four wheel drive INFINITI QX56 2011 Factory Service Manual
[x] Cancel search | Manufacturer: INFINITI, Model Year: 2011, Model line: QX56, Model: INFINITI QX56 2011Pages: 5598, PDF Size: 94.53 MB
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![INFINITI QX56 2011 Factory Service Manual
SYSTEMBRC-31
< SYSTEM DESCRIPTION > [WITH VDC]
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During a cornering, brake force (brake fluid pressu re) is applied on front wheel and rear wheel on the inner
side o INFINITI QX56 2011 Factory Service Manual
SYSTEMBRC-31
< SYSTEM DESCRIPTION > [WITH VDC]
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During a cornering, brake force (brake fluid pressu re) is applied on front wheel and rear wheel on the inner
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SYSTEMBRC-31
< SYSTEM DESCRIPTION > [WITH VDC]
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During a cornering, brake force (brake fluid pressu re) is applied on front wheel and rear wheel on the inner
side of turn. Moment directing towards the inner side of turn is generated. Understeer is prevented.
Applying braking during a cornering on a slippery road, when understeer tendency is judged large, engine
output is controlled as well as brake force (brake fluid pressure) of four wheels. Understeer tendency
decreases.
TCS FUNCTION
TCS FUNCTION : System DescriptionINFOID:0000000006222573
Wheel spin status of drive wheel is detected by wheel sensor of 4
wheels. Engine output and transmission shift status is controlled
so that slip rate of drive wheels is in appropriate level. When wheel
spin occurs on drive wheel, ABS ac tuator and electric unit (control
unit) perform brake force control of LH and RH drive wheels (apply
brake force by increasing brake fluid pressure of drive wheel) and
decrease engine torque by engine torque control. Wheel spin
amount decreases. Engine torque is controlled to appropriate
level.
TCS function can be switched to non-operational status (OFF) by
operating VDC OFF switch. In this case, VDC OFF indicator lamp
turns ON.
TCS function is not operate when 4WD mode is “4L”. (Models with
4WD system)
VDC warning lamp blinking while TCS function is in operation and indicates to the driver that the function is in operation.
Slight vibrations are felt on the brake pedal and the operation noises occur, when TCS function operates. This is not a malfunc-
tion because it is caused by TCS function that is normally oper-
ated.
CONSULT-III can be used to diagnose the system diagnosis.
Fail-safe function is adopted. W hen a malfunction occurs in TCS
function, the control is suspended for VDC function, TCS function,
hill start assist function and brake limited slip differential (BLSD)
function. The vehicle status becomes the same as models without VDC function, TCS function, hill start
assist function and brake limited slip differential (B LSD) function. However, ABS function and EBD function
are operated normally. Refer to BRC-25, "
Fail-safe".
SYSTEM DIAGRAM
NOTE:
JPFIC0137GB
JPFIC0138GB
JPFIC0139GB
Revision: 2010 May2011 QX56
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DAS
SYSTEMDAS-15
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
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Transmit unit Signal name Description
ECM CAN com-
munica-
tionClosed throttle position signal Receives idle INFINITI QX56 2011 Factory Service Manual
DAS
SYSTEMDAS-15
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
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Transmit unit Signal name Description
ECM CAN com-
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tionClosed throttle position signal Receives idle](/img/42/57033/w960_57033-979.png)
DAS
SYSTEMDAS-15
< SYSTEM DESCRIPTION > [ADAS CONTROL UNIT]
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Transmit unit Signal name Description
ECM CAN com-
munica-
tionClosed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
ICC prohibition signal
Receives an operable/inoperable state of the ICC sys-
tem
ICC steering switch
signal Main switch signal
Receives the operational state of the ICC steering
switch
SET/COAST switch
signal
CANCEL switch sig-
nal
RESUME/ACCEL-
ERATE switch signal
DISTANCE switch
signal
Dynamic driver as-
sistance switch sig-
nal
Engine speed signal Receives engine speed
Stop lamp switch signal Receives an operational state of the brake pedal
ICC brake switch signal Receives an operational state of the brake pedal
Snow mode signal Receives an operational state of the snow mode
TCM CAN com-
munica-
tionInput speed signal Receives the number of revolutions of input shaft
Current gear position signal Receives a current gear position
Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS actuator
and electric unit
(control unit) CAN com-
munica-
