LANE DEPARTURE ALERT SYSTEM


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Assembly Multi-information Display LDA Indicator Illuminates or turns off to in accordance with signals from the forward recognition camera.
    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 forward recognition camera.
    Master Warning Light Illuminates to warn the driver in accordance with signals from the forward recognition camera.
    Buzzer Sounds to warn the driver in accordance with signals from the forward recognition camera.
    Forward Recognition Camera

    • Captures a view of the road 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 illumination request signal, multi-information display indication request signal, and buzzer sound request signal to the combination meter assembly.

    • Receives vehicle information and turn signal light operation signals and sends a steering force signal to the power steering ECU assembly.
    Millimeter Wave Radar Sensor Assembly Radiates millimeter radar waves forward, uses the reflected waves to detect the presence of a vehicle traveling ahead, the vehicle-to-vehicle distance, and the relative speed, and then transmits this information to the driving support ECU assembly.
    Driving Support ECU Assembly Transmits the LDA main switch signal to the forward recognition camera.
    Hybrid Vehicle Control ECU Assembly Transmits the reverse signal to the forward recognition camera.
    Brake Booster with Master Cylinder Assembly Skid Control ECU Sends a vehicle speed signal from the speed sensor to the forward recognition camera.
    Steering Pad Switch Assembly LDA Main Switch Detects an on/off status of the system and transmits a signal to the forward recognition camera.
    Airbag Sensor Assembly Yawrate Sensor Detects yaw rate and transmits a signal to the forward recognition camera.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the forward recognition camera.
    Steering Sensor Detects the steering direction and angle of the steering wheel.
    Power Steering ECU Assembly

    • Controls the power steering motor assembly according to signals from the camera senor.

    • Detects steering operations performed by the driver and outputs the operations to the forward recognition camera.
    Steering Vibration ECU Controls the steering vibration according to signals from the forward recognition camera.

  2. OPERATING CONDITION


    1. Operating Conditions of LDA System (Steering Assist Unavailable)

      Operation Condition
      Operating/Resume

      The lane departure warning function 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 LDA system, the LDA indicator illuminates.)

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

      • Lane markers are detected.

      • LDA system becomes activated when the turning signal is set to the opposite direction against the heading direction.

      • 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.

      • A malfunction is detected in the LDA system.

      • The temperature of the forward recognition camera is abnormal.

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

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


      • The LDA main switch is off.

      • The LDA system is malfunctioning.

      • Power switch is turned off.

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


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

      • The LDA system condition returns to normal.

      • The power switch is turned off and on (IG) again to ensure normal operation, after the lane departure alert system has been stopped by a system malfunction.

    2. Operating Conditions of LDA System (Steering Assist Available)

      Operation Condition
      Operating/Resume

      The lane departure warning function 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 LDA system, the LDA indicator illuminates.)

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

      • Lane markers are detected.

      • No turn signal command is detected.

      • System malfunction is not detected.

      • Steering assist available is selected via operation of the steering pad switch assembly.

      • Deceleration at or above a constant speed is not detected.

      • Steering operations to change the direction of vehicle travel are not performed.

      • Systems related to vehicle safety, such as the VSC and pre-collision system, do not operate.

      • Acceleration via operation of the accelerator pedal 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 airbag ECU assembly is malfunctioning.

      • A malfunction is detected in the LDA system.

      • The deceleration sensor or steering sensor is malfunctioning.

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

      • Steering assist generated to change the direction of vehicle travel is detected.

      • Deceleration at or above a constant speed is detected.

      • Systems related to vehicle safety, such as the VSC and pre-collision system, operate.

      • Acceleration via operation of the accelerator pedal is detected.

      • The temperature of the forward recognition camera is abnormal.

      • No steering wheel operation detected.
      Canceled

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


      • The LDA main switch is off.

      • The LDA system is malfunctioning.

      • The LDA system is temporarily stopped.

      • The power switch is turned off.

      • Steering assist unavailable is selected via operation of the steering pad switch assembly.

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


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

      • The LDA system condition returns to normal.

      • The power switch is turned off and on (IG) again to ensure normal operation, after the LDA system has been stopped by a system malfunction.

      • Steering assist available is selected via operation of the steering pad switch assembly.

    3. Operating Conditions of LDA System (Vehicle Sway Warning )

      Operation Condition
      Operating/Resume

      The lane departure warning function is activated when all of the following conditions are met:


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

      • Lane markers are detected.

      • LDA system becomes activated when the turning signal is set to the opposite direction against the heading direction.

      • System malfunction is not detected.

      • The vehicle sway warning function has been turned on using the customize setting.
      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.
      Canceled

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


      • The LDA system is malfunctioning.

      • Power switch is turned off.

      • The vehicle sway warning is turned off using a customized switch on the multi-information display.

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


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

      • The LDA system condition returns to normal.

      • The power switch is turned off and on (IG) again to ensure normal operation, after the LDA system has been stopped by a system malfunction.

  3. SYSTEM CONTROL


    1. Lane departure Alert System Warning Operation


      1. Function Over View (Steering Assist Unavailable)


        • If the system judges that the vehicle may deviate from the lane it is in, the system illuminates the indicator in the combination meter display and vibrates the steering wheel or sounds a buzzer so that the driver can take action to avoid lane departure.

