Nissan Pathfinder: Driver Assistance System - System Description

Nissan Pathfinder (R53) 2022-2025 Service Manual / Cruise Control & Driver Assistance :: Driver Assistance System / Adas Control Unit 2 / System Description

Component Parts
System
Diagnosis System (adas Control Unit 2)

Component Parts Nissan Pathfinder SUV

Adas Control Unit 2

Component Parts Location

A.	Passenger compartment with center console side finisher removed

No.	Component	Description
1.	ADAS (Advanced Driver Assistance System) control unit 2	Controls each system, based on CAN communication and ITS communication signals received from each control unit. Transmits signals necessary for control between CAN communication and ITS communication. Refer to ADAS Control Unit 2.

ADAS Control Unit 2

FUNCTIONS WITHIN THE SYSTEM

ADAS control unit 2 controls the following systems, based on CAN communication signal from each control unit.
- AEB
- RAB
- ProPILOT Assist
- I-FCW
- LDW
- I-LI
- I-BSI
- I-DA
- ICC

INDIVIDUAL FUNCTIONS WITHIN THE SYSTEM

Transmits the signals to each control unit via CAN communication.
Receives the signals from each control unit via CAN communication

INDIVIDUAL OPERATION

AEB: Refer to System Description.
RAB: Refer to System Description.
ProPILOT Assist: Refer to System Description.
I-FCW: Refer to System Description.
LDW: Refer to System Description.
I-LI: Refer to System Description.
I-BSI: Refer to System Description.
I-DA: Refer to System Description.
ICC: Refer to System Description.

PARTS LOCATION

Refer to Component Parts Location.

System Nissan Pathfinder 2025

System Description

DESCRIPTION

ADAS^* control unit 2 controls the following systems, based on CAN communication signal from each control unit.

NOTE:
*: Advanced Driver Assistance Systems
- AEB
- RAB
- ProPILOT Assist
- I-FCW
- LDW
- I-LI
- I-BSI
- I-DA
- ICC

System	Reference
AEB	System Description
RAB	System Description
ProPILOT Assist	System Description
I-FCW	System Description
LDW	System Description
I-LI	System Description
I-BSI	System Description
I-DA	System Description
ICC	System Description

MAC (MESSAGE AUTHENTICATION CODE)

MAC (Message Authentication Code) is a function that prevents unauthorized communication from other than the ECU with MAC function by secure authentication communication. ADAS control unit 2 can write a MAC key required for communication between the ECUs and perform MAC diagnosis.

Fail-safe (ADAS Control Unit 2)

If a malfunction occurs in each system, ADAS control unit 2 cancels each control, sounds a beep, and turns ON the warning or indicator lamp.

System	Buzzer	Warning lamp/Warning display	Description
AEB	ON	AEB warning lamp Warning message	Cancel
RAB	ON	RAB warning lamp Warning message	Cancel
ICC (Without ProPILOT Assist)	ON	Warning message	Cancel
ProPILOT Assist	ON	Warning message	Cancel
I-FCW	—	Warning message	Cancel
LDW	—	Warning message	Cancel
I-LI	ON	Warning message	Cancel
I-BSI	ON	Warning message	Cancel
TSR	—	Warning message	Cancel
I-DA	—	Warning message	Cancel

Diagnosis System (adas Control Unit 2) Nissan Pathfinder R53

Without Propilot System

CONSULT Function (ICC/ADAS 2)

APPLICATION ITEMS

CONSULT performs the following functions via CAN communication using ADAS control unit 2.

Diagnosis mode	CGW Status			Description
Diagnosis mode	Restricted Mode	Diag Test Mode	Open Mode	Description
Self Diagnostic Result	Display	Display	Display	Retrieve DTC from ECU and display diagnostic items
CGW Information^*1	Display^*1	Display^*1	Display^*1	Display the current CGW mode^1 Enables CGW to switch mode^1
Data Monitor	Display	Display	Display	Monitor the input/output signal of the control unit in real time
Work Support^*1	Non-display^*1	Non-display^*1	Display^*1	This mode enables a technician to adjust some devices faster and more accurately
Active Test^*1	Non-display^*1	Display^*1	Display^*1	Send the drive signal from CONSULT to the actuator The operation check can be performed
ECU Identification	Display	Display	Display	Display the ECU identification number (part number etc.) of the selected system
Configuration^*2	Display	Display	Display	The Nissan Pathfinder vehicle specification can be written when the control unit is replaced
Network-DTC^*2	Display	Display	Display	Display network DTC which the control unit memorizes when performing "Diagnosis (All System)".
MAC Diagnosis^*2	Display	Display	Display	Display MAC diagnosis result divided into the following two inspection priorities. Inspection Priority 1: Root cause Inspection Priority 2
CAN Diag Support Monitor^*2	Display	Display	Display	It monitors the status of CAN communication

*1: In some vehicles, it is not malfunctioning in case of no display of "CGW Information". In this case, it is not necessary to switch the CGW status. In Nissan Pathfinder vehicles where "CGW information" is not displayed, "Work Support" and "Active Test" are always displayed.

