirements occur:

• Hands on the steering wheel at all times.
• ACC with stop and go on.
• Lane centering assist is enabled in information and entertainment unit display screen.
• System detects both lane markings. If the system does not detect valid lane markings, the system stays inactive until valid markings are available.

Lane centering may not operate correctly if any of the following conditions exist:

• Vehicle is not centered in the lane.
• Lane is too narrow or wide.
• System does not detect at least any marking or when lanes merge or split.
• Limited steering torque input is applied.
• Driving area is under construction or new infrastructure.
• Modifications to the steering system made.
• Spare tire in use.
• High wind conditions.

Lane centering automatic cancelation happens when:

• Lane is too narrow or wide.
• System cannot detect valid lane markings.
• Lane markings cross over one another.

For additional lane centering information,
Refer to: Lane Keeping System - System Operation and Component Description (419-07 Lane Keeping System, Description and Operation).

Active Drive Assist

Active drive assist when allowed to go active on certain highways keeps the vehicle centered in the lane while monitoring the vehicles exact location from side to side in the lane following a desired path when using ACC .

Active drive assist uses cameras to monitor your vehicle position within a lane and applies steering support to keep your vehicle centered in the lane.

Active drive assist uses a driver facing camera and infrared lighting to monitor eyes and head position to detect if the driver is distracted. If the system determines the driver is distracted, it alerts the driver to return the eyes on to the road. If the system monitors the driver inattentiveness has not changed after a few moments the system returns full control to the driver and does not allow the system to reengage this key cycle. For additional interior monitor system information,
Refer to: Interior Camera System - System Operation and Component Description (419-04B Interior Camera System, Description and Operation).

Active drive assist has two modes: hands-on mode and hands-free mode. On certain roadways, active drive assist will enter hands-free mode, allowing drivers to take their hands off the wheel when the feature is in use. On other roadways where the feature is active but hands-free mode is not available, active drive assist can provide hands-on mode, like lane centering does.

The blue zone (edge), portions of limited access freeways are deemed reasonable for hands-off driving.

The red zone (edge), including roadway surroundings portions of limited access freeways which are not deemed reasonable for hands-off driving.

Hands-free mode is enabled by the active drive assist system when the vehicle is in a blue zone and all other preconditions are met.

Active drive assist uses a driver status monitor camera along with LH and RH driver status monitor LED to continually monitor driver alertness. For additional interior camera information,
Refer to: Interior Camera System - System Operation and Component Description (419-04B Interior Camera System, Description and Operation).

Navigation System (if equipped)

Active drive assist works with navigation to collect special map information to the IPMA from Ford Cloud Services recording road segments and classifying them blue zone or red zone. The map service is capable of maintaining, storing and updating this feature. It's capable of delivering map database information to the IPMA for use by the advanced driver assist system feature.

The navigation system uses GPS to display the vehicle location and travel direction on a map, displayed on the touchscreen. Street names, landmarks, and points of interest are included. The driver can enter destination information to obtain automatic map routing and navigation guidance voice directions. For additional SYNC system information,
Refer to: Information and Entertainment System - System Operation and Component Description (415-00 Information and Entertainment System - General Information - Vehicles With: SYNC 4, Description and Operation).

NOTE: It may be necessary on occasion to carry out a master reset of the SYNC system for correct operation. Accumulated data uploaded from devices may corrupt the SYNC software and resetting the SYNC system clears this data to allow normal operation of the SYNC system.

Component Description

Cruise Control Module (CCM)

The CCM contains a radar sensing unit which measures the relative speed and the distance between the front of the vehicle and the vehicle being followed. The CCM sends this information to the IPMA on a dedicated private CAN .

Electric Brake Booster (EBB)

The cruise control deactivator switch is integrated in the EBB and opens when the brake pedal is applied and removes the ground signal from the PCM input circuit releasing the throttle and immediately deactivating the ACC system. For additional EBB information,
Refer to: Anti-Lock Brake System (ABS) and Stability Control - System Operation and Component Description (206-09 Anti-Lock Brake System (ABS) and Stability Control, Description and Operation).

IPMA

The IPMA camera is mounted on the windshield, below the rear view mirror. The IPMA forward-looking camera has a designated sight line in front of the moving vehicle. The camera detects and differentiates between an approaching object, vehicle or pedestrian in the path of travel. The IPMA is responsible for requesting the PCM to increase or decrease vehicle speed and the ABS module to brake, when necessary. The IPMA camera and the CCM send their information to the IPMA . For additional IPMA information,
Refer to: Lane Keeping System - System Operation and Component Description (419-07 Lane Keeping System, Description and Operation).

Steering Wheel Switches

The ACC steering wheel mounted switches are momentary contact switches that toggle up and down for the switch state. The switches are an input to the SCCM .