LANE DEPARTURE ALERT SYSTEM


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Assembly LDA Indicator Light Illuminates or turns off in accordance with signals from the pre-collision city sensor.
    Multi-information Display Displays a warning message and white lines to inform or warn the driver of the system condition in accordance with signals from the pre-collision city sensor.
    Buzzer Sounds to warn the driver of the system condition in accordance with signals from the pre-collision city sensor.
    Pre-collision City Sensor

    • Captures the road view ahead of the vehicle and detects lane markers on the driving lane, and calculates the radius to the center of the lane, lane width, distance from markers and heading angle deviation.

    • Controls the lane departure alert system.

    • Transmits the indicator light illumination request signal, multi-information display indication request signal, and buzzer sound request signal to the combination meter assembly.
    Skid Control ECU Sends a vehicle speed signal from the speed sensor to the pre-collision city sensor.
    Steering Pad Switch Assembly LDA Main Switch Detects an on/off status of the system and transmits a signal to the pre-collision city sensor.
    Yawrate Sensor Outputs yaw rate signals to the pre-collision city sensor.
    Steering Angle Sensor Detects the steering angle and transmits signals to the pre-collision city sensor.
    Main Body ECU (Instrument Panel Junction Block Assembly) Sends country specification information signals to the pre-collision city sensor.
    Speed Sensors Detects the vehicle speed and transmits a signal to the skid control ECU.

  2. OPERATING CONDITION


    1. Operating Conditions of Lane Departure Alert System

      Operation Condition
      Operating/Resume

      The lane departure alert system is activated when all of the following conditions are met:


      • The LDA main switch is on. (When the LDA main switch is pressed to turn on the Lane Departure Alert (LDA) system, the LDA indicator light illuminates.)

      • The vehicle speed is above approximately 50 km/h (32 mph) or more.

      • Lane markers are detected.

      • The turn signal light is not operated.

      • System malfunction is not detected.
      Suspended

      The lane departure alert system is suspended when any one of the following conditions is met:


      • The vehicle speed is less than approximately 50 km/h (32 mph).

      • A turn signal command is detected.

      • No lane markers are detected.

      • Immediately after the lane departure warning is activated.

      • The vehicle crosses halfway or further over a lane marker.

      • The temperature of the pre-collision city sensor is abnormal.
      Canceled

      The lane departure alert system is stopped when any one of the following conditions is met:


      • The LDA main switch is off

      • The lane departure alert system is malfunctioning.

      The lane departure alert system resumes when the following conditions are met:


      • The conditions to start operation listed above returns to are satisfied.

      • The lane departure alert system condition returns to normal.

      • The ignition switch is turned off and ON again to ensure normal operation, after the LDA system has been stopped by a system malfunction.

  3. CONSTRUCTION


    1. Pre-collision City Sensor


      1. The pre-collision city sensor captures the road image.

      2. The pre-collision city sensor detects lane markers and calculates the radius to the center of the lane, the vehicle center position disparity among the distances from each left and right lane marker and the angle disparity between the vehicle traveling direction and each left and right lane marker.

      3. When one of the following operations is conducted, the pre-collision city sensor angle must be adjusted. For details, refer to the Repair Manual.


        1. The pre-collision city sensor is removed and reinstalled or replaced.

        2. Parts relating to the tire or suspension are replaced or adjusted.

        3. Strong force is applied onto the pre-collision city sensor.

      4. The pre-collision city sensor calculates the estimated position which the front wheel will reach based on the information collected, vehicle speeds and front wheel positions. When the pre-collision city sensor determines that the front wheel is about to cross the lane marker, the pre-collision city sensor activates the lane departure alert system, displays a warning indicator on the multi-information display and sounds the buzzer.

      5. The lane departure alert system does not operate if the vehicle approaches the lane marker (but does not cross it), as long as the vehicle remains parallel with the lane marker.

        A002JSDE02
        Text in Illustration
        *1 Monocular Camera Sensor *2 Pre-collision City Sensor
        *a Approximately 3 m (9.8 ft.) or more *b Lane Marker
        *c Image Processing Range *d Approximately 50m (164 ft.)
        A002JYAE01
        Text in Illustration
        *a Image Captured by Pre-collision City Sensor *b Left Lane Marker
        *c Center of Lane *d Right Lane Marker
        *e Angle between the Vehicle Travelling Direction and Right Lane Marker *f Distance from Center of Vehicle to Right Lane Marker
        *g Distance from Center of Vehicle to Left Lane Marker *h Angle between the Vehicle Traveling Direction and Left Lane Marker
        *i Lane Radius (If only the left lane marker or right lane marker is recognized, the radius of the recognized lane marker will be calculated.) - -

    2. Combination Meter Assembly


      1. The combination meter assembly illuminates the indicator lights or displays an indicator on the multi-information display and sounds a buzzer (which is built into the combination meter assembly) in accordance with the respective condition.

        Lane Departure Alert System On
        Condition Multi-information Display LDA Indicator Light Buzzer

        • Approximately 50 km/ h (32 mph) or more

        • Lane Markers Not Detected

        		 A002K33 Illuminates -

        • Vehicle Speed is Approximately 50 km/ h (32mph) or Less

        • Approximately 50 km/ h (32 mph) or more

        • One Lane Marker Detected

        		 A002JTH Illuminates -
        White lines are displayed independently on the left and right sides depending on the detection condition.

        • Approximately 50 km/ h (32 mph) or more

        • Lane Marker Detected

        		 A002JYX Illuminates -

        • Approximately 50 km/ h (32 mph) or more

        • Lane Departure Alert Operating

        		 A002JZ8 Illuminates Sounds
        Temperature of Pre-collision City Sensor is Abnormal FRONT CAMERA SYSTEMS UNAVAILABLE WAIT A MOMENT - Sounds
        Foreign Matter Attached to Pre-collision City Sensor or Area of Windshield in Front of Pre-collision City Sensor FRONT CAMERA SYSTEMS UNAVAILABLE CLEAN WINDSHIELD - Sounds
        System Malfunction CHECK LDA SYSTEM - Sounds
        Vehicle Speed is Approximately 50 km/h (32 mph) or Less LDA SYSTEM IS UNAVAILABLE BELOW APPROX. 50km/h. - -

  4. DIAGNOSIS


    1. If a malfunction is detected in the lane departure alert system the pre-collision city sensor cancels the lane departure alert system, turns off the LDA indicator light and illuminates the master warning light, sounds the multi buzzer in the combination meter assembly, and displays a message on the multi-information display to inform the driver of the malfunction.

    2. At the same time, the malfunction is stored in memory as a Diagnostic Trouble Code (DTC). When a Global TechStream (GTS) is connected to the DLC3, the DTC can be read. For details, refer to the Repair Manual.