*2: Displays when performing "Diagnosis (All System)".

SELF DIAGNOSTIC RESULT

Refer to DTC Index.

NOTE:

The details of time display are as per the following.

CRNT: A malfunction is detected now

PAST: A malfunction was detected in the past

IGN counter is displayed on FFD (Freeze Frame Data).

0: The malfunctions that are detected now

CAN communication system (Network-DTC)

1 - 39: It increases like 0 → 1 → 2 ··· 38 → 39 after returning to the normal condition whenever the ignition switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.

If it is over 39, it is fixed to 39 until the self-diagnosis results are erased.

Other than CAN communication system (Other than Network-DTC)

1 - 49: It increases like 0 → 1 → 2 ··· 38 → 49 after returning to the normal condition whenever the ignition switch OFF → ON. It returns to 0 when a malfunction is detected again in the process.

If it is over 49, it is fixed to 49 until the self-diagnosis results are erased.

CGW INFORMATION

Display the diagnosis mode which a user can perform in Diag Test mode/Open Mode by switching the CGW status from Restricted mode to Diag Test Mode/Open Mode.

For the method of switching CAN Gateway status, Refer to CONSULT Function.

NOTE:

In some vehicles, it is not malfunctioning in case of no display of "CGW Information". In this case, it is not necessary to switch the CGW status.

DATA MONITOR

NOTE:

The following table includes information (items) inapplicable to this Nissan Pathfinder vehicle. For information (items) applicable to this vehicle, refer to CONSULT display items.

Monitored item [Unit]	ALL SIGNALS	Description
Current malfunction	×	Indicates DTC detected as the current malfunction
PWR SUP MONI [V]	×	Indicates the ADAS control unit 2 power supply voltage
Ignition switch [OFF/ON]	×	Indicates [ON/OFF] status of ignition switch
MAIN SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ICC steering switch
CANCEL SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ICC steering switch
SET/COAST SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ICC steering switch
RESUME/ACC SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ICC steering switch
DISTANCE SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ICC steering switch
Switch2 [OFF/ON]	×	NOTE: The item is displayed, but it is not used
BRAKE SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from brake switch signal (BCM transmits brake switch signal through CAN communication)
IDLE SW [OFF/ON]	×	Indicates idle position [ON/OFF] judged from accelerator pedal position signal (ECM transmits accelerator pedal position signal through CAN communication)
STOP LAMP SW [OFF/ON]	×	NOTE: The item is displayed, but it is not used
DRIVE MODE STATS [NRML/ECO/SPORT/RACE]	×	NOTE: The item is displayed, but it is not used
G (vertical) [G]	×	NOTE: The item is displayed, but it is not used
G (lateral) [G]	×	NOTE: The item is displayed, but it is not used
Nissan Pathfinder Vehicle speed [km/h]	×	Indicates Nissan Pathfinder vehicle speed as judged from vehicle speed signal [ABS actuator and electric unit (control unit) transmits vehicle speed signal through CAN communication]
SET VHCL SPD [km/h]	×	Indicates set Nissan Pathfinder vehicle speed memorized in ADAS control unit 2
EPS ST angle command value [deg]	×	NOTE: The item is displayed, but it is not used
EPS status [State1/State2/State3]	×	NOTE: The item is displayed, but it is not used
EPS control request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Vibration motor open status [Off/On]	×	NOTE: The item is displayed, but it is not used
ENGINE RPM [rpm]	×	Indicates engine speed judged from engine speed signal (ECM transmits engine speed signal through CAN communication)
THRTL OPENING [%]	×	Indicates throttle position judged from accelerator pedal position signal (ECM transmits accelerator pedal position signal through CAN communication)
GEAR [Off/CVT/FS]	×	NOTE: The item is displayed, but it is not used
CLUTCH SW SIG [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Neutral switch [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Parking brake holding request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Parking brake release request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Wiper signal [Low/High]	×	Indicates wiper status judged from front wiper status signal (BCM transmits front wiper status signal through CAN communication)
Turn signal [OFF/LH/RH]	×	Indicates wiper status judged from turn indicator signal (BCM transmits turn indicator signal through CAN communication)
SET DISTANCE [Long/Mid/Short]	×	Indicates set distance memorized in ADAS control unit 2
Own Nissan Pathfinder vehicle mark [OFF/ON]	×	NOTE: The item is displayed, but it is not used
VHCL AHEAD [OFF/ON]	×	Indicates [ON/OFF] status of Nissan Pathfinder vehicle ahead detection indicator output
Vhcl ahead recognition [NG/OK]	×	Indicates Nissan Pathfinder vehicle ahead detection status by each sensor
CRUISE LAMP [OFF/ON]	×	NOTE: The item is displayed, but it is not used
CRUISE OPE [OFF/ON]	×	Indicates whether controlling or not (ON means “controlling”)
Pro Pirot ON/OFF request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
FEB SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the AEB system
LDW SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the LDW system
LDP SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the I-LI system
Steering assist function select [OFF/ON]	×	NOTE: The item is displayed, but it is not used
FEB SW [OFF/ON]	×	NOTE: The item is displayed, but it is not used
ICC warning output [OFF/ON]	×	Indicates ICC malfunction message status
Speed control mode [OFF/ICC/ASCD]	×	Indicates cruise control mode status
Set display lamp [OFF/ICC/ASCD]	×	Indicates ICC system display status
LDP system [OFF/ON]	×	NOTE: The item is displayed, but it is not used
LDP control [ABNML/NRML]	×	Indicates I-LI system status
LDW system [OFF/ON]	×	Indicates LDW system status
Steering torque (measured) [Nm]	×	NOTE: The item is displayed, but it is not used
Steering torque rgstrtn stats [OK/NG]	×	NOTE: The item is displayed, but it is not used
Steering torque error cause	×	NOTE: The item is displayed, but it is not used

