2007 INFINITI M35 control unit

LANE DEPARTURE WARNING SYSTEM
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Revision: 2007 April2007 M35/M45
LANE DEPARTURE WARNING SYSTEM PFP:28442
Precautions for Lane Departure Warning (LDW) systemNKS003VF
WARNING:
Lane Departure Warning (LDW) is only a warning device to inform the driver of an unintended lane
departure. It will not steer the vehicle or prevent loss of control. It is the driver's responsibility to stay
alert, drive safely, keep the vehicle in the traveling lane, and be in control of the vehicle at all times.

LDW system does not operate under the following conditions:
–At speeds below approx. 72 km/h (45 MPH).
–If it cannot detect lane markers.

LDW system may not function properly under the following conditions:
–On roads where a water puddle, dirt or snow is covering the lane markers.
–On roads where the lane markers are faded or are not painted clearly.
–On roads where the lane markers are painted yellow.

LDW system may not monitor the lane markers in certain road, weather or driving conditions.
–On roads where there are sharp curves.
–Where the traveling lane merges or separates.
–On roads where the discontinued lane markers are present, such as near tollgates, etc.
–On roads where there are not general lane markers.
–On roads where the lane width is too narrow.
–During bad weather (rain, fog, snow, etc.).
–When strong light (for example, at sunrise or sunset) is directly shining on the front of the vehicle.
–When entering or exiting a tunnel where sudden changes in brightness occur.
–When traveling close to the vehicle in front of you, which causes obstruction of the camera unit
range.
–When the vehicle's traveling direction does not align with the lane marker.
–When rain, snow or dirt adhere to the windshield in front of the camera unit.

Excessive noise interferes with warning system chime sound and the chime may not be heard.
CAUTION:
To keep the LDW system operating properly, be sure to observe the following:

Always keep the windshield clean. The sensing capability of the camera unit depends on the con-
dition of the windshield. See “Appearance and care” for cleaning instruction.

Never strike or damage the areas around the camera unit.

Never touch the camera lens.

Never attach a sticker (including transparent material) or install an accessory near the camera
unit.

Never place reflective materials, such as a white paper or mirrors on the instrument panel. Reflec-
tion of the sunlight may adversely affect the camera unit's lane marker detection capability.
System DescriptionNKS003VG
LDW SYSTEM OPERATION

The Lane Departure Warning (LDW) system warns the driver when the vehicle is traveling close to either
the left or the right of the traveling lane.

The system monitors lane markers of the traveling lane using the LDW camera unit. When the LDW cam-
era unit detects that the vehicle is traveling close to either the left or the right of the traveling lane, the
LDW indicator lamp flashes and a chime sounds to alert the driver.
NOTE:
When activating turn signal, LDW system does not give a warning to the lane marker on the turn signal
side.

The LDW system can be turned on or off by pushing the LDW switch. When the system is on, the LDW
system ON indicator illuminates.

The LDW system has an automatic mode and manual mode.

LANE DEPARTURE WARNING SYSTEM
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System Diagram
Components Description
NOTE:
*: This indicates in a few seconds for the system check during ignition switch ON.
POWER SUPPLY AND GROUND CIRCUIT
With the ignition switch in the ON or START position, power is supplied

through 10A fuse [No. 12, located in the fuse block (J/B)]

to LDW camera unit terminal 1.
Ground is supplied

to LDW camera unit terminals 6 and 12

through grounds M16 and M70.
Action TestNKS003VH
LDW SYSTEM RUNNING TEST
WARNING:

Be careful when performing road test.

Understand “Precautions” and “System Description” well before the road test. Refer to DI-75,
"Precautions for Lane Departure Warning (LDW) system" and DI-75, "System Description" .
Function Check
Check the LDW system operation according to the condition that the warning function works. Refer to DI-75,
"LDW SYSTEM OPERATION" .
PKIC0698E
Component Description
LDW camera unitDetects the lane marker by the built-in camera, gives judgement for the warning according to the
result of detection and signals from each unit, and transmits the operation signal to LDW chime and
LDW indicator lamp.
LDW switch

Selects ON/OFF of the system.