tionABS 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 switch signal Receives an ON/OFF state of VDC
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Stop lamp switch signal Receives an operational state of the brake pedal
Yaw rate signal Receives yaw rate acting on the vehicle
Side G sensor signal Receives lateral G acting on the vehicle
Combination
meter CAN com-
munica-
tion
Parking brake switch signal Receives an operational state of the parking brake
BCM CAN com-
munica-
tionFront wiper request signal Receives an operational state of front wiper(s)
Turn indicator signal
Receives an operational state of the turn signal lamp
and the hazard lamp
Dimmer signal Receives ON/OFF state of dimmer signal
Steering angle
sensor CAN com-
munica-
tionSteering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
Steering angle sensor signal
Receives the number of revolutions, turning direction of
the steering wheel
Steering angle speed signal Receives the turning angle speed of the steering wheel
Revision: 2010 May2011 QX56
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![INFINITI QX56 2011 Factory Service Manual
DAS
SYSTEMDAS-69
< SYSTEM DESCRIPTION > [DCA]
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Output Signal Item
Transmit unit Signal name Description
ECM CAN com-
munica-
tionClosed throttle position signal Receives INFINITI QX56 2011 Factory Service Manual
DAS
SYSTEMDAS-69
< SYSTEM DESCRIPTION > [DCA]
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Output Signal Item
Transmit unit Signal name Description
ECM CAN com-
munica-
tionClosed throttle position signal Receives](/img/42/57033/w960_57033-1033.png)
DAS
SYSTEMDAS-69
< SYSTEM DESCRIPTION > [DCA]
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Output Signal Item
Transmit unit Signal name Description
ECM CAN com-
munica-
tionClosed throttle position signal Receives idle position state (ON/OFF)
Accelerator pedal position signal Receives accelerator pedal position (angle)
ICC steering switch
signal
Dynamic driver as-
sistance switch sig-
nal Receives the operational state of the ICC steering
switch
Engine speed signal Receives engine speed
Stop lamp switch signal Receives an operational state of the brake pedal
Snow mode signal Receives an operational state of the snow mode
TCM CAN com-
munica-
tionInput speed signal Receives the number of revolutions of input shaft
Current gear position signal Receives a current gear position
Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS actuator
and electric unit
(control unit) CAN com-
munica-
tionABS 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 switch signal Receives an ON/OFF state of VDC
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Stop lamp switch signal Receives an operational state of the brake pedal
Yaw rate signal Receives yaw rate acting on the vehicle
Steering angle
sensor CAN com-
munica-
tionSteering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
Steering angle sensor signal
Receives the number of revolutions, turning direction of
the steering wheel
Steering angle speed signal Receives the turning angle speed of the steering wheel
AV control unit CAN com-
munica-
tionSystem selection signal
Receives a selection state of each item in “Driver As-
sist” selected with the navigation system
Transfer control
unit CAN com-
munica-
tion
Current 4WD mode signal Receives a mode selection state of the 4WD shift mode
ICC sensor ITS com-
munica-
tion
ICC sensor signal
Receives detection results, such as the presence or ab-
sence of a vehicle ahead and distance from the vehicle
Accelerator
pedal actuator ITS com-
munica-
tionAccelerator pedal actuator operation status
signal
Receives an operational state of accelerator pedal ac-
tuator
Reception unit Signal name Description
ABS actuator
and electric
unit (control
unit) CAN commu-
nication
Brake fluid pressure control signal Transmits a brake fluid pressure control signal to acti-
vates the brake
Revision: 2010 May2011 QX56
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DAS-218
< SYSTEM DESCRIPTION >[FCW]
SYSTEM
SYSTEM
System DescriptionINFOID:0000000006223673
SYSTEM DIAGRAM
ADAS CONTROL UNIT INPU
T/OUTPUT SIGNAL ITEM
Input Signal Item
Output Signal Item
DESCRIPTION INFINITI QX56 2011 Factory Service Manual
DAS-218
< SYSTEM DESCRIPTION >[FCW]
SYSTEM
SYSTEM
System DescriptionINFOID:0000000006223673
SYSTEM DIAGRAM
ADAS CONTROL UNIT INPU
T/OUTPUT SIGNAL ITEM
Input Signal Item
Output Signal Item
DESCRIPTION](/img/42/57033/w960_57033-1182.png)
DAS-218
< SYSTEM DESCRIPTION >[FCW]
SYSTEM
SYSTEM
System DescriptionINFOID:0000000006223673
SYSTEM DIAGRAM
ADAS CONTROL UNIT INPU
T/OUTPUT SIGNAL ITEM
Input Signal Item
Output Signal Item
DESCRIPTION
The Forward Collision Warning (FCW) system will warn the driver by a warning lamp (vehicle ahead detec-
tion indicator) and chime when own vehicle is getting close to the vehicle ahead in the traveling lane.
