LANE DEPARTURE ALERT SYSTEM(w/ Steering Control)


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Forward Recognition Camera (Camera 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 LDA system.

    • Transmits the indicator light 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.

    • Transmits an operation signal to the camera heater.*1
    Camera Heater (Forward Recognition Hood with Heater Sub-assembly)*1 The camera heater is heated according to signals from the forward recognition camera.
    Millimeter Wave Radar Sensor Assembly Radiates millimeter radar waves forward, use 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 forward recognition camera (camera sensor).
    Spiral Cable with Sensor Sub-assembly Steering Angle Sensor Detects the steering direction and angle of the steering wheel.
    Yawrate Sensor Sends yaw rate signals and the rate of deceleration and acceleration to the forward recognition camera (camera sensor).
    Speed Sensor Detects the wheel speed and transmits signals to the skid control ECU.
    Steering Pad Switch Assembly LDA Switch Detects an on/off status of the system and transmits a signal to the forward recognition camera (camera sensor).
    Headlight Dimmer Switch Assembly Transmits a turn signal command to the combination meter assembly.
    Driving Support ECU Assembly Transmits the LDA switch signal to the forward recognition camera (camera sensor).
    Combination Meter Assembly LDA Indicator Light Illuminates or turns off in accordance with signals from the forward recognition camera (camera sensor).
    Master Warning Light Illuminates when a system malfunction occurs.
    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 (camera sensor).
    Buzzer Sounds to warn the driver of the system condition in accordance with signals from the forward recognition camera (camera sensor).
    Combination Meter Mirror Assembly*2 When the head-up display is operating, displays a lane departure alert in the head-up display in accordance to a signal from the combination meter assembly.
    Power Steering ECU Assembly

    • Controls the power steering motor according to signals from the forward recognition camera (camera sensor).

    • Detects steering operations performed by the driver and outputs the operations to the forward recognition camera (camera sensor).
    ECM Transmits the reverse signal to the forward recognition camera (camera sensor).
    Brake Actuator Assembly Skid Control ECU Sends a vehicle speed signal from the speed sensor to the forward recognition camera (camera sensor).
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the forward recognition camera (camera sensor).
    Network Gateway ECU Relays and transmits each CAN communication data signal.

    *1: Models with camera heater

    *2: Models with head-up display

  2. OPERATION 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 switch is on. (When the LDA switch is pressed to turn on the LDA system, the LDA indicator light illuminates.)

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

      • 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 LDA 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 temperature of the forward recognition camera (camera sensor) is abnormal.

      • A malfunction is detected in the LDA system.

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

      The LDA system is stopped when any one of the following conditions is met:


      • The LDA switch is off.

      • The LDA system is malfunctioning.

      • The LDA system is temporarily stopped.

      • Engine switch is turned off.

      The LDA 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 engine switch is turned off and on (IG) again to ensure normal operation, after the LDA 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 switch is on. (When the LDA switch is pressed to turn on the LDA system, the LDA indicator light 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.

      • 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 LDA 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 deceleration sensor or steering angle 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 (camera sensor) is abnormal.

      • No steering wheel operation detected.
      Canceled

      The LDA system is stopped when any one of the following conditions is met:


      • The LDA switch is off.

      • The LDA system is malfunctioning.

      • The LDA system is temporarily stopped.

      • The engine switch is turned off.

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

      The LDA 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 engine 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).

      • 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 LDA 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 LDA system is stopped when any one of the following conditions is met:


      • The LDA system is malfunctioning.

      • The engine switch is turned off.

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

      The LDA 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 engine 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 Function and Vehicle Sway Warning Function activation and Configuration


      1. Each function of the LDA system, by means of LDA switch operation or the steering pad switch assembly, can toggle the operations on the multi-information display and toggle between activation and configuration.

        Function LDA System (Steering Assist Unavailable) Function LDA System (Steering Assist Available) Function Vehicle Sway Warning Function
        LDA Switch On -
        Multi-information Display Screen Operation When Steering Assist Mode Off is selected. When Steering Assist Mode On is selected. When Vehicle Sway Warning On is selected
        LDA Sensitivity: Normal/High Sway Warning Sensitivity: High/Normal/Low

      2. When steering assist mode on is selected, the system performs slight steering operations and supports lane deviation evasions when the lane departure alert is operating.

      3. When the warning sensitivity of the lane departure alert function is set to "High", the lane departure alert operations perform at a faster timing than "Normal".

    2. LDA System Warning Operation


      1. Warning Operation Timing (Steering Assist Unavailable)


        • When the system determines that the vehicle may deviate from its current lane while the lane departure warning function is operating, the lane departure alert (buzzer, display) operates.

          B002ASPC01
          *a Warning *b Warning Stop

      2. Warning Operation Timing (Steering Assist Available)


        • When the system determines that the vehicle may deviate from its current lane while the lane departure warning function is operating, the lane departure alert (buzzer, display) and steering assist operate.

          B002AQVC01
          *a Warning *b Steering Assist
          *c Warning Stop *d Steering Assist Stop

      3. Warning Operation Timing (Vehicle Sway Warning)


        • The vehicle sway warning function mainly operates the warnings (buzzer and indicators) in regards to the following 3 patterns:

          Figure 1. (1) Warning in Accordance to Consecutive Traffic Lane Deviations from Disorientation

          B002ARUC01
          *a Warning - -

          Figure 2. (2) Slow Drifting is Apparent Due to State Where Attentiveness is Low (Distractions)

          B002AQZC01
          *a Warning - -

          Figure 3. (3) Sudden Steering Operation after Driver' s Steering Frequency Decreases Due to State Where Attentiveness is Low (Sleepiness)

          B002AQBC01
          *a Warning - -

  4. DIAGNOSIS


    1. If a malfunction is detected in the LDA system the forward recognition camera (camera sensor) cancels the LDA system, turns on the LDA indicator light (amber) 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 the Global TechStream (GTS) is connected to the DLC3, the DTC can be read. For details, refer to the Repair Manual.