Indicates ON/OFF of the signal with LDW system ON indicator.
LDW chime Gives a warning chime according to the direction from LDW camera unit.
LDW indicator lampInstalled in combination meter, and indicates the system condition.

Blinks when LDW system is functioning to alert the driver.

Stays on when LDW system is malfunctioning.*
BCM Transmits turn indicator signal to LDW camera unit with CAN communication signal.
ABS actuator and electric unit
(control unit)Transmits vehicle speed signal to LDW camera unit with CAN communication signal.
TCM Transmits vehicle speed signal to LDW camera unit with CAN communication signal. (For detecting
incorrect speed.)

DI-88
LANE DEPARTURE WARNING SYSTEM
Revision: 2007 April2007 M35/M45
Terminals and Reference Value for LDW Camera UnitNKS003VL
NOTE:
*: Perform “ACTIVE TEST” with CONSULT-II. Refer to DI-91, "
ACTIVE TEST" .
CONSULT-II Function (LDW)NKS003VM
DESCRIPTION
CONSULT-II can display each diagnostic item using the diagnostic test modes shown following.
CONSULT-II BASIC OPERATION
CAUTION:
If CONSULT-II is used with no connection of CONSULT-II CONVERTER, malfunctions might be
detected in self-diagnosis depending on control unit which carry out CAN communication.
1. With the ignition switch OFF, connect CONSULT-II and CON-
SULT-II CONVERTER to the data link connector, and then turn
ignition switch ON.
Te r m i n a l
No.Wire
colorItemCondition
Reference value
(Approx.) Ignition
switchOperation or condition
1 B/R Ignition switch ON or START ON — Battery voltage
3 R/W LDW chime ON LDW chimeActivated
*0 V
Not activated 12 V
4 V System ON indicator ON LDW systemON 0 V
OFF 12 V
5 P CAN–L — — —
6 B Ground ON — 0 V
8 G/W LDW indicator lamp ON LDW indicator lamp Illuminated
*0 V
Turned OFF 12 V
9 GR LDW switch ON LDW switchPushed 0 V
Released 5 V
10 L CAN–H — — —
12 B Ground ON — 0 V
System Diagnosis mode DescriptionReference
page
LDWWORK SUPPORT Displays causes of automatic cancellation of the LDW system.DI-89
SELF-DIAG RESULTS Displays malfunctioning system memorized in LDW camera unit.DI-89
DATA MONITOR Displays real-time input/output data of LDW camera unit.DI-90
CAN DIAG SUPPORT MNTR Displays the results of transmit/receive diagnosis of CAN communication.LAN-44
ACTIVE TEST Enables operation check of electrical loads by sending driving signal to them.DI-91
ECU PART NUMBER Displays part number of LDW camera unit. —
SKIB3794E

LANE DEPARTURE WARNING SYSTEM
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Revision: 2007 April2007 M35/M45
2. Touch “START (NISSAN BASED VHCL)”.
3. Touch “LDW” on “SELECT SYSTEM” screen.
If “LDW” is not displayed, go to GI-39, "
CONSULT-II Data Link
Connector (DLC) Circuit" .
4. Touch any field, “WORK SUPPORT”, “SELF-DIAG RESULTS”,
“DATA MONITOR”, “CAN DIAG SUPPORT MNTR”, “ACTIVE
TEST” or “ECU PART NUMBER”, on selection screen.
WORK SUPPORT
Operation Procedure
Touch “WORK SUPPORT” on “SELECT DIAG MODE” screen.
Display Item List
SELF-DIAG RESULTS
Operation Procedure
1. Touch “SELF-DIAG RESULTS” on “SELECT DIAG MODE” screen.
2. See the displayed result of self-diagnosis.
Display Item List
BCIA0029E
BCIA0030E
BCIA0031E
Operation Function Reference page
AUTO AIM LDW camera unit calculates dislocation of the camera. Adjustment direction is displayed. DI-78
Display item [Code] Malfunction is detected when...Reference
page
CAMERA UNIT MALF [C1B00] LDW camera unit internal malfunctionDI-94
CAM AIMING INCMP [C1B01] LDW camera aiming is not adjusted.DI-94
VHCL SPD DATA MALF [C1B02]LDW camera unit detected different vehicle speed signal from TCM and
ABS actuator and electric unit (control unit).DI-94
ABNRML TEMP DETECT [C1B03] Temperature around LDW camera unit is excessively high.DI-94

DI-90
LANE DEPARTURE WARNING SYSTEM
Revision: 2007 April2007 M35/M45
NOTE:

When a DTC is detected, the LDW system dose not operate.

