LANE DEPARTURE ALERT SYSTEM(w/ Steering Control)

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. Controls the LDA system. 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.
Camera Heater (Forward Recognition with Heater Hood Sub-assembly)		The camera heater is heated according to 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 travelling ahead and then transmits this information to the forward recognition camera.
Driving Support ECU Assembly		Transmits the LDA main switch signal to the forward recognition camera.
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.
Steering Pad Switch Assembly	Meter Control Switch	Changes the customize settings of the lane departure alert 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 Actuator Assembly	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.
ECM		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 (LDA Indicator)	LDA 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.
Steering Vibration and Heater ECU		Controls the steering vibration according to signals 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.

OPERATION CONDITION

Operating Conditions of LDA System (Lane Departure Alert Function)

Operation	Condition
Operating	The LDA system (lane departure alert 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 illuminates). The vehicle speed is above approximately 50 km/h (32 mph) or more. 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 (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 LDA is activated. A malfunction is detected in the LDA system. The temperature of the forward recognition camera is abnormal. The vehicle crosses halfway or further over a lane marker.
Canceled/Resume	The LDA system (lane departure alert function) is stopped when any one of the following conditions is met: The LDA main switch is off. The LDA system is malfunctioning. The engine switch is turned off. The LDA system (lane departure alert function) 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.

Operation

Condition

Operating

The LDA system (lane departure alert 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 illuminates).
The vehicle speed is above approximately 50 km/h (32 mph) or more.
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 (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 LDA is activated.
A malfunction is detected in the LDA system.
The temperature of the forward recognition camera is abnormal.
The vehicle crosses halfway or further over a lane marker.

Canceled/Resume

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

The LDA main switch is off.
The LDA system is malfunctioning.
The engine switch is turned off.

The LDA system (lane departure alert function) 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.

Operating Conditions of LDA System (Steering Assist Function)

Operation	Condition
Operating	The LDA system (steering assist 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 illuminates). The vehicle speed is above approximately 50 km/h (32 mph) or more. Lane markers are detected. No turn signal command is detected. System malfunction is not detected. The steering assist available 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 LDA 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. The yawrate sensor is malfunctioning. A malfunction is detected in the LDA system. 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 LDA system (steering assist function) is stopped when any one of the following conditions is met: The LDA main switch is off. The LDA system is malfunctioning. The engine switch is turned off. The Steering assist unavailable is selected via operation of the steering pad switch assembly. The LDA system (steering assist function) 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. The steering assist available is selected via operation on the steering pad switch assembly

Operation

Condition

Operating

The LDA system (steering assist 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 illuminates).
The vehicle speed is above approximately 50 km/h (32 mph) or more.
Lane markers are detected.
No turn signal command is detected.
System malfunction is not detected.
The steering assist available 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 LDA 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.
The yawrate sensor is malfunctioning.
A malfunction is detected in the LDA system.
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 LDA system (steering assist function) is stopped when any one of the following conditions is met:

The LDA main switch is off.
The LDA system is malfunctioning.
The engine switch is turned off.
The Steering assist unavailable is selected via operation of the steering pad switch assembly.

The LDA system (steering assist function) 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.
The steering assist available is selected via operation on the steering pad switch assembly

Operating Conditions of LDA System (Vehicle Sway Warning Function)

Operation	Condition
Operating	The LDA 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) or more. 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 LDA 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 LDA system (vehicle sway warning function) 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 OFF is selected via operation of the steering pad switch assembly. The LDA system (vehicle sway warning function) resumes when the following conditions are met: The conditions to start operation listed above 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. The vehicle sway warning ON is selected via operation of the steering pad switch assembly.

Operation

Condition

Operating

The LDA 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) or more.
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 LDA 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 LDA system (vehicle sway warning function) 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 OFF is selected via operation of the steering pad switch assembly.

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

The conditions to start operation listed above 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.
The vehicle sway warning ON is selected via operation of the steering pad switch assembly.

SYSTEM CONTROL

Function Overview

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 vibrates the steering wheel or sounds a buzzer so that the driver can take action to avoid lane departure.


*1	Buzzer or Steering Vibration
*2	Warning

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 vibrates the steering wheel or sound a buzzer.


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

Vehicle Sway Warning Function

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.


*1	Warning
*2	Buzzer and Warning Display

FUNCTION

Using the Meter Control Switches of the steering pad switch assembly, the steering assist functions and the vehicle sway warning functions can be customized.

*a	Meter Control Switch	*b	Lane departure Alert Main Switch (LDA Main Switch)
*c	This illustration is an examples.	-	-

Customize LDA 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
Alert	Warning method	Steering Vibration Alert
Sensitivity	Timing of lane departure alert	High Standard

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)
Sway Warning	Select to turn the sway warning function on/off	On Off
Sway Sensitivity	Timing of sway warning	High Standard Low

DIAGNOSIS

If a malfunction is detected in the LDA system, the forward recognition camera cancels the LDA system, illuminates the LDA 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.
At the same time, the malfunction is stored in memory as a Diagnostic Trouble Code (DTC). When a a Global TechStream (GTS) is connected to the DLC3, the DTC can be read. For details, refer to the Repair Manual.