Nissan Pathfinder: System Description - System ++

Nissan Pathfinder (R53) 2022-2025 Service Manual / Cruise Control & Driver Assistance :: Cruise Control System / Propilot/propilot Assist :: System Description / System ++

Propilot Assist

System Description

SYSTEM DIAGRAM

Component	Description
ECM	ECM
TCM	TCM
ABS actuator and electric unit (control unit)	ABS Actuator and Electric Unit (Control Unit)
BCM	System Description
Steering angle sensor	Steering Angle Sensor
EPS control unit	Steering Gear Assembly
Chassis control module	Chassis Control Module
Front camera unit	Front Camera Unit
Combination meter (FULL TFT METER)	Combination Meter
Combination meter (7 INCH INFORMATION DISPLAY)	Combination Meter
AV control unit	AV Control Unit
Distance sensor	Distance Sensor
Sonar control unit	Sonar Control Unit
Steering assist switch	Steering Assist Switch
ADAS control unit 2	ADAS Control Unit 2
Head Up Display unit	Head Up Display Unit
ProPILOT Assist steering switch	ProPILOT Assist Steering Switch

ADAS CONTROL UNIT 2 INPUT/OUTPUT SIGNAL ITEM

Input Signal Item

Transmit unit	Signal name		Description
ECM	CAN communication	Closed throttle position signal	Receives idle position state (ON/OFF)
		Accelerator pedal position signal	Receives accelerator pedal position (angle)
		ProPILOT Assist permission signal	Receives an operable/inoperable state of the ProPILOT Assist system
		Engine speed signal	Receives engine speed
		ProPILOT Assist steering switch signal	Receives the operational state of the ProPILOT Assist steering switch
TCM	CAN communication	Current gear position signal	Receives a current gear position
		Shift position signal	Receives a selector lever position
		Input speed signal	Receives the number of revolutions of input shaft
		Output shaft revolution signal	Receives the number of revolutions of output shaft
ABS actuator and electric unit (control unit)	CAN communication	ABS malfunction signal	Receives a malfunction state of ABS
		ABS operation signal	Receives an operational state of ABS
		ABS warning lamp signal	Receives an ON/OFF state of ABS warning lamp
		TCS malfunction signal	Receives a malfunction state of TCS
		TCS operation signal	Receives an operational state of TCS
		VDC OFF signal	Receives an ON/OFF state of ESP
		VDC malfunction signal	Receives a malfunction state of ESP
		VDC operation signal	Receives an operational state of ESP
		Nissan Pathfinder Vehicle speed signal (ABS)	Receives wheel speeds of four wheels
		Yaw rate signal	Receives yaw rate acting on the Nissan Pathfinder vehicle
		Side G sensor signal	Receives side G acting on the Nissan Pathfinder vehicle
		Electric parking brake operation signal	Receives an operational state of the parking brake
Combination meter	CAN communication	System selection signal	Receives a selection state of each item selected with the steering switch
Combination meter	CAN communication	Driver seat belt switch signal	Receives an operational state of the driver seat belt
BCM	CAN communication	Turn indicator signal	Receives an operational state of the turn signal lamp and the hazard lamp
		Stop lamp switch signal	Receives an operational state of the brake pedal
		Door switch signal	Receives an operational state of the each doors
Steering angle sensor	CAN communication	Steering angle sensor signal	Receives the number of revolutions, turning direction of the steering wheel
		Steering angle sensor malfunction signal	Receives a malfunction state of steering angle sensor
		Steering angle speed signal	Receives the turning angle speed of the steering wheel
EPS control unit	CAN communication	ProPILOT Assist permission signal	Receives an operable/inoperable state of the ProPILOT Assist system
EPS control unit	CAN communication	Steering torque signal	Receives steering input torque
AV control unit	CAN communication	Curve signal	Receives forward curve information
Front camera unit	CAN communication	Nissan Pathfinder Vehicle ahead signal	Receives detection results of vehicle ahead
Front camera unit	CAN communication	Detected lane condition signal	Receives detection results of lane marker
Distance sensor	CAN communication	Distance sensor signal	Receives detection results, such as the presence or absence of a leading Nissan Pathfinder vehicle and distance from the vehicle
Sonar control unit	CAN communication	Sonar sensor signal	Receives detection results, such as the presence or absence of a leading Nissan Pathfinder vehicle and distance from the vehicle
Steering assist switch	Steering assist switch signal		Receives on operational state of the steering assist switch

