LANE DEPARTURE ALERT SYSTEM


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Assembly LDA Indicator Light*1 Illuminates or turns off in accordance with signals from the lane departure warning camera.
    Multi-information Display*2 LDA Indicator Illuminates or turns off in accordance with signals from the lane departure warning camera.
    Multi-information Display*1, *2 Displays a warning message and white lines to inform or warn the driver of the system condition in accordance with signals from the lane departure warning camera.
    Multi Buzzer Sounds to warn the driver of the system condition in accordance with signals from the lane departure warning camera.
    Lane Departure Warning 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 light illumination request signal, multi-information display indication request signal, and buzzer sound request signal to the combination meter assembly.
    Driving Support ECU Assembly*3 Transmits the LDA switch signal to the lane departure warning camera.
    Hybrid Vehicle Control ECU Assembly Transmits the reverse signal to the lane departure warning camera.
    Skid Control ECU Assembly Sends a vehicle speed signal from the speed sensor to the lane departure warning camera.
    Steering Pad Switch Assembly LDA Switch Detects an on/off status of the system and transmits a signal to the lane departure warning camera.
    Headlight Dimmer Switch Assembly Transmits a turn signal command to the combination meter assembly.
    Yawrate Sensor Detects yaw rate and transmits a signal to the lane departure warning camera.
    Speed Sensor Transmits a vehicle speed signal to the skid control ECU Assembly.
    Skid Control Buzzer Assembly Sounds to warn the driver in accordance with signals from the lane departure warning camera.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the lane departure warning camera.
    Network Gateway ECU Transmits data between the CAN V bus and CAN sub bus 2.

    *1: F SPORT

    *2: Except F SPORT

    *3: Models with dynamic radar cruise control system

  2. SYSTEM CONTROL


    1. Operating Conditions of Lane Departure Alert System

      Operation Condition
      Operating/Resume

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


      • The LDA switch is on. (When the LDA switch is pressed to turn on the LDA system, the LDA indicator light 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.
      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) or more.

      • 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 switch is off.

      • The lane departure alert system is malfunctioning.

      • The temperature of the lane departure warning camera is abnormal.

      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 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.

  3. FUNCTION


    1. Lane Departure Warning Camera


      1. The lane departure warning camera captures the road image up to approximately 15 m (49 ft.) ahead of the lane departure warning camera.

      2. The lane departure warning 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 lane departure warning camera angle must be adjusted. For details, refer to the Repair Manual.


        • The lane departure warning camera is removed and reinstalled or replaced.

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

        • Strong force is applied onto the lane departure warning camera.

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

      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.

        A01MRGVC01
        *1 Lane Departure Warning Camera - -
        *a Image processing Range *b Lane Marker
        *c Approximately 2.5 m (8.2 ft.) or more *d Approximately 15m (49 ft.)
        A01MRGKC04
        *a Image Captured by Lane Departure Warning 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 center of lane to right lane marker.
        *g Distance from the center of lane 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). - -

  4. DIAGNOSIS


    1. If a malfunction is detected in the lane departure alert system the lane departure warning camera cancels the lane departure alert system, turns off the LDA indicator light 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.