WORK SUPPORT

Work support items	Description
CAUSE OF AUTO-CANCEL 1	Displays causes of automatic system cancellation occurred during control of the ICC
CAUSE OF AUTO-CANCEL 2	Displays causes of automatic system cancellation occurred during control of the I-LI
CAUSE OF AUTO-CANCEL 6	NOTE: The item is displayed, but it is not used
MAC KEY writing	Write MAC key to ADAS control unit 2
Steering torque calibration	NOTE: The item is displayed, but it is not used

NOTE:

Causes of the maximum five cancellations (system cancel) are displayed.

The displayed cancellation causes display the number of the ignition switch ON/OFF up to 254. It is fixed to 254 if it is over 254. It returns to 0 when the same cancellation cause is detected again.

Display Items for The CAUSE OF AUTO-CANCEL 1

Cause of cancellation	Description
NO RECORD	—
OPERATING WIPER	Wiper function was operated
OPERATING ABS	ABS function was operated
OPERATING TCS	TCS function was operated
OPERATING VDC	VDC function was operated
ECM CIRCUIT	ECM did not permit the ICC to operate
CVT CIRCUIT	TCM did not permit the ICC to operate
OPE SW VOLT CIRC	The ICC steering switch input voltage is not within standard range
LASER BAD WEATHER	The distance sensor could not detect a Nissan Pathfinder vehicle ahead due to bad weather
LASER SUNBEAM	The distance sensor could not detect a Nissan Pathfinder vehicle ahead due to strong light
LASER TEMP	The temperate around the distance sensor was high
VDC/TCS OFF SW	VDC OFF in the information display was selected
SNOW MODE SW	The SNOW mode is selected
OP SW DOUBLE TOUCH	Steering switches were pressed at the same time
VHCL SPD DOWN	Nissan Pathfinder Vehicle speed is lower than 32 km/h (20 MPH)
WHL SPD ELEC NOISE	Electromagnetic noise interfered with Wheel speed sensor signal
VHCL SPD UNMATCH	Wheel speed and Nissan Pathfinder vehicle speed became inconsistent
TIRE SLIP	Because the tire slipped
IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
PARKING BRAKE ON	The Nissan Pathfinder vehicle was driven with parking brake ON
WHEEL SPD UNMATCH	The wheel speeds of 4 wheels are out of the specified values
INCHING LOST	A Nissan Pathfinder vehicle ahead is not detected during the following driving when the vehicle speed is approximately 24 km/h (15 MPH) or less
CAN COMM ERROR	ADAS control unit 2 received an abnormal signal with CAN communication
ABS/TCS/VDC CIRC	An abnormal condition occurs in ABS/TCS/VDC system
ECD CIRCUIT	An abnormal condition occurs in ECD system
BCU CIRCUIT	An abnormal condition occurs in BCU system
ENG SPEED DOWN	Engine speed became extremely low while controlling ICC
ASCD VHCL SPD DTAC	Nissan Pathfinder Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD	Cancel switch and operation switch are detected simultaneously
NAVI VECL SPD UNMATCH	The Nissan Pathfinder vehicle speed signal from AV control unit and the vehicle speed calculated by the ADAS control unit 2 were inconsistent
GPS CIRCUIT	The location of the Nissan Pathfinder vehicle via GPS was temporarily dropped
NAVI SYSTEM CIRCUIT	An abnormal condition occurs in Navi-link
CURVE SIGNAL	The curve information could not be calculated temporarily
NAVI SIG UNMATCH	The signal from AV control unit and the signal calculated by the ADAS control unit 2 were inconsistent
OFF-ROAD MODE	OFF-ROAD mode was selected
4WD LOCK MODE	AWD mode was selected
ABS WARNING LAMP	ABS warning lamp ON
ICC SENSOR CAN COMM ERR	Communication error between ADAS control unit 2 and the distance sensor
FR RADAR BLOCKED	Inclusion of dirt or stains on the distance sensor area of the front grill
OPERATING ATC	Intelligent trace control was operated
FEB) CURVATURE	Road curve was more than the specified value
FEB) YAW RATE	Detected yawing speed was more than the specified value
FEB) LTRL ACCELERATION	Detected lateral speed is the specified value or more
RADAR INTERFERENCE	Distance sensor receives electromagnetic interference
TOWING	When being towed
FEB COUNT LIMIT	Because the AEB has been activated 3 times
LANE CAMERA BLOCKED	Inclusion of dirt or stain on front camera unit field of view (example) window with fogging, window with dirt, strong light from front etc...)
Door open	Either door was opened
Front camera blocked	Inclusion of dirt or stain on front camera unit field of view (example) window with fogging, window with dirt, strong light from front etc...)
Step brake/accel at once	The brake and accelerator pedals are depressed simultaneously
Piloted drive conti operate time	3 minutes are passed after the Nissan Pathfinder vehicle is stopped by ICC and the electric parking brake is engaged
Get-out judgment	The system determines that the driver exits the Nissan Pathfinder vehicle
EPS circuit	The EPS control system refuses to permit activation of the ICC system
ePKB circuit	The electric parking brake system refuses to permit activation of the ICC system
CCM circuit	Chassis control module refuses to permit activation of the ICC system
FEB/EAPM actuation	AEB function was operated
Sloping road judgment	The system determines that the road is a hill with a gradient too steep for control
Release hand judgment	The system determines that the driver is not holding the steering during driving
Turn signal operation judgment	Turn signal operation function was operated
Lane marker lost	The system no longer detects the lane markers
Leading Nissan Pathfinder vehicle lost (side)	The vehicle ahead changes lanes and is no longer in front of this Nissan Pathfinder vehicle
Steering override	Steering value is invalid
LDP/BSI actuation	I-LI or I-BSI function was operated
Lane camera offset center	Significant change in Nissan Pathfinder vehicle attitude or improper installation position of front camera unit