When the DTC except “ABNRML TEMP DETECT [C1B03] ” is detected, the LDW indicator lamp turns ON.

When the DTC “ABNRML TEMP DETECT [C1B03] ” is detected, the LDW system ON indicator lamp blinks.
DATA MONITOR
Operation Procedure
1. Touch “DATA MONITOR” on “SELECT DIAG MODE” screen.
2. Touch any of “ALL SIGNALS” and “SELECTION FROM MENU” on selection screen.
3. Touch “START”.
4. Display the data monitor.
5. If necessary, touch “COPY” in turn, and print data.
Display Item List
CAN COMM CIRCUIT [U1000] LDW camera unit detected CAN communication malfunction.DI-95
CONTROL UNIT (CAN) [U1010] LDW camera unit detected internal CAN communication circuit malfunction.DI-95
Display item [Code] Malfunction is detected when...Reference
page
Monitored Item [unit] Description
MAIN SW [ON/OFF] Displays [ON/OFF] status as judged from LDW switch signal.
SW ON LAMP [ON/OFF] Displays [ON/OFF] status of LDW system ON indicator signal output.
INDICATE LAMP [ON/OFF] Displays [ON/OFF] status of LDW indicator signal output.
BUZZER OUTPUT [ON/OFF] Displays [ON/OFF] status of LDW chime operation signal output.
LDW INACCURAT [ON/OFF] Displays LDW camera unit status.
VHCL SPD SE [km/h] or [mph]Displays vehicle speed calculated by LDW camera unit through CAN communication [ABS
actuator and electric unit (control unit) transmits wheel sensor signal through CAN communi-
cation].
VHCL SPD AT [km/h] or [mph]Displays vehicle speed calculated from A/T vehicle speed sensor by LDW camera unit through
CAN communication (TCM transmits A/T vehicle speed sensor signal through CAN communi-
cation).
TURN SIGNAL [OFF/LH/RH] Displays “Turn signal” status, determined from BCM through CAN communication.
LANE DETCT LH [ON/OFF] Displays left lane marker is detected.
LANE DETCT RH [ON/OFF] Displays right lane marker is detected.
CROSS LANE LH [ON/OFF] Displays vehicle is crossing left lane.
CROSS LANE RH [ON/OFF] Displays vehicle is crossing right lane.
WARN LANE LH [ON/OFF] Displays warning for left lane.
WARN LANE RH [ON/OFF] Displays warning for right lane.
VALID POS LH [VLD/INVLD] Displays lateral position for left lane marker is valid.
VALID POS RH [VLD/INVLD] Displays lateral position for right lane marker is valid.
AIMING DONE [OK/NG] Displays camera aiming done.
AIMING RESULT [OK/NOK] Displays camera aiming result.
FCTRY AIM YAW [deg] Displays camera unit installation condition.
FCTRY AIM ROL [deg] Displays camera unit installation condition.
FCTRY AIM PIT [deg] Displays camera unit installation condition.
XOFFSET [pixel] Displays camera unit installation condition.