JSOIA0279GB
Transmit unit Signal name Description
ABS actuator
and electric unit
(control unit) CAN com-
munica-
tion
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
ICC sensor ITS com-
munica-
tion
ICC sensor signal
Receives detection results, such as the presence or ab-
sence of a leading vehicle and distance from the vehicle
Warning sys-
tems switch Warning systems switch signal Receives an ON/OFF state of the warning systems
switch
Reception unit Signal name Description
Combination
meter CAN commu-
nicationMeter display
signal
Vehicle ahead detec-
tion indicator signal Transmits a signal to display a state of the system on
the information display
IBA OFF indicator lamp signal Transmits a signal to turn ON the IBA OFF indicator
lamp
Transmits an ON/OFF state of the intelligent brake assist
Buzzer output signal Transmits a buzzer output signal to activate the buzz-
er
ICC sensor ITS commu-
nication
Vehicle speed signal Transmits a vehicle speed calculated by the ADAS
control unit
Warning sys-
tems ON indi-
cator Warning systems ON indicator signal Turns ON the warning systems ON indicator
Revision: 2010 May2011 QX56
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DAS-276
< SYSTEM DESCRIPTION >[LDW & LDP]
COMPONENT PARTS
LANE DEPARTURE PREVENTION (LDP ) SYSTEM : Component Description
INFOID:0000000006223703
Component Description
ADAS control unit Judges lane INFINITI QX56 2011 Factory Service Manual
DAS-276
< SYSTEM DESCRIPTION >[LDW & LDP]
COMPONENT PARTS
LANE DEPARTURE PREVENTION (LDP ) SYSTEM : Component Description
INFOID:0000000006223703
Component Description
ADAS control unit Judges lane](/img/42/57033/w960_57033-1240.png)
DAS-276
< SYSTEM DESCRIPTION >[LDW & LDP]
COMPONENT PARTS
LANE DEPARTURE PREVENTION (LDP ) SYSTEM : Component Description
INFOID:0000000006223703
Component Description
ADAS control unit Judges lane departure based on each signal and calculates yaw moment necessary to generate
force toward the direction to recover the vehicle from the lane departure
Outputs the warning buzzer signal to the warning buzzer
Transmits a target yaw moment signal to the ABS actuator and electric unit (control unit) via CAN communication
Transmits the lane departure warning lamp signal and LDP ON indicator lamp signal to combina- tion meter via CAN communication
Lane camera unit Detects the lane marker in travel lane
Transmits the detected lane condition signal to ADAS control unit via ITS communication
ABS actuator and electric unit
(control unit) Transmits the vehicle speed signal (wheel speed) to ADAS control unit via CAN communication
Transmits the yaw rate signal and side G sensor signal to ADAS control unit via CAN communi-
cation
Receives a target yaw moment signal from the ADAS control unit via CAN communication and
controls brake pressure of four wheels, respectively
Warning buzzer Activates the warning buzzer, according to a warning buzzer signal received from the ADAS control
unit
Dynamic driver assistance
switch
(On the ICC steering switch) ECM receives an ICC steering switch (dynamic driver assistance switch) signal and transmits the
signal to ADAS control unit via CAN communication
Combination meter Turns on the following indicator/warning lamp, according to a signal received for the ADAS control
unit via CAN communication
LDP ON indicato
r lamp (Green)
Lane departure warning lamp (Yellow)
BCM Transmits the turn indicator signal to ADAS control unit via CAN communication
ECM Transmits the accelerator pedal position signal, engine speed signal and ICC steering switch signal
