LANE DEPARTURE ALERT SYSTEM(w/ Steering Control)


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Forward Recognition Camera

    • Captures a view of the road 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.

    • 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.

    • Controls the lane departure alert system.
    Camera Heater (Forward Recognition Hood) Heats the sheet heater in accordance with the signals from the forward recognition camera.
    Millimeter Wave Radar Sensor Assembly Radiates millimeter waves forward, uses the reflected waves to detect the presence of a vehicle traveling ahead and then transmits this information to the forward recognition camera.
    Driving Support ECU Assembly

    • Transmits the lane departure alert main switch signal to the forward recognition camera.

    • Calculates the amount of steering assist in accordance with signals from switches and ECUs.
    Steering Pad Switch Assembly Lane Departure Alert Main Switch (LDA Main Switch) Detects an on/off status of the system and transmits a signal to the driving support ECU assembly.
    Meter Control Switch Changes the customize settings of the lane departure warning function, steering assist function and vehicle sway warning function.
    Yawrate Sensor Detects yaw rate and transmits a signal to the forward recognition camera.
    Spiral Cable with Sensor Sub-assembly Steering Sensor Detects the angle and direction of steering and transmits signals to the forward recognition camera.
    Brake Booster with Master Cylinder Skid Control ECU Sends a vehicle speed signal from the speed sensor to the forward recognition camera.
    Speed Sensor Detects the vehicle speed and transmits a signal via the skid control ECU to the forward recognition camera.
    Power Management Control ECU

    • Sends the accelerator pedal opening angle signal to the forward recognition camera.

    • Sends the shift position signal to the forward recognition camera.
    Combination Meter Assembly Transmits a turn signal command to the forward recognition camera.
    Combination Meter Assembly Lane Departure Alert Indicator Illuminates or turns off 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.
    Headlight Dimmer Switch Assembly Transmits a turn signal command to the combination meter assembly.
    Power Steering ECU Assembly

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

    • Sends steering torque signals from the torque sensor to the power steering ECU assembly.

    • Detects steering operations performed by the driver and outputs the operations to the forward recognition camera.

    • Cancels steering assist when an abnormal torque request signal is received from the forward recognition camera.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the forward recognition camera.
    Central Gateway ECU (Network Gateway ECU) Gateway function of CAN communication.

  2. OPERATION CONDITION


    1. Operating Conditions of Lane Departure Alert System (Lane Departure Alert Function)

      Operation Condition
      Operating

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


      • The lane departure alert main switch is on. (When the lane departure alert main switch is pressed to turn on the lane departure alert system, the lane departure alert indicator illuminates).

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

      • Lane markers are detected.

      • lane departure alert 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 (lane departure alert function) 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 alert is activated.

      • A malfunction is detected in the lane departure alert system.

      • The temperature of the forward recognition camera is abnormal.

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

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


      • The lane departure alert main switch is off.

      • The lane departure alert system is malfunctioning.

      • The power switch is turned off.

      The lane departure alert system (lane departure alert function) 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 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 Lane Departure Alert System (Steering Assist Function)

      Operation Condition
      Operating

      The lane departure alert system (steering assist function) is activated when all of the following conditions are met:


      • The lane departure alert main switch is on. (When the lane departure alert main switch is pressed to turn on the lane departure alert system, the lane departure alert indicator illuminates).

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

      • Lane markers are detected.

      • No turn signal command is detected.

      • System malfunction is not detected.

      • The steering assist ON is selected via operation on 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 (steering assist function) 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 lane departure alert system.

      • The yawrate sensor is malfunctioning.

      • 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/Resume

      The lane departure alert system (steering assist function) is stopped when any one of the following conditions is met:


      • The lane departure alert main switch is off.

      • The lane departure alert system is malfunctioning.

      • The power switch is turned off.

      • The steering assist OFF is selected via operation of the steering pad switch assembly.

      The lane departure alert system (steering assist function) 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 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.

      • The steering assist ON is selected via operation on the steering pad switch assembly.

    3. Operating Conditions of Lane Departure Alert System (Vehicle Sway Warning Function)

      Operation Condition
      Operating

      The lane departure alert system (vehicle sway warning function) is activated when all of the following conditions are met:


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

      • Lane markers are detected.

      • System malfunction is not detected.

      • The vehicle sway warning ON is selected via operation of the steering pad switch assembly.
      Suspended

      The lane departure alert system (vehicle sway warning function) 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/Resume

      The lane departure alert system (vehicle sway warning function) is stopped when any one of the following conditions is met:


      • The lane departure alert system is malfunctioning.

      • The power switch is turned off.

      • The vehicle sway warning OFF is selected via operation of the steering pad switch assembly.

      The lane departure alert system (vehicle sway warning function) resumes when the following conditions are met:


      • The conditions to start operation listed above are satisfied.

      • The lane departure alert 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.

      • The vehicle sway warning ON is selected via operation of the steering pad switch assembly.

  3. SYSTEM CONTROL


    1. Function Overview


      1. Lane Departure Alert Function


        • 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 sounds a buzzer so that the driver can take action to avoid lane departure.

          B0022BZE06
          *1 Warning

      2. Steering Assist Function


        • 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 sounds a buzzer.

          B0022NKE05
          *1 Steering Assist
          *2 Control output level
          *3 Example of vehicle behavior and control output

      3. 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.