DI-94
LANE DEPARTURE WARNING SYSTEM
Revision: 2007 April2007 M35/M45
3. CHECK GROUND CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect LDW camera unit connector.
3. Check continuity between LDW camera unit harness connector
and ground.
OK or NG
OK >> Power supply and ground circuit are OK.
NG >> Repair ground harness.
DTC [C1B00] CAMERA UNIT MALFNKS003VP
1. CHECK LDW CAMERA UNIT
1. Perform self-diagnosis of LDW camera unit.
2. Check if any item other than “[C1B00] CAMERA UNIT” is displayed on self-diagnosis display.
Is any displayed?
YES >> Repair or replace applicable item.
NO >> Replace LDW camera unit.
DTC [C1B01] CAM AIMING INCMPNKS003VQ
1. PREFORM CAMERA AIMING ADJUSTMENT
1. Preform camera aiming adjustment. Refer to DI-78, "
Camera Aiming Adjustment" .
2. Erase DTC and perform LDW camera unit self-diagnosis.
Self
-diagnostic results content
No malfunction detected>>INSPECTION END
Malfunction detected>>Replace LDW camera unit.
DTC [C1B02] VHCL SPD DATA MALFNKS003VR
1. CHECK ABS ACTUATOR AND ELECTRIC UNIT (CONTROL UNIT) {CONSULT-II}
Perform ABS actuator and electric unit (control unit) self-diagnosis. Refer to BRC-23, "
CONSULT-II Functions
(ABS)" .
Self
-diagnostic results content
No malfunction detected>>GO TO 2.
Malfunction detected>>Check applicable parts, and repair or replace corresponding parts.
2. CHECK TCM (CONSULT-II)
Perform TCM self-diagnosis. Refer to AT- 9 0 , "
CONSULT-II Function (A/T)" .
Self
-diagnostic results content
No malfunction detected>>Replace LDW camera unit.
Malfunction detected>>Check applicable parts, and repair or replace corresponding parts.
DTC [C1B03] ABNRML TEMP DETECTNKS003VS
1. COOLING CAMERA UNIT
1. Cooling camera unit.
2. Erase DTC and perform LDW camera unit self-diagnosis.
Self
-diagnostic results content
No malfunction detected>>INSPECTION END
Malfunction detected>>Replace LDW camera unit.
LDW camera unit connector Terminal
GroundContinuity
M1826
Ye s
12
PKIC0247E

LANE DEPARTURE WARNING SYSTEM
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DTC [U1000] CAN COMM CIRCUITNKS003VT
1. CHECK CAN COMMUNICATION
1. Select “SELF-DIAG RESULTS” mode for “LDW” with CONSULT-II.
2. Print out CONSULT-II screen.
>> Go to “LAN SYSTEM”. Refer to LAN-44, "
CAN Diagnostic Support Monitor" .
DTC [U1010] CONTROL UNIT (CAN)NKS003VU
Replace LDW camera unit, when “[U1010] CONTROL UNIT (CAN)” is displayed on self-diagnosis display.
LDW Chime Circuit InspectionNKS003VV
1. CHECK OPERATION OF LDW CHIME
Check LDW chime operation “BUZZER DRIVE” in “ACTIVE TEST”
mode with CONSULT-II.
OK or NG
OK >> LDW chime is OK. Return to DI-93, "SYMPTOM
CHART" .
NG >> GO TO 2.
2. CHECK LDW CHIME POWER SUPPLY CIRCUIT
1. Turn ignition switch OFF.
2. Disconnect LDW chime connector.
3. Turn ignition switch ON.
4. Check voltage between LDW chime harness connector and
ground.
OK or NG
OK >> GO TO 3.
NG >> Check harness between fuse and LDW chime.
3. CHECK LDW CHIME GROUND CIRCUIT
1. Turn ignition switch OFF.
2. Check continuity between LDW chime harness connector and
ground.
OK or NG
OK >> GO TO 4.
NG >> Repair harness or connector.“BUZZER DRIVE”
Touch “ON” : LDW chime is activated.
Touch “OFF” : LDW chime is not activated.
SKIB1787E
Te r m i n a l s
Voltage (Approx.) (+)
(–)
LDW chime connector Terminal
M58 1 Ground Battery voltage
PKIC0248E
LDW chime connector Terminal
GroundContinuity
M58 3 Yes
PKIC0249E

CAN COMMUNICATION
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Revision: 2007 April2007 M35/M45
CAN COMMUNICATIONPFP:23710
System DescriptionNKS003VD
CAN (Controller Area Network) is a serial communication line for real time application. It is an on-vehicle mul-
tiplex communication line with high data communication speed and excellent error detection ability. Many elec-
tronic control units are equipped onto a vehicle, and each control unit shares information and links with other
control units during operation (not independent). In CAN communication, control units are connected with 2
communication lines (CAN H line, CAN L line) allowing a high rate of information transmission with less wiring.
Each control unit transmits/receives data but selectively reads required data only.
CAN Communication UnitNKS003VE
Refer to LAN-52, "CAN Communication Signal Chart" in “LAN SYSTEM”.