LANE DEPARTURE ALERT SYSTEM(w/ Steering Control)


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Assembly LDA Indicator Light Illuminates or turns off in accordance with signals from the lane departure warning 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 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 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.

    • Receives vehicle information and turn signal light operation signals and sends a steering force signal to the power steering ECU assembly.
    Driving Support ECU Assembly*1 Transmits the LDA main switch signal to the lane departure warning camera.
    Skid Control ECU Sends a vehicle speed signal from the speed sensor to the lane departure warning camera.
    Steering Pad Switch Assembly LDA Main Switch Detects an on/off status of the system and transmits a signal to the lane departure warning camera*2 or driving support ECU assembly*1.
    Airbag ECU Assembly Outputs yaw rate signals and the rate of deceleration and acceleration to the lane departure warning camera.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the lane departure warning camera.
    Power Steering ECU Assembly

    • Controls the power steering motor assembly according to signals from the lane departure warning camera.

    • Detects steering operations performed by the driver and outputs the operations to the lane departure warning camera.

    • *1: Models with dynamic radar cruise control system

    • *2: Models without dynamic radar cruise control system

  2. OPERATION CONDITION


    1. Operating Conditions of Lane Departure Alert 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 Lane Departure Alert (LDA) system, the LDA indicator light illuminates.)

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

      • Lane markers are detected.

      • The turn signal light is not operated for the direction in which the vehicle is deviating from its lane.

      • No hazard warning 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.

      • A hazard warning signal command is detected.

      • No lane markers are detected.

      • Immediately after the lane departure warning is activated.

      • The yaw rate sensor or speed sensors are malfunctioning.

      • A malfunction is detected in the LDA system.

      • 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 lane departure alert system is malfunctioning.

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

      • The LDA system is temporarily stopped.

      • 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 lane departure alert system condition returns to normal.

      • The LDA main switch is turned on after the lane departure warning camera temperature 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.

    2. Operating Conditions of Lane Departure Alert 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 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.

      • No hazard warning 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-crash safety 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 not approximately 50 km/h (32 mph) or more.

      • A turn signal command is detected.

      • A hazard warning signal command is detected.

      • No lane markers are detected.

      • Immediately after the lane departure warning is activated.

      • The yaw rate sensor is malfunctioning.

      • A malfunction is detected in the LDA system.

      • The Deceleration Sensor or steering sensor is malfunctioning.

      • The LDA main switch is turned on after confirming that the system is operating normally.

      • 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-crash safety system, operate.

      • Acceleration via operation of the accelerator pedal is detected.

      • No hands are detected on the steering wheel.
      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 temperature of the lane departure warning camera is abnormal.

      • 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 lane departure alert system condition returns to normal.

      • The LDA main switch is turned on after the lane departure warning camera temperature 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. SYSTEM CONTROL


    1. Lane Departure Alert 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.

          A01CS9MC01
          *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.

          A01CRRSC01
          *a Warning *b Steering Assist
          *c Warning Stop *d Steering Assist Stop

  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 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.