(dynamic driver assistance switch signal) to ADAS control unit via CAN communication
Steering angle sensor Transmits the steering angle sensor signal to ADAS control unit via CAN communication
TCM Transmits the output shaft revolution signal, input speed signal, current gear position signal and shift
position signal to ADAS control unit via CAN communication
Transfer control unit Transmits the current 4WD mode signal to ADAS control unit via CAN communication
AV control unit Transmits the system selection signal to ADAS control unit via CAN communication
Revision: 2010 May2011 QX56
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DAS
SYSTEM
DAS-277
< SYSTEM DESCRIPTION >[LDW & LDP]
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SYSTEM
LANE DEPARTURE WARNING (LDW) SYSTEM
LANE DEPARTURE WARNING (LDW ) SYSTEM : System DescriptionINFOID:000000000 INFINITI QX56 2011 Factory Service Manual
DAS
SYSTEM
DAS-277
< SYSTEM DESCRIPTION >[LDW & LDP]
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SYSTEM
LANE DEPARTURE WARNING (LDW) SYSTEM
LANE DEPARTURE WARNING (LDW ) SYSTEM : System DescriptionINFOID:000000000](/img/42/57033/w960_57033-1241.png)
DAS
SYSTEM
DAS-277
< SYSTEM DESCRIPTION >[LDW & LDP]
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SYSTEM
LANE DEPARTURE WARNING (LDW) SYSTEM
LANE DEPARTURE WARNING (LDW ) SYSTEM : System DescriptionINFOID:0000000006223704
SYSTEM DIAGRAM
ADAS CONTROL UNIT INPUT/OUTPUT SIGNAL ITEM
Input Signal Item
Output Signal Item
FUNCTION DESCRIPTION
Lane Departure Warning (LDW) system provides a l ane departure warning function when the vehicle is
driven at speeds of approximately 70 km/h (45 MPH) or more.
JSOIA0285GB
Transmit unit Signal name Description
ABS actuator
and electric unit
(control unit) CAN com-
munica-
tion
Vehicle speed signal (ABS) Receives
wheel speeds of four wheels
BCM CAN com-
munica-
tionTurn indicator signal
Receives an operational state of the turn signal lamp
and the hazard lamp
Lane camera
unit ITS com-
munica-
tion
Detected lane condition signal Receives detection results of lane marker
Warning sys-
tems switch Warning systems switch signal
Receives an ON/OFF state of the warning systems
switch
Reception unit Signal name Description
Combination
meter CAN commu-
nication
Lane departure warning lamp signal Transmits a lane departure warning lamp signal to
turn ON the lane departure warning lamp
Lane camera
unit ITS commu-
nicationVehicle speed signal
Transmits a vehicle speed calculated by the ADAS
control unit
Turn indicator signal Transmits a turn indicator signal received from BCM
Warning buzz-
er Warning buzzer signal Activates the warning buzzer
Warning sys-
tems ON indi-
cator Warning systems ON indicator signal Turns ON the warning systems ON indicator
Revision: 2010 May2011 QX56
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DAS
SYSTEM
DAS-281
< SYSTEM DESCRIPTION >[LDW & LDP]
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Output Signal Item
TCM CAN com-
munica-
tionInput speed signal Receives the number of revolutions of input shaft
Cur INFINITI QX56 2011 Factory Service Manual
DAS
SYSTEM
DAS-281
< SYSTEM DESCRIPTION >[LDW & LDP]
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Output Signal Item
TCM CAN com-
munica-
tionInput speed signal Receives the number of revolutions of input shaft
Cur](/img/42/57033/w960_57033-1245.png)
DAS
SYSTEM
DAS-281
< SYSTEM DESCRIPTION >[LDW & LDP]
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Output Signal Item
TCM CAN com-
munica-
tionInput speed signal Receives the number of revolutions of input shaft
Current gear position signal Receives a current gear position
