2004: In July 2004 the Crown Majesta radar PCS added a single digital camera to improve the accuracy of collision forecast and warning and control levels[REF][REF][REF] .
2006: the Lexus LS introduced an advanced pre-collision system (APCS), added a twin-lens stereo camera located on the windshield and a more sensitive radar to detect smaller "soft" objects such as animals and pedestrians.