Display Items for The CAUSE OF AUTO-CANCEL 2

Cause of cancellation	Description
NO RECORD	—
OPE VDC/TCS/ABS 1	The activation of VDC, TCS, or ABS during I-LI system control
Nissan Pathfinder Vehicle dynamics	Vehicle behavior exceeds specified value
Steering speed	Steering speed was more than the specified value in evasive direction
End by yawangle	Yaw angle was the end of I-LI control
Departure yaw large	Detected more than the specified value of yaw angle in departure direction
ICC WARNING	Target approach warning of ICC system, AEB system, or I-FCW system was activated
BSI WARNING	I-BSI system was activated
CURVATURE	Road curve was more than the specified value
Steering angle large	Steering angle was more than the specified value
Brake is operated	Brake pedal was operated
IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
Lateral offset	Distance of Nissan Pathfinder vehicle and lane was detached in lateral direction more than the specified value
Lane marker lost	Front camera unit lost the trace of lane marker
Lane marker unclear	Detected lane marker was unclear
Yaw acceleration	Detected yawing speed was more than the specified value
Deceleration large	Deceleration in a longitudinal direction was more than the specified value
Accel is operated	Accelerator pedal was depressed
Departure steering	Steering wheel was steered more than the specified value in departure direction
Evasive steering	Steering wheel was steered more than the specified value in the evasive direction
R range	Selector lever was operated to R range
Parking brake drift	Rear wheels lock was detected
SNOW MODE SW	The SNOW mode is selected
VDC OFF SW	VDC OFF in the information display was selected
OPE VDC/ABS 2	The activation of VDC or ABS during a standby time of I-LI system control
OFF-ROAD MODE	OFF-ROAD mode was selected
4WD LOCK MODE	AWD mode was selected
Not operating condition	Did not meet the operating condition (Nissan Pathfinder vehicle speed, turn signal operation, etc.)
BSI) OPE VDC/TCS/ABS 1	The activation of VDC, TCS, or ABS during I-BSI system control
BSI) Nissan Pathfinder Vehicle dynamics	Vehicle behavior exceeds specified value
BSI) Steering speed	Steering speed was more than the specified value in evasive direction
BSI) End by yaw angle	Yaw angle was the end of I-BSI control
BSI) Departure yaw large	Detected more than the specified value of yaw angle in departure direction
BSI) ICC WARNING	Target approach warning of ICC system, AEB system or I-FCW system was activated
BSI) CURVATURE	Road curve was more than the specified value
BSI) Steering angle large	Steering angle was more than the specified value
BSI) Brake is operated	Brake pedal was operated
BSI) IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
BSI) Lateral offset	Distance of Nissan Pathfinder vehicle and lane was detached in lateral direction more than the specified
BSI) Lane marker lost	Front camera unit lost the trace of lane marker
BSI) Lane marker unclear	Detected lane marker was unclear
BSI) Yaw acceleration	Detected yawing speed was more than the specified value
BSI) Deceleration large	Deceleration in a longitudinal direction was more than the specified value
BSI) Accel is operated	Accelerator pedal was depressed
BSI) Departure steering	Steering wheel was steered more than the specified value in departure direction
BSI) Evasive steering	Steering wheel was steered more than the specified value in the evasive direction
BSI) R range	Selector lever was operated to R range
BSI) Parking brake drift	Rear wheels lock was detected
BSI) SNOW MODE SW	The SNOW mode is selected
BSI) VDC OFF SW	VDC OFF switch was pressed
BSI) OPE VDC/ABS 2	The activation of VDC or ABS during a standby time of I-BSI system control
BSI) Not operating condition	Did not meet the operating condition (Nissan Pathfinder vehicle speed, turn signal operation, etc.)
Side Radar Lost	Unrecognized side radar LH or RH by the ADAS control unit 2
BSI) OFF-ROAD MODE	OFF-ROAD mode was selected
BSI) 4WD LOCK MODE	AWD mode was selected