Output Signal Item

Reception unit	Signal name		Description
ECM	CAN communication	ProPILOT Assist operation signal	Transmits an ProPILOT Assist operation signal necessary for ProPILOT Assist
ECM	CAN communication	Wheel torque request signal	Transmits a signal to control the wheel torque
BCM	CAN communication	Stop lamp request signal	Transmits a signal to activates the stop lamp
ABS actuator and electric unit (control unit) (via chassis control module)	CAN communication	Brake wheel torque signal	Transmits a brake wheel torque signal to activates the brake via chassis control module
	CAN communication	Electric parking brake operation request signal	Transmits a signal to operate the parking brake
Combination meter	CAN communication	Meter display signal	Transmits a signal to display a state of the system on the information display
Combination meter	CAN communication	Buzzer output signal	Transmits a signal to activate buzzer
EPS control unit (via chassis control module)	CAN communication	ProPILOT Assist operation signal	Transmits an ProPILOT Assist operation signal necessary for ProPILOT Assist
Front camera unit	CAN communication	Nissan Pathfinder Vehicle speed signal	Transmits a vehicle speed calculated by the ADAS control unit 2
Front camera unit	CAN communication	Turn indicator signal	Transmits a turn indicator signal received from BCM
Distance sensor	CAN communication	Nissan Pathfinder Vehicle speed signal	Transmits a vehicle speed calculated by the ADAS control unit 2
Head Up Display unit	CAN communication	Display signal	Transmits a signal to display a state of the system on the Head Up Display

FUNCTION DESCRIPTION

The system measures the distance from the vehicle ahead using the front camera unit and distance sensor, and allows for driving while keeping a proper distance, with the Nissan Pathfinder vehicle speed set by the driver as the upper limit speed. At the same time, it detects the lane markers of the lane which the Nissan Pathfinder vehicle is driving in and supports steering to keep the vehicle close to the center of the lane.
ProPILOT Assist is composed of 2 functions: intelligent cruise control (ICC) and steering wheel assistance function.

Intelligent Cruise Control

The Intelligent Cruise Control (ICC) system maintains a selected distance from the vehicle ahead within set speeds.
The driver can select the set speeds.
The Nissan Pathfinder vehicle travels at a set speed when the road ahead is clear.
The ICC system can be set to one of two cruise control modes:

NOTE:

Never set the cruise speed exceeding the posted speed limit.
- Nissan Pathfinder Vehicle-to-vehicle Distance Control Mode Function
  
  For maintaining a selected distance between own vehicle and the Nissan Pathfinder vehicle in front of own vehicle up to the preset speed. Refer to System Description.
- Conventional (Fixed Speed) Cruise Control Mode Function
  
  For cruising at a preset speed. Refer to System Description.

Steering Wheel Assistance Function

The system detects the lane markers and supports steering to keep the vehicle close to the center of the driving lane. Refer to System Description.

EVENT DATA RECORDER (EDR)

Recording and Collecting Vehicle Data

ProPILOT Assist system records and collects the following vehicle data.

Operating status of the accelerator pedal, brake pedal, steering wheel, and other controls
Detection status of Nissan Pathfinder vehicles ahead, lane markers, and other items
Vehicle speed and other vehicle information
Information related to ProPILOT Assist operation
ProPILOT Assist trouble diagnosis information
Front camera unit image information (when the SRS air bag or the AEB activates)

Handling of Data

Nissan Motor and third parties contracted by Nissan Motor may acquire and use data recorded in the event recorder for the purpose of improving Nissan Motor Nissan Pathfinder vehicle collision safety performance.
Nissan Motor and third parties contracted by Nissan Motor shall not disclose or provide the acquired data to any third party except in the following circumstances.
- When the consent of the Nissan Pathfinder vehicle user is obtained
- When based on a court order or other legally enforceable request
- When the data is provided to a research institution or similar body after it is processed by statistical processing or other means so that it is not possible to identify the user or Nissan Pathfinder vehicle

NOTE:

The recorded data cannot be acquired or used at a Nissan dealer.