          A0003CBE01
          *1 or
          *2 Warning

      2. Function Over View (Steering Assist Available)


        • If the system judges that the vehicle may deviate from the lane it is in, the system performs steering assist to help the driver correct the path of the vehicle. If the driver does not take appropriate action, the system vibrates the steering wheel or sound a buzzer.

        A00037YE01
        *1 Steering Assist
        *2 Control output level
        *3 Example of vehicle behavior and control output

      3. Function Over View (Vehicle Sway Warning)


        • The system detects drift of the vehicle within its lane, which is often the result of a driver who is tired, distracted or not looking ahead, based on the position of the vehicle within its lane and the steering inputs of the driver, and alert the driver before a lane departure or collision occurs.

        A0002HKE01
        *1 Warning
        *2 and

  4. FUNCTION


    1. Using the Meter Control Switches of the steering pad switch assembly, the steering assist functions and the unsteady driving alert functions can be customized.

      A0002FJE01
      Text in Illustration
      *a LDA Main Switch *b Meter Control Switches

      1. Customize Steering Assist Functions

        Item (Select using the up/down button of the meter control switch) Description Setting (Change using the center button of the meter control switch)
        Steering assist Assists steering to prevent lane departure (steering wheel control)

        • ON

        • OFF
        Warning sensitivity Timing of lane departure warning

        • Normal

        • High
        Warning method Lane departure warning method

        • Alert

        • Steering Vibration

      2. Customize Unsteady Driving Alert Functions

        Item (Select using the up/down button of the meter control switch) Description Setting (Change using the center button of the meter control switch)
        Vehicle sway warning Vehicle sway warning function

        • ON

        • OFF
        Vehicle sway detection sensitivity Vehicle sway detection sensitivity

        • High

        • Normal

        • Low

    2. Forward Recognition Camera


      1. The forward recognition camera captures a view of the road up to approximately 50m (164 ft.) ahead of the vehicle.

      2. The forward recognition camera detects lane markers and calculates the radius to the center of the lane, heading angle deviation, lateral deviation from the center of the lane, and the lane width.

        Tech Tips

        When one of the following operations is conducted, the forward recognition camera angle must be adjusted. For details, refer to the Repair Manual.


        • The forward recognition camera is removed and reinstalled or replaced.

        • Parts relating to the tires or suspension are replaced or adjusted.

        • Strong force is applied onto the forward recognition camera.

      3. 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.

        A00031CE04
        *1 Forward Recognition Camera captures the image of approximately 3.0 m (9.8 ft.) or more
        *2 Approximately 50 m (164 ft.)
        *3 Image processing range
        A000312E02
        Text in Illustration (Forward Recognition Camera Calculation)
        *a Image Captured by Forward Recognition Camera *b Left Lane Marker
        *c Center of Lane *d Right Lane Marker
        *e Angle between the vehicle traveling direction and right lane marker. *f Distance from the vehicle to right lane marker
        *g Distance from the 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.) - -

  5. OPERATION


    1. 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.

      2. Examples are shown below for the illumination or display of each indicator, warning light or multi-information display.

        Lane Departure Alert System ON (Approximately 50 km/h (32 mph) or more)
        Condition Multi-information Display* LDA Indicator Buzzer
        LDA main switch turned on (steering assist off) Lane Departure Alert Turned On Steering Assist Inactive Illuminates -
        LDA main switch turned on (steering assist on) Lane Departure Alert Turned On Steering Assist Active Illuminates -

        • Steering Assist Unavailable

        • Lane Markers Detected

        		 A0002GX Illuminates (White) -

        • Steering Assist Available

        • Lane Markers Detected

        		 A0003DR Illuminates (White) -

        • Steering Assist Available

        • One Lane Marker Detected

        		 A0003AF Illuminates (White) -

        • Steering Assist Available

        • Lane Markers Not Detected

        		 A0002Y3 Illuminates (White) -

        • Steering Assist Unavailable

        • Lane Markers Detected

        • Lane Departure Alert Operating

        		 A00030H Blinks (Amber) Sounds
        The lane marker icons blink

        • Steering Assist Available

        • Lane Markers Detected

        • Lane Deviation Warning Operating

        • Steering Assist Operating

        		 A00032M Blinks (Amber) Sounds
        The lane marker icons blink

        *: These illustrations are examples.

        Warning Messages
        Condition Multi-information Display Master Warning Light Buzzer
        Temperature of Forward Recognition Camera is Abnormal. LANE DEPARTURE ALERT UNAVAILABLE CAMERA OVERHEATED Illuminates Sounds
        System Malfunction LANE DEPARTURE ALERT MALFUNCTION VISIT YOUR DEALER Illuminates Sounds
        LDA main switch is turned on at approximately 50 km/h (32 mph) or lower LANE DEPARTURE ALERT UNAVAILABLE BELOW APPROX 50 KM/H - -

        Vehicle decelerates to below operating


        • Displayed once after the powerswitch is turned on (IG)
        With LDA main switch is on (steering assist available), No hands are detected on steering Wheel. LDA Steering Assist Deactivated Warning Available Illuminates Sounds

  6. DIAGNOSIS


    1. If a malfunction is detected in the lane departure alert system the forward recognition camera cancels the lane departure alert system, turns off the LDA indicator and illuminates the master warning light, sounds the 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.