LANE DEPARTURE ALERT SYSTEM


  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.

    • Controls the lane departure alert system.

    • Sends the indicator illumination request signal, multi-information display indication light request signal, and meter buzzer sound request signal to the combination meter assembly.

    • Sends the system condition signal to the headup display.

    • Receives vehicle information and turn signal light operation signals and sends a steering force signal to the power steering ECU assembly.

    • Sends an operation signal to the camera heater.
    Camera Heater (Forward Recognition Hood with Heater Sub-assembly) The camera heater is heated according to signals from the forward recognition camera.
    Driving Support ECU Assembly

    • Calculates the amount of steering assist in accordance with signals from switches and ECUs.

    • Sends the LDA main switch signal to the forward recognition camera.
    Millimeter Wave Radar Sensor Assembly Radiates millimeter radar waves forward, uses the reflected waves to detect the presence of a vehicle traveling ahead, the vehicle-to-vehicle distance, and the relative speed, and then sends this information to the forward recognition camera.
    Combination Meter Assembly Sends a turn signal command to the forward recognition camera.
    Combination Meter Assembly 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.
    Meter Buzzer Sounds to warn the driver in accordance with signals from the forward recognition camera.
    ECM Sends the accelerator pedal opening angle signal to the forward recognition camera.
    Skid Control ECU Assembly Sends a vehicle speed signal to the forward recognition camera and driving support ECU assembly.
    Steering Pad Switch Assembly LDA Main Switch Detects the on/off status of the lane departure alert system and sends a signal to the driving support ECU assembly.
    Meter Control Switch Changes the customization settings of the lane departure alert system.
    Yawrate Sensor Detects the yaw rate and sends a signal to the forward recognition camera.
    Steering Sensor

    • Sends the turning angle of the steering wheel to the forward recognition camera and driving support ECU assembly.

    • Sends a turn signal command to the combination meter assembly.
    Turn Signal Switch Sends a turn signal command to the steering sensor.
    Power Steering ECU Assembly

    • Controls the power steering motor and performs steering assist based on signals received from the forward recognition camera.

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

    • Cancels steering assist when an abnormal torque request signal is received from the forward recognition camera.
    Headup Display (Meter Mirror Sub-assembly)* Displays the system condition in accordance with a signal from the forward recognition camera.
    Central Gateway ECU (Network Gateway ECU) Relays the signal between the CAN communication buses.
    DLC3 The Global TechStream (GTS) can be connected to read the Diagnostic Trouble Codes (DTCs) of malfunctions.

    *: Models with headup display

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

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

      • Lane markers are detected.

      • No turn signal command is detected.

      • A 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.

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

      • Detection of the lane width other than regulated.

      • Detection of the curve radius other than regulated.

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

      • The temperature of the forward recognition camera is abnormal.
      Canceled/Resume

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


      • The LDA main switch is off.

      • The lane departure alert system is temporarily stopped.

      • The lane departure alert system is malfunctioning.

      • The engine 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 are satisfied.

      • The lane departure alert system condition returns to normal.

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

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

      • Lane markers are detected.

      • No turn signal command is detected.

      • A 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.

      • The hands off steering wheel alert is not displayed.
      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 control function is activated.

      • The yawrate sensor is malfunctioning.

      • The 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.

      • No steering wheel operation detected.

      • Detection of the lane width other than regulated.

      • Detection of the curve radius other than regulated.

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

      • The temperature of the forward recognition camera is abnormal.
      Canceled/Resume

      The lane departure alert system (steering assist function) 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 lane departure alert system is temporarily stopped.

      • The engine switch is turned off.

      • Steering assist unavailable 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 are satisfied.

      • The lane departure alert system condition returns to normal.

      • The engine 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.

      • Steering assist available is selected via operation of 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:


      • Sway warning available is selected via operation of the steering pad switch assembly.

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

      • Lane markers are detected.

      • A system malfunction is not detected.

      • No turn signal command is detected.
      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).

      • One side of lane markers is not detected.

      • A turn signal command is detected.

      • Immediately after the lane departure alert is activated.

      • Detection of the lane width other than regulated.

      • Detection of the curve radius other than regulated.

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

      • The temperature of the forward recognition camera is abnormal.
      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 engine switch is turned off.

      • Sway warning unavailable 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 engine 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.

      • Sway warning available is selected via operation of the steering pad switch assembly.

  3. SYSTEM CONTROL


    1. Lane Departure Alert System Warning Operation


      1. Function Overview (Lane Departure Alert Function)


        • If the lane departure alert system judges that the vehicle may deviate from the lane it is in, the lane departure alert system illuminates the indicator in the combination meter display and sounds a meter buzzer so that the driver can take action to avoid lane departure.

          A004DY6E02
          *1 Warning
          *2 Buzzer
          *3 Display
          *4 This illustration is only for explanatory purposes.

      2. Function Overview (Steering Assist Function)


        • If the lane departure alert system judges that the vehicle may deviate from the lane it is in, the lane departure alert system performs steering assist to help the driver correct the path of the vehicle. If the driver does not take appropriate action, the lane departure alert system sounds a meter buzzer.

          A004DRUE02

      3. Function Overview (Vehicle Sway Warning Function)


        • The lane departure alert 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, to alert the driver before a lane departure or collision occurs.

          A004DZ4E08
          *1 Warning
          *2 Buzzer
          *3 Display
          *4 This illustration is only for explanatory purposes.

        • The vehicle sway warning function provides a warning to alert the driver when any of the following conditions occur:

          A004DV8E03

  4. FUNCTION


    1. Using the meter control switches of the steering pad switch assembly, the lane departure alert system settings functions and the vehicle sway warning functions can be customized.

      A004DLZC02
      *a Meter Control Switch *b LDA Main Switch

    2. Lane Departure Alert System Settings Functions Customization

      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 enable/disable steering wheel assistance

      • On

      • Off
      Sensitivity Timing of the lane departure alert

      • High

      • Standard
      Sway Warning Select to enable/disable the vehicle sway warning function

      • On

      • Off
      Sway Sensitivity Timing of the vehicle sway warning function

      • High

      • Standard

      • Low

  5. 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 LDA indicator in yellow and illuminates the master warning light, sounds the meter buzzer, 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.