MAC KEY writing

Refer to Work Procedure.

Steering torque calibration

Refer to Work Procedure.

ACTIVE TEST

Test item	Description
STRG vibration	NOTE: The item is displayed, but it is not used
BRAKE ACTUATOR	NOTE: The item is displayed, but it is not used
Buzzer 1	NOTE: The item is displayed, but it is not used

Test item

Description

STRG vibration

NOTE:

The item is displayed, but it is not used

BRAKE ACTUATOR

NOTE:

The item is displayed, but it is not used

Buzzer 1

NOTE:

The item is displayed, but it is not used

ECU IDENTIFICATION

Displays ADAS control unit 2 parts number.

With Propilot System

CONSULT Function (ICC/ADAS 2)

APPLICATION ITEMS

CONSULT performs the following functions via CAN communication using ADAS control unit 2.

Diagnosis mode	CGW Status			Description
Diagnosis mode	Restricted Mode	Diag Test Mode	Open Mode	Description
Self Diagnostic Result	Display	Display	Display	Retrieve DTC from ECU and display diagnostic items
CGW Information^*1	Display^*1	Display^*1	Display^*1	Display the current CGW mode^1 Enables CGW to switch mode^1
Data Monitor	Display	Display	Display	Monitor the input/output signal of the control unit in real time
Work Support^*1	Non-display^*1	Non-display^*1	Display^*1	This mode enables a technician to adjust some devices faster and more accurately
Active Test^*1	Non-display^*1	Display^*1	Display^*1	Send the drive signal from CONSULT to the actuator The operation check can be performed
ECU Identification	Display	Display	Display	Display the ECU identification number (part number etc.) of the selected system
Configuration^*2	Display	Display	Display	The Nissan Pathfinder vehicle specification can be written when the control unit is replaced
Network-DTC^*2	Display	Display	Display	Display network DTC which the control unit memorizes when performing "Diagnosis (All System)".
MAC Diagnosis^*2	Display	Display	Display	Display MAC diagnosis result divided into the following two inspection priorities. Inspection Priority 1: Root cause Inspection Priority 2
CAN Diag Support Monitor^*2	Display	Display	Display	It monitors the status of CAN communication

*2: Displays when performing "Diagnosis (All System)".

SELF DIAGNOSTIC RESULT

Refer to DTC Index.

NOTE:

CGW INFORMATION

Display the diagnosis mode which a user can perform in Diag Test mode/Open Mode by switching the CGW status from Restricted mode to Diag Test Mode/Open Mode.

For the method of switching CAN Gateway status, Refer to CONSULT Function.

NOTE:

In some vehicles, it is not malfunctioning in case of no display of "CGW Information". In this case, it is not necessary to switch the CGW status.

DATA MONITOR

NOTE:

The following table includes information (items) inapplicable to this Nissan Pathfinder vehicle. For information (items) applicable to this vehicle, refer to CONSULT display items.

