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-crash safety 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-crash safety city sensor.
    Multi Buzzer Sounds to warn the driver of the system condition in accordance with signals from the pre-crash safety city sensor.
    Pre-crash Safety 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.

    • Transmits an operation signal to the camera heater.*
    Camera Heater (Pre-crash Safety City Heater)* The camera heater is heated according to signals from the pre-crash safety city sensor.
    Brake Actuator Assembly Skid Control ECU Sends a vehicle speed signal from the speed sensor to the pre-crash safety city sensor.
    Steering Pad Switch Assembly LDA Main Switch Detects an on/off status of the system and transmits a signal to the per-crash safety city sensor.

    Airbag Sensor Assembly

    - Yaw rate Sensor

    		 Outputs yaw rate signals to the pre-crash safety city sensor.
    Steering Angle Sensor Detects the steering angle and transmits signals to the pre-crash safety city sensor.
    Main Body ECU (Instrument Panel Junction Block Assembly) Sends country specification information signals to the pre-crash safety city sensor.

    • *: Models with camera heater

  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 between approximately 50 km/h (32 mph) and 200 km/h (125 mph).

      • 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 not approximately 50 km/h (32 mph) and 200 km/h (125 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-crash safety 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-crash Safety City Sensor


      1. The pre-crash safety city sensor captures the road image up to approximately 60 m (164 ft.) ahead of the pre-crash safety city sensor.

      2. The pre-crash safety 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-crash safety city sensor angle must be adjusted. For details, refer to the Repair Manual.


        1. The pre-crash safety 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-crash safety city sensor.

      4. The pre-crash safety 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-crash safety city sensor determines that the front wheel is about to cross the lane marker, the pre-crash safety city sensor activates the lane departure alert system, displays a warning indicator on the multi-information display and sounds the multi 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.

        A00528XE02
        Text in Illustration
        *1 Monocular Camera *2 Pre-crash Safety City Sensor
        *a Image Processing Range *b Lane Marker
        *c Approximately 3 m (9.8 ft.) or more *d Approximately 50 m (164 ft.)
        A0051GCE02
        Text in Illustration
        *a Image Captured by Pre-crash Safety 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 Travelling 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. Camera Heater (Pre-crash Safety City Heater) (Models with Camera Heater)


      1. The camera heater, which is installed between the pre-crash safety city sensor and windshield glass, is heated according to signals from the pre-crash safety city sensor in order to prevent the windshield glass on the front of the pre-crash safety city sensor from fogging, and also to remove fog buildup. For details, see the PRE-CRASH SAFETY section.

    3. Combination Meter Assembly


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

        Lane Departure Alert System On and Dynamic Radar Cruise Control System Off
        Condition Multi-information Display LDA Indicator Light Multi Buzzer

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

        • Lane Markers Not Detected

        		 A005253 Illuminates -

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

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

        • One Lane Marker Detected

        		 A0051XG 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

        		 A0051TE Illuminates -

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

        • Lane Departure Alert Operating

        		 A0051PC Illuminates Sounds
        Warning Messages
        Condition Multi-information Display Master Warning Light Multi Buzzer
        Temperature of Pre-crash Safety City Sensor is Abnormal LDA not available. Illuminates Sounds
        System Malfunction Check LDA system. Illuminates 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-crash safety 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.