          B0022G8E03
          *1 Warning
          *2 Buzzer and Warning Display

  4. FUNCTION


    1. Using the meter control switches of the steering pad switch assembly, the steering assist functions and the vehicle sway warning functions can be customized.

      B0022BTC02
      *a Meter Control Switch *b Lane departure Alert Main Switch
      *c This illustration is an example. - -

    2. Customize Lane Departure Alert System Settings 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 Select to turn steering wheel assistance on/off

      • On

      • Off
      Sensitivity Timing of lane departure alert

      • Standard

      • High

    3. Customize Vehicle Sway Warning 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 Select to turn the sway warning function on/off

      • On

      • Off
      Vehicle Sway Sensitivity Timing of sway warning

      • High

      • Standard

      • Low

  5. CONSTRUCTION


    1. Forward Recognition Camera


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

      2. The forward recognition camera 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 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.

      4. 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.

        B0022NTC01
        *1 Camera Sensor (Forward Recognition Camera) - -
        *a Monocular Camera *b Approximately 3.0 m (9.8 ft.) or more
        *c Lane Marker *d Camera Sensor Recognition Range.
        *e Approximately 50 m (164 ft.) - -

      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.

        B0022N8C06
        *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) - -

  6. OPERATION


    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.

      B0022H5C03
      *a Multi-information Display *b Lane Departure Alert Indicator (LDA Indicator)
      *c Master Warning Light - -
      Lane Departure Alert System (Steering Assist Off or On) [Approximately 50 km/h (32 mph) or More]
      Condition Multi-information Display* B00229P Buzzer
      Steering assist off

      LDA

      Tuned On

      Steering Assist

      Inactive

      		 Illuminates (White) -
      Steering assist on

      LDA

      Tuned On

      Steering Assist

      Active

      		 Illuminates (White) -
      Lane Departure Alert Main Switch OFF B0022N2 Dose Not Illuminates -

      • Lane Departure Alert Main Switch On

      • Lane Departure Alert Main Switch On

      • Steering Assist Unavailable

      • No Markers Detected

      		 B0022FL Illuminates (White) -

      • Lane Departure Alert Main Switch On

      • Steering Assist Unavailable

      • Lane Markers Detected

      • Under Monitoring

      		 B00229X Illuminates (White) -

      • Lane Departure Alert Main Switch On

      • Steering Assist Unavailable

      • One Lane Markers (Right) Detected

      • Under Monitoring

      		 B0022TD Illuminates (White) -

      • Lane Departure Alert Main Switch On

      • Steering Assist Unavailable

      • One Lane Markers (Right) Detected

      • Lane Departure Alert Warning Operating

      		 B0022LOE03
      *1 The lane marker icons blink
      		Blinks (Yellow) Sounds

      • Lane Departure Alert Main Switch On

      • Steering Assist Available

      • Lane Markers Detected

      • Lane Departure Alert System with Steering Assist Operating

      		 B0022MU Illuminates (Green) -

      • Lane Departure Alert Main Switch On

      • Steering Assist Available

      • One Lane Markers (Right) Detected

      • Lane Departure Alert System with Steering Assist Operating

      		 B0022RO Illuminates (Green) -

      • Lane Departure Alert Main Switch On

      • Steering Assist Available

      • One Lane Markers (Right) Detected

      • Lane Departure Alert System with Steering Assist Operating

      • Lane Departure Alert Warning Operating

      		 B0022IGE02
      *1 The lane marker icons blink
      		Blinks (Yellow) Sounds

      *: These illustrations are examples.

      Vehicle Sway Warning Messages
      Vehicle Sway Warning Condition Multi-information Display
      On

      • Vehicle sway warning operating

      • Detects consecutive traffic lane deviations due to disorientation

      • Performs priority display and sounds the buzzer

      		 Please Take a Break.
      On

      • Vehicle sway warning operating

      • Detects that slow drifting is apparent due to state where attentiveness is low (distractions)

      • Detects a sudden steering operation after the driver's steering frequency decreases due to a state where attentiveness is low (sleepiness)

      • Performs priority display and sounds the buzzer

      		 Would You Like to Take a Break?

      *: These illustrations are examples.

      Warning Messages
      Condition Multi-information Display Master Warning Light Buzzer
      System malfunction.

      Lane Departure Alert

      Malfunction

      Visit Your Dealer

      		 Illuminates Sounds
      When temporarily unavailable due to sensors other than the forward recognition camera.

      Lane Departure Alert

      Unavailable

      		 Illuminates Sounds
      Vehicle Speed is Approximately 50 km/h (32 mph) or Less.

      Lane Departure Alert

      Unavailable

      Below Approx.

      50 km/h (32 mph)

      		 - -
      With lane departure alert main switch is on (steering assist available), No hands are detected on steering Wheel.

      LDA

      Hold Steering

      Wheel*

      		 - -

      LDA Steering Assist

      Unavailable Hold Steering

      Wheel*

      		 Illuminates

      *: When display changes

  7. DIAGNOSIS


    1. If a malfunction is detected in the lane departure alert system, the forward recognition camera cancels the lane departure alert system, illuminates the lane departure alert indicator in yellow, 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. The DTCs can be read when a Global TechStream (GTS) is connected to the DLC3. For details, refer to the Repair Manual.