Monitored item [Unit]	ALL SIGNALS	Description
Current malfunction	×	Indicates DTC detected as the current malfunction
PWR SUP MONI [V]	×	Indicates the ADAS control unit 2 power supply voltage
Ignition switch [OFF/ON]	×	Indicates [ON/OFF] status of ignition switch
MAIN SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ProPILOT Assist steering switch
CANCEL SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ProPILOT Assist steering switch
SET/COAST SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ProPILOT Assist steering switch
RESUME/ACC SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ProPILOT Assist steering switch
DISTANCE SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from ProPILOT Assist steering switch
Switch1 [OFF/ON]	×	Indicates [ON/OFF] status of steering assist switch
Switch2 [OFF/ON]	×	NOTE: The item is displayed, but it is not used
BRAKE SW [OFF/ON]	×	Indicates [ON/OFF] status as judged from brake switch signal (BCM transmits brake switch signal through CAN communication)
IDLE SW [OFF/ON]	×	Indicates idle position [ON/OFF] judged from accelerator pedal position signal (ECM transmits accelerator pedal position signal through CAN communication)
STOP LAMP SW [OFF/ON]	×	NOTE: The item is displayed, but it is not used
DRIVE MODE STATS [NRML/ECO/SPORT/RACE]	×	NOTE: The item is displayed, but it is not used
G (vertical) [G]	×	NOTE: The item is displayed, but it is not used
G (lateral) [G]	×	NOTE: The item is displayed, but it is not used
Nissan Pathfinder Vehicle speed [km/h]	×	Indicates Nissan Pathfinder vehicle speed as judged from vehicle speed signal [ABS actuator and electric unit (control unit) transmits vehicle speed signal through CAN communication]
SET VHCL SPD [km/h]	×	Indicates set Nissan Pathfinder vehicle speed memorized in ADAS control unit 2
EPS ST angle command value [deg]	×	NOTE: The item is displayed, but it is not used
EPS status [State1/State2/State3]	×	NOTE: The item is displayed, but it is not used
EPS control request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Vibration motor open status [Off/On]	×	NOTE: The item is displayed, but it is not used
ENGINE RPM [rpm]	×	Indicates engine speed judged from engine speed signal (ECM transmits engine speed signal through CAN communication)
THRTL OPENING [%]	×	Indicates throttle position judged from accelerator pedal position signal (ECM transmits accelerator pedal position signal through CAN communication)
GEAR [Off/CVT/FS]	×	NOTE: The item is displayed, but it is not used
CLUTCH SW SIG [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Neutral switch [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Parking brake holding request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Parking brake release request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
Wiper signal [Low/High]	×	Indicates wiper status judged from front wiper status signal (BCM transmits front wiper status signal through CAN communication)
Turn signal [OFF/LH/RH]	×	Indicates wiper status judged from turn indicator signal (BCM transmits turn indicator signal through CAN communication)
SET DISTANCE [Long/Mid/Short]	×	Indicates set distance memorized in ADAS control unit 2
Own Nissan Pathfinder vehicle mark [OFF/ON]	×	NOTE: The item is displayed, but it is not used
VHCL AHEAD [OFF/ON]	×	Indicates [ON/OFF] status of Nissan Pathfinder vehicle ahead detection indicator output
Vhcl ahead recognition [NG/OK]	×	Indicates Nissan Pathfinder vehicle ahead detection status by each sensor
CRUISE LAMP [OFF/ON]	×	NOTE: The item is displayed, but it is not used
CRUISE OPE [OFF/ON]	×	Indicates whether controlling or not (ON means “controlling”)
Pro Pirot ON/OFF request [OFF/ON]	×	NOTE: The item is displayed, but it is not used
FEB SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the AEB system
LDW SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the LDW system
LDP SELECT [OFF/ON]	×	Indicates an [ON/OFF] state of the I-LI system
Steering assist function select [OFF/ON]	×	Indicates an [ON/OFF] state of the steering assist system
FEB SW [OFF/ON]	×	NOTE: The item is displayed, but it is not used
ICC warning output [OFF/ON]	×	Indicates ProPILOT Assist malfunction message status
Speed control mode [OFF/ICC/ASCD]	×	Indicates cruise control mode status
Set display lamp [OFF/ICC/ASCD]	×	Indicates ProPILOT Assist system display status
LDP system [OFF/ON]	×	NOTE: The item is displayed, but it is not used
LDP control [ABNML/NRML]	×	Indicates I-LI system status
LDW system [OFF/ON]	×	Indicates LDW system status
Steering torque (measured) [Nm]	×	NOTE: The item is displayed, but it is not used
Steering torque rgstrtn stats [OK/NG]	×	NOTE: The item is displayed, but it is not used
Steering torque error cause	×	NOTE: The item is displayed, but it is not used

WORK SUPPORT

Work support items	Description
CAUSE OF AUTO-CANCEL 1	Displays causes of automatic system cancellation occurred during control of the ProPILOT Assist
CAUSE OF AUTO-CANCEL 2	Displays causes of automatic system cancellation occurred during control of the I-LI
CAUSE OF AUTO-CANCEL 6	NOTE: The item is displayed, but it is not used
MAC KEY writing	Write MAC key to ADAS control unit 2
Steering torque calibration	Start the steering torque calibration

NOTE:

Display Items for The CAUSE OF AUTO-CANCEL 1

Cause of cancellation	Description
NO RECORD	—
OPERATING WIPER	Wiper function was operated
OPERATING ABS	ABS function was operated
OPERATING TCS	TCS function was operated
OPERATING VDC	VDC function was operated
ECM CIRCUIT	ECM did not permit the ProPILOT Assist to operate
CVT CIRCUIT	TCM did not permit the ProPILOT Assist to operate
OPE SW VOLT CIRC	The ProPILOT Assist steering switch input voltage is not within standard range
LASER BAD WEATHER	The distance sensor could not detect a Nissan Pathfinder vehicle ahead due to bad weather
LASER SUNBEAM	The distance sensor could not detect a Nissan Pathfinder vehicle ahead due to strong light
LASER TEMP	The temperate around the distance sensor was high
VDC/TCS OFF SW	VDC OFF in the information display was selected
SNOW MODE SW	The SNOW mode is selected
OP SW DOUBLE TOUCH	Steering switches were pressed at the same time
VHCL SPD DOWN	Nissan Pathfinder Vehicle speed is lower than 32 km/h (20 MPH)
WHL SPD ELEC NOISE	Electromagnetic noise interfered with Wheel speed sensor signal
VHCL SPD UNMATCH	Wheel speed and Nissan Pathfinder vehicle speed became inconsistent
TIRE SLIP	Because the tire slipped
IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
PARKING BRAKE ON	The Nissan Pathfinder vehicle was driven with parking brake ON
WHEEL SPD UNMATCH	The wheel speeds of 4 wheels are out of the specified values
INCHING LOST	A Nissan Pathfinder vehicle ahead is not detected during the following driving when the vehicle speed is approximately 24 km/h (15 MPH) or less
CAN COMM ERROR	ADAS control unit 2 received an abnormal signal with CAN communication
ABS/TCS/VDC CIRC	An abnormal condition occurs in ABS/TCS/VDC system
ECD CIRCUIT	An abnormal condition occurs in ECD system
BCU CIRCUIT	An abnormal condition occurs in BCU system
ENG SPEED DOWN	Engine speed became extremely low while controlling ProPILOT Assist
ASCD VHCL SPD DTAC	Nissan Pathfinder Vehicle speed is detached from set vehicle speed
ASCD DOUBLE COMD	Cancel switch and operation switch are detected simultaneously
NAVI VECL SPD UNMATCH	The Nissan Pathfinder vehicle speed signal from AV control unit and the vehicle speed calculated by the ADAS control unit 2 were inconsistent
GPS CIRCUIT	The location of the Nissan Pathfinder vehicle via GPS was temporarily dropped
NAVI SYSTEM CIRCUIT	An abnormal condition occurs in Navi-link
CURVE SIGNAL	The curve information could not be calculated temporarily
NAVI SIG UNMATCH	The signal from AV control unit and the signal calculated by the ADAS control unit 2 were inconsistent
OFF-ROAD MODE	OFF-ROAD mode was selected
4WD LOCK MODE	AWD mode was selected
ABS WARNING LAMP	ABS warning lamp ON
ICC SENSOR CAN COMM ERR	Communication error between ADAS control unit 2 and the distance sensor
FR RADAR BLOCKED	Inclusion of dirt or stains on the distance sensor area of the front grill
OPERATING ATC	Intelligent trace control was operated
FEB) CURVATURE	Road curve was more than the specified value
FEB) YAW RATE	Detected yawing speed was more than the specified value
FEB) LTRL ACCELERATION	Detected lateral speed is the specified value or more
RADAR INTERFERENCE	Distance sensor receives electromagnetic interference
TOWING	When being towed
FEB COUNT LIMIT	Because the AEB has been activated 3 times
LANE CAMERA BLOCKED	Inclusion of dirt or stain on front camera unit field of view (example) window with fogging, window with dirt, strong light from front etc...)
Door open	Either door was opened
Front camera blocked	Inclusion of dirt or stain on front camera unit field of view (example) window with fogging, window with dirt, strong light from front etc...)
Step brake/accel at once	The brake and accelerator pedals are depressed simultaneously
Piloted drive conti operate time	3 minutes are passed after the Nissan Pathfinder vehicle is stopped by ProPILOT Assist and the electric parking brake is engaged
Get-out judgment	The system determines that the driver exits the Nissan Pathfinder vehicle
EPS circuit	The EPS control system refuses to permit activation of the ProPILOT Assist system
ePKB circuit	The electric parking brake system refuses to permit activation of the ProPILOT Assist system
CCM circuit	Chassis control module refuses to permit activation of the ProPILOT Assist system
FEB/EAPM actuation	AEB function was operated
Sloping road judgment	The system determines that the road is a hill with a gradient too steep for control
Release hand judgment	The system determines that the driver is not holding the steering during driving
Turn signal operation judgment	Turn signal operation function was operated
Lane marker lost	The system no longer detects the lane markers
Leading Nissan Pathfinder vehicle lost (side)	The vehicle ahead changes lanes and is no longer in front of this Nissan Pathfinder vehicle
Steering override	Steering value is invalid
LDP/BSI actuation	I-LI or I-BSI function was operated
Lane camera offset center	Significant change in Nissan Pathfinder vehicle attitude or improper installation position of front camera unit