Shift position signal Receives a selector lever position
Output shaft revolution signal Receives the number of revolutions of output shaft
ABS actuator
and electric unit
(control unit) CAN com-
munica-
tionABS malfunction signal Receives
a malfunction state of ABS
ABS operation signal Receives an operational state of ABS
TCS malfunction signal Receives a malfunction state of TCS
TCS operation signal Receives an operational state of TCS
VDC OFF switch signal Receives an ON/OFF state of VDC
VDC malfunction signal Receives a malfunction state of VDC
VDC operation signal Receives an operational state of VDC
Vehicle speed signal (ABS) Receives wheel speeds of four wheels
Yaw rate signal Receives yaw rate acting on the vehicle
Side G sensor signal Receives lateral G acting on the vehicle
Combination
meter CAN com-
munica-
tion
Parking brake switch signal Receives an operational state of the parking brake
BCM CAN com-
munica-
tion
Turn indicator signal
Receives an operational state of the turn signal lamp
and the hazard lamp
Steering angle
sensor CAN com-
munica-
tionSteering angle sensor malfunction signal Receives a malfunction state of steering angle sensor
Steering angle sensor signal
Receives the number of revolutions, turning direction of
the steering wheel
Steering angle speed signal Receives the turning angle speed of the steering wheel
AV control unit CAN com-
munica-
tion
System selection signal
Receives a selection state of each item in “Driver Assis-
tance” selected with the navigation system
Transfer control
unit CAN com-
munica-
tion
Current 4WD mode signal Receives a mode selection state of the 4WD shift switch
ICC sensor ITS com-
munica-
tion
ICC sensor signal
Receives detection results, such as the presence or ab-
sence of a vehicle ahead and distance from the vehicle
Lane camera
unit ITS com-
munica-
tion
Detected lane condition signal Receives detection results of lane marker
Transmit unit Signal name Description
Reception unit Signal name Description
ABS actuator
and electric
unit (control
unit) CAN commu-
nication
Target yaw moment signal Transmits a target yaw moment signal to generate
yaw moment to the vehicle
Combination
meter CAN commu-
nicationLDP ON indicator lamp signal
Transmits an LDP ON indicator lamp signal to turn ON
the LDP ON indicator lamp
Lane departure warning lamp signal Transmits an lane departure warning lamp signal to
turn ON the lane departure warning lamp
Revision: 2010 May2011 QX56
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DAS-282
< SYSTEM DESCRIPTION >[LDW & LDP]
SYSTEM
FUNCTION DESCRIPTION
Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is drive INFINITI QX56 2011 Factory Service Manual
DAS-282
< SYSTEM DESCRIPTION >[LDW & LDP]
SYSTEM
FUNCTION DESCRIPTION
Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is drive](/img/42/57033/w960_57033-1246.png)
DAS-282
< SYSTEM DESCRIPTION >[LDW & LDP]
SYSTEM
FUNCTION DESCRIPTION
Lane Departure Prevention (LDP) system provides a lane departure warning and brake control assistance
when the vehicle is driven at speeds of approximately 70 km/h (45 MPH) or more.
When the vehicle approaches either the left or the right side of the traveling lane, a warning sounds and the
lane departure warning lamp (yellow) on the combinati on meter blinks to alert the driver. Then, the LDP sys-
tem automatically applies the brakes for a short period of ti me to help assist the driver to return the vehicle to
the center of the traveling lane.
Warning and brake control are not performed during turn signal operation (lane change side).