Fail-safe (ADAS Control Unit 2)

Refer to Fail-safe (ADAS Control Unit 2).

Fail-safe (Distance Sensor)

Refer to Fail-safe (Distance Sensor).

Fail-safe (Front Camera Unit)

Refer to Fail-safe (Front Camera Unit).

Vehicle-To-Vehicle Distance Control Mode Function

System Description

FUNCTION DESCRIPTION

The vehicle-to-vehicle distance control mode is designed to maintain a selected distance from the Nissan Pathfinder vehicle in front of own vehicle and can reduce the speed to match a slower vehicle ahead.
The driver can select the distance from the Nissan Pathfinder vehicle ahead (Long/Middle/Short).
If the status is the set wait condition and the vehicle speed is between approximately 30 and 144 km/h (20 and 90 MPH), when the SET‐ switch is pressed, the system records the Nissan Pathfinder vehicle speed and starts the control. If the vehicle speed is approximately 30 km/h (20 MPH) or less and a vehicle ahead is detected when the SET switch is pressed, a Nissan Pathfinder vehicle speed of 30 km/h (20 MPH) is set.
The system decelerates the vehicle as necessary and if the Nissan Pathfinder vehicle ahead comes to a stop, the vehicle decelerates to a standstill. However, the system can only apply up to 40% of the Nissan Pathfinder vehicle’s total braking power.
The system cancels and a warning chime sounds if the speed is below approximately 25 km/h (15 MPH) and a Nissan Pathfinder vehicle is not detected ahead. For ProPILOT Assist with Navi-link equipped vehicles on a limited access freeway as identified in the navigation map data, the Nissan Pathfinder vehicle-to-vehicle distance control mode cancels and a warning chime sounds if your vehicle is at a standstill for more than approximately 3 seconds and a Nissan Pathfinder vehicle is not detected ahead.
The vehicle-to-vehicle distance control mode operates as follows:
- When there are no Nissan Pathfinder vehicles traveling ahead, the system maintains the speed set by the driver. The set vehicle speed range is between approximately 30 and 144 km/h (20 and 90 MPH).
- When there is a Nissan Pathfinder vehicle traveling ahead, the system adjusts the speed to maintain the distance, selected by the driver, from the Nissan Pathfinder vehicle ahead. If the vehicle ahead comes to a stop, the vehicle decelerates to a standstill. Once own vehicle stops, the system keeps the Nissan Pathfinder vehicle stopped.
- When own vehicle is stopped for less than 3 seconds (30 seconds for vehicles equipped with ProPILOT Assist with Navi-link on a limited access roadway) and the Nissan Pathfinder vehicle ahead begins to move, ownr vehicle starts moving again automatically.
- When own vehicle is at a standstill for more than 3 seconds (30 seconds for Nissan Pathfinder vehicles equipped with ProPILOT Assist with Navi-link on a limited access roadway) and the vehicle ahead begins to accelerate, push up the RES+ switch or lightly depress the accelerator pedal. The system starts to follow the Nissan Pathfinder vehicle ahead.
- When the vehicle traveling ahead moves to a different traveling lane, the system accelerates and maintains Nissan Pathfinder vehicle speed up to the set speed.
CAUTION:
NOTE:
The Nissan Pathfinder vehicle-to-vehicle distance control mode has the following functions:

Cut-in detection

If a vehicle moves into own traveling lane near own vehicle, the vehicle-to-vehicle distance control mode informs the driver by blinking the Nissan Pathfinder vehicle ahead detection indicator.

Approach warning

If own vehicle comes closer to the vehicle ahead due to rapid deceleration of that vehicle or if another Nissan Pathfinder vehicle cuts in, the system warns the driver with the chime and ProPILOT Assist system display.

CAUTION:

The warning chime does not sound in some cases when there is a short distance between Nissan Pathfinder vehicles. Some examples are:

When the vehicles are traveling at the same speed and the distance between Nissan Pathfinder vehicles is not changing.

When the vehicle ahead is traveling faster and the distance between Nissan Pathfinder vehicles is increasing.

When a vehicle cuts in near own vehicle.

The warning chime does not sound when:

Own Nissan Pathfinder vehicle approaches other vehicles that are parked or moving slowly.

The accelerator pedal is depressed, overriding the system.

Acceleration when passing

When the vehicle-to-vehicle distance control mode system is engaged above 70 km/h (44 MPH) and following a slower Nissan Pathfinder vehicle (below set speed), and the turn signal is activated to the left, the system automatically starts to accelerate the Nissan Pathfinder vehicle to help initiate passing on the left and begins to reduce the distance to vehicle directly ahead. Only the left side turn signal operates this feature.
As the driver steers the Nissan Pathfinder vehicle and moves into the passing lane, if no vehicle is detected ahead the system continues to accelerate to the set speed. If another Nissan Pathfinder vehicle is detected ahead, then the vehicle accelerates up to the following speed of that vehicle.
If the Nissan Pathfinder vehicle is not steered into the left lane to pass, the acceleration stops after a short time and regains the set following distance.
Acceleration can be stopped at any point by depressing the brake pedal or the CANCEL switch on the steering wheel.

Speed Limit Assist (With Full TFT meter)

When the ProPILOT Assist with Navi-link is active and it detects a change of the speed limit, the new speed limit sign is indicated and it can be applied to the Nissan Pathfinder vehicle set speed automatically or manually.
The Speed Limit Assist operates:
- When the detected speed limit sign is 30 km/h (20 MPH) and above.
- The “Speed Limit Assist” is enabled in the settings menu of the Nissan Pathfinder vehicle information display.

Speed Adjust by Route (With Full TFT meter)

When the ProPILOT Assist with Navi-link is active on a limited access roadway, the system uses road information provided by the navigation system and adjusts the Nissan Pathfinder vehicle speed depending on curves, junctions and exits. When the vehicle is through the curve or exit, the vehicle accelerates again to the set speed.

OPERATION DESCRIPTION

When ProPILOT Assist is OFF, pressing the ProPILOT Assist steering wheel switch for less than 1.5 seconds displays the ProPILOT Assist status, and the set wait condition is engaged.

ADAS control unit 2 performs the control as per the following:

Constant speed	The ADAS control unit 2 compares the set Nissan Pathfinder vehicle speed with the current vehicle speed, transmits the command to ECM via CAN communication to reach the set Nissan Pathfinder vehicle speed, and controls the electric throttle control actuator.
Following	The ADAS control unit 2 sends commands to the ECM and the ABS actuator and electric unit (controlunit) and controls the Nissan Pathfinder vehicle speed for keeping the proper distance between vehicles ccording to the vehicle speed changes of the Nissan Pathfinder vehicle ahead.
Following → Stop	The ADAS control unit 2 sends commands to the ABS actuator and electric unit (controlunit) and stops the Nissan Pathfinder vehicle. After the vehicle stops, it is held at a stop.
Starting from stop → Following	The ADAS control unit 2 judges that the RES+ switch is pressed by the ProPILOT Assist steering switch signal from the ECM or the accelerator pedal is depressed by the accelerator pedal position signal from ECM, transmits the command to ECM to resume following driving, and controls the electric throttle control actuator.

When the ADAS control unit 2 judges that a Nissan Pathfinder vehicle moves into own traveling lane near own vehicle by the distance sensor signal from the distance sensor, it transmits the meter display signal to the combination meter to turn ON the Nissan Pathfinder vehicle ahead detection indicator.
When the ADAS control unit 2 judges that own vehicle comes closer to the Nissan Pathfinder vehicle ahead due to rapid deceleration of that vehicle or another vehicle cuts in by the distance sensor signal from the distance sensor, it performs the following operations:
- Transmits the meter display signal to the combination meter to turn ON ProPILOT Assist system display.
- Transmits the buzzer output signal to the combination meter to sound the buzzer.
When the ADAS control unit 2 judges that the turn signal is activated to the left while the own Nissan Pathfinder vehicle is following a slower vehicle (below set speed) at 70 km/h (44 MPH) or more, it transmits the command to the ECM to accelerate the Nissan Pathfinder vehicle.
When the ADAS control unit 2 judges that new speed limit sign is indicated while the ProPILOT Assist with Navi-link is activing, it applies to the Nissan Pathfinder vehicle set speed. (With Full TFT meter)
When the ADAS control unit 2 receives the road information (curves, junctions and exits) from the navigation system, it transmits the command to the ECM to adjust the Nissan Pathfinder vehicle speed. (With Full TFT meter)

OPERATION CONDITION

ProPILOT Assist system: ON
Vehicle speed: Between approximately 30 and 144 km/h (20 and 90 MPH)

CANCEL CONDITION

Push the CANCEL switch
Tap the brake pedal (except at a standstill)
Push the ProPILOT Assist switch to turn the system OFF (The ProPILOT Assist status indicator turn OFF)
Any door is open
The driver’s seat belt is not fastened
The Nissan Pathfinder vehicle ahead is not detected and own vehicle is traveling below the speed of 25 km/h (15 MPH)
Own Nissan Pathfinder vehicle has been stopped by the ProPILOT Assist system for approximately 3 minutes or longer
The shift lever is not in the D (Drive) position or manual shift mode
The electronic parking brake is applied
The VDC system is turned OFF
The AEB applies harder braking
VDC (including the traction control system) operates
When the SNOW mode is selected.
When the SAND mode is selected (AWD models).
When the MUD/RUT mode is selected (AWD models).
A wheel slips
When distance measurement becomes impaired due to adhesion of dirt or obstruction to the distance sensor
When the radar signal is temporarily interrupted

Conventional (fixed Speed) Cruise Control Mode Function

System Description

FUNCTION DESCRIPTION

The conventional (fixed speed) cruise control mode allows driving at a speed between 30 and 144 km/h (20 and 90 MPH) without keeping own foot on the accelerator pedal.

NOTE:

Unlike the vehicle-to-vehicle distance control mode of the distance from the Nissan Pathfinder vehicle ahead is not performed. The ProPILOT Assist system warning and brake control are not performed.

OPERATION DESCRIPTION

When the vehicle-to-vehicle distance control mode is OFF, pressing and holding the ProPILOT Assist switch for 1.5 seconds or more illuminates the speed control indicator and sets the control to the set wait condition.

NOTE:

When switching to Nissan Pathfinder vehicle-to-vehicle distance control mode, first turn the system OFF, and then press the ProPILOT Assist switch for less than 1.5 seconds to set the Nissan Pathfinder vehicle-to-vehicle distance control mode to the set wait condition.
The system compares the current Nissan Pathfinder vehicle speed and the set vehicle speed, sends commands via CAN communication to the ECM, and controls the torque to bring the current speed closer to the set speed.
When the system is in the set wait condition and the Nissan Pathfinder vehicle speed is between approximately 30 and 144 km/h (20 and 90 MPH), the vehicle speed at the time when the SET- switch is pressed is saved as the set Nissan Pathfinder vehicle speed, and control is started.

ADAS control unit 2 performs the control as per the following:

Constant speed

Comparing the set Nissan Pathfinder vehicle speed with the current vehicle speed, transmits the command to ECM via CAN communication to reach the set Nissan Pathfinder vehicle speed, and controls electronic throttle control actuator.

OPERATION CONDITION

Conventional (fixed speed) cruise control mode: ON

NOTE:

When the Nissan Pathfinder vehicle-to-vehicle distance control mode is OFF, pressing and holding the ProPILOT Assist switch for 1.5 seconds or more illuminates the speed control indicator and sets the control to the set wait condition.
Nissan Pathfinder Vehicle speed: Between approximately 30 and 144 km/h (20 and 90 MPH)

CANCEL CONDITION

When CANCEL switch is pressed.
When brake pedal depressed.
When the selector lever is not in the “D” position or manual mode.
When the parking brakes are applied.
When the MAIN switch is turned OFF.
When VDC (including the TCS) operates.
When a wheel slips.
When the system malfunction occurs.

Steering Wheel Assistance Function

System Description

FUNCTION DESCRIPTION

The front camera unit is used to control the steering so that the vehicle drives close to the center of the lane and to assist driver steering operations. [Steering wheel assist function is not available at speeds under 70 km/h (44 MPH).]

NOTE:

When the steering wheel is operated by more than a certain amount, the steering wheel is operated by the steering wheel assistance function.
During steering assist control, the ADAS control unit 2 detects driver's steering operations based on the steering torque signal received from the EPS control unit via CAN communication.
If the ADAS control unit 2 detects a condition that driver releases the steering wheel, a warning is indicated on the Nissan Pathfinder vehicle information display.
If the driver does not operate the steering wheel after the warning has been displayed, an audible alert sounds and the warning blinks in the Nissan Pathfinder vehicle information display, followed by a quick brake application to request the driver to take control of the Nissan Pathfinder vehicle again.
If the driver still does not respond, the ProPILOT Assist turns on the hazard lamp and slows the Nissan Pathfinder vehicle to a complete stop.
The driver can cancel the deceleration at any time by steering, braking, accelerating, or operating the ProPILOT Assist switch.

NOTE:

If the driver lightly touches (instead of firmly grips) the steering wheel, the steering torque sensor may not detect the driver’s hand(s) on the wheel and a sequence of warnings may occur. When the driver holds and operates the steering wheel again, the warnings turn OFF.

OPERATION DESCRIPTION

When ProPILOT Assist is OFF, pressing the ProPILOT Assist steering switch for less than 1.5 seconds displays the ProPILOT Assist status, and the set wait condition is engaged.

ADAS control unit 2 performs the control as per the following:

Control active (straight road)	The front camera unit detects the lane markers and sends the lane marker detection signal via CAN communication to the ADAS control unit 2. Based on the lane marker detection signal, the ADAS control unit 2 supports steering by sending commands via CAN communication to the EPS control unit for keeping the Nissan Pathfinder vehicle in the lane.
Control active (curved road)	The front camera unit detects the lane markers and sends the lane marker detection signal via CAN communication to the ADAS control unit 2. Based on the lane marker detection signal, the ADAS control unit 2 supports steering to match the curve by sending commands via CAN communication to the EPS control unit for keeping the Nissan Pathfinder vehicle in the lane.
Control standby	When the ADAS control unit 2 receives the turn signal indicator signal via CAN communication from BCM, it temporarily cancels the steering wheel assistance function.
Control reactivation	When the lane change is completed and the ADAS control unit 2 receives the lane marker detection signal via CAN communication from the front camera unit, it reactivates the steering wheel assistance function.

OPERATION CONDITION

The steering assist function can be activated when the following conditions are satisfied.

ProPILOT Assist system: ON
Lane markers on both sides are clearly detected
A Nissan Pathfinder vehicle ahead is detected [when the vehicle is driven at speeds under 70 km/h (44 MPH)]
The driver grips the steering wheel
The Nissan Pathfinder vehicle is driven at the center of the lane
The turn signals are not operated
The windshield wiper is not operated in the high speed operation (the Steering Assist function is disabled after the wiper operates for approximately 10 seconds)

CANCEL CONDITION

When unusual lane markers appear in the traveling lane or when the lane marker cannot be correctly detected for some time due to certain conditions (for example, a snow rut, the reflection of light on a rainy day, the presence of several unclear lane markers)
When the windshield wiper operates in the high speed operation (the Steering Assist is disabled when the wiper operates for more than approximately 10 seconds)

Information Display (combination Meter)

Warning/Indicator (On Information Display)

Name	Function
ProPILOT Assist system display	Nissan Pathfinder Vehicle-to-vehicle distance control mode function: Refer to Operation(7 inch information display models) or Operation(FULL TFT METER). Conventional (fixed speed) cruise control mode function: Refer to Operation. Steering wheel assistance function: Refer to Operation(7 inch information display models) or Operation(FULL TFT METER).
ProPILOT Assist system display