Display Items for The CAUSE OF AUTO-CANCEL 2

Cause of cancellation	Description
NO RECORD	—
OPE VDC/TCS/ABS 1	The activation of VDC, TCS, or ABS during I-LI system control
Nissan Pathfinder Vehicle dynamics	Vehicle behavior exceeds specified value
Steering speed	Steering speed was more than the specified value in evasive direction
End by yawangle	Yaw angle was the end of I-LI control
Departure yaw large	Detected more than the specified value of yaw angle in departure direction
ICC WARNING	Target approach warning of ProPILOT Assist system, AEB system, or I-FCW system was activated
BSI WARNING	I-BSI system was activated
CURVATURE	Road curve was more than the specified value
Steering angle large	Steering angle was more than the specified value
Brake is operated	Brake pedal was operated
IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
Lateral offset	Distance of Nissan Pathfinder vehicle and lane was detached in lateral direction more than the specified value
Lane marker lost	Front camera unit lost the trace of lane marker
Lane marker unclear	Detected lane marker was unclear
Yaw acceleration	Detected yawing speed was more than the specified value
Deceleration large	Deceleration in a longitudinal direction was more than the specified value
Accel is operated	Accelerator pedal was depressed
Departure steering	Steering wheel was steered more than the specified value in departure direction
Evasive steering	Steering wheel was steered more than the specified value in the evasive direction
R range	Selector lever was operated to R range
Parking brake drift	Rear wheels lock was detected
SNOW MODE SW	The SNOW mode is selected
VDC OFF SW	VDC OFF in the information display was selected
OPE VDC/ABS 2	The activation of VDC or ABS during a standby time of I-LI system control
OFF-ROAD MODE	OFF-ROAD mode was selected
4WD LOCK MODE	AWD mode was selected
Not operating condition	Did not meet the operating condition (Nissan Pathfinder vehicle speed, turn signal operation, etc.)
BSI) OPE VDC/TCS/ABS 1	The activation of VDC, TCS, or ABS during I-BSI system control
BSI) Nissan Pathfinder Vehicle dynamics	Vehicle behavior exceeds specified value
BSI) Steering speed	Steering speed was more than the specified value in evasive direction
BSI) End by yaw angle	Yaw angle was the end of I-BSI control
BSI) Departure yaw large	Detected more than the specified value of yaw angle in departure direction
BSI) ICC WARNING	Target approach warning of ProPILOT Assist system, AEB system or I-FCW system was activated
BSI) CURVATURE	Road curve was more than the specified value
BSI) Steering angle large	Steering angle was more than the specified value
BSI) Brake is operated	Brake pedal was operated
BSI) IGN LOW VOLT	Decrease in ADAS control unit 2 IGN voltage
BSI) Lateral offset	Distance of Nissan Pathfinder vehicle and lane was detached in lateral direction more than the specified
BSI) Lane marker lost	Front camera unit lost the trace of lane marker
BSI) Lane marker unclear	Detected lane marker was unclear
BSI) Yaw acceleration	Detected yawing speed was more than the specified value
BSI) Deceleration large	Deceleration in a longitudinal direction was more than the specified value
BSI) Accel is operated	Accelerator pedal was depressed
BSI) Departure steering	Steering wheel was steered more than the specified value in departure direction
BSI) Evasive steering	Steering wheel was steered more than the specified value in the evasive direction
BSI) R range	Selector lever was operated to R range
BSI) Parking brake drift	Rear wheels lock was detected
BSI) SNOW MODE SW	The SNOW mode is selected
BSI) VDC OFF SW	VDC OFF switch was pressed
BSI) OPE VDC/ABS 2	The activation of VDC or ABS during a standby time of I-BSI system control
BSI) Not operating condition	Did not meet the operating condition (Nissan Pathfinder vehicle speed, turn signal operation, etc.)
Side Radar Lost	Unrecognized side radar LH or RH by the ADAS control unit 2
BSI) OFF-ROAD MODE	OFF-ROAD mode was selected
BSI) 4WD LOCK MODE	AWD mode was selected

MAC KEY writing

Refer to Work Procedure.

Steering torque calibration

Refer to Work Procedure.

ACTIVE TEST

Test item	Description
STRG vibration	Operates a EPS control unit by arbitrarily operating ON/OFF
BRAKE ACTUATOR	NOTE: The item is displayed, but it is not used
Buzzer 1	NOTE: The item is displayed, but it is not used

Test item

Description

STRG vibration

Operates a EPS control unit by arbitrarily operating ON/OFF

BRAKE ACTUATOR

NOTE:

The item is displayed, but it is not used

Buzzer 1

NOTE:

The item is displayed, but it is not used

STRG vibration

Test item	Operation	Description	Steering vibration
STRG vibration	ON	Transmits the steering vibration signal to the EPS control unit	ON
STRG vibration	OFF	Stops transmitting the steering vibration signal to end the test	OFF