The warning and assist functions stop when the vehicl e returns to a position inside of the lane marker.
EXAMPLE
When the vehicle approaches the right lane marker, the driv er is alerted by the buzzer and the blinking of lane
departure warning lamp (yellow). Simultaneously, the left brake is controlled independently to generate force
toward the direction to recover the vehicle from the lane departure.
OPERATION DESCRIPTION
When the system is turned ON by dynamic driver a ssistance switch, ADAS control unit transmits LDP ON
indicator signal to combination meter via CAN communication.
Lane camera unit monitors lane markers of the traveling lane. It transmits the detected lane condition signal to ADAS control unit via ITS communication.
When judging from a lane marker detection signal that the vehicle is approaching the lane marker, ADAS
control unit controls the following items.
- Activates warning buzzer.
- Transmits a lane departure warning lamp signal to combination meter via CAN communication.
- Calculates necessary yaw moment to transmit a target yaw moment signal to ABS actuator and electric unit (control unit) via CAN communication.
When receiving the target yaw moment signal, ABS act uator and electric unit (control unit) controls brake
pressure of four wheels, respectively.
When receiving the signal from ADAS control unit, combination meter turns ON/OFF the lane departure warning lamp (yellow) and the LDP ON indicator lamp (green).
OPERATING CONDITION
LDP ON indicator lamp: ON
Vehicle speed: approximately 70 km/h (45 MPH) or more
Turn indicator signal: After 2 seconds or more from turned OFF
NOTE:
When the LDP system setting on the navigation screen is ON.
Lane camera
unit ITS commu-
nicationVehicle speed signal
Transmits a vehicle speed calculated by the ADAS
control unit
Turn indicator signal Transmits a turn indicator signal received from BCM
Warning buzz-
er Warning buzzer signal Activates the warning buzzer
Reception unit Signal name Description
JPOIA0013GB
Revision: 2010 May2011 QX56
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GI-14
< HOW TO USE THIS MANUAL >
ABBREVIATIONS
ABBREVIATIONS
Abbreviation ListINFOID:0000000006280882
The following ABBREVIATIONS are used:
A
B
C
D
ABBREVIATION DESCRIPTION
A/C Air conditioner
A/C Air conditioning
A/F sensor Air fuel ratio sensor A/T Automatic transaxle/transmission
ABS Anti-lock braking system
ACCS Advance climate control system ACL Air cleaner
AP Accelerator pedal
APP Accelerator pedal position ATF Automatic transmission fluid AV Audio visual
AWD All wheel drive
ABBREVIATION DESCRIPTION BARO Barometric pressureBCM Body control module
BLSD Brake limited slip differential BPP Brake pedal positionBSI Blind spot intervention
BSW Blind spot warning
ABBREVIATION DESCRIPTION CKP Crankshaft positionCL Closed loop
CMP Camshaft position CPP Clutch pedal positionCTP Closed throttle position
CVT Continuously Variable transaxle/transmission
ABBREVIATION DESCRIPTION D
1Drive range first gear
D
2Drive range second gear
D
3Drive range third gear
D
4Drive range fourth gear
DCA Distance control assist DFI Direct fuel injection system
DLC Data link connector
DTC Diagnostic trouble code
Revision: 2010 May2011 QX56
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GI-18
< HOW TO USE THIS MANUAL >
ABBREVIATIONS
2
3
4
5
6
7
121st range second gear
1GR First gear
ABBREVIATION DESCRIPTION 2
12nd range first gear
2
22nd range second gear
2GR Second gear
2WD 2-Wheel Drive
ABBREVIATION DESCRIPTION 3GR Third gear
ABBREVIATION DESCRIPTION 4GR Fourth gear
4WAS Four wheel active steer 4WD Four wheel drive
ABBREVIATION DESCRIPTION 5GR Fifth gear
ABBREVIATION DESCRIPTION 6GR Sixth gear
ABBREVIATION DESCRIPTION 7GR Seventh gear
ABBREVIATION DESCRIPTION
Revision: 2010 May2011 QX56