LANE DEPARTURE ALERT SYSTEM(w/ Steering Control)


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Assembly Multi-information Display

    • LDA indicator illuminates or turns off in accordance with signals from the forward recognition camera.

    • 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.
    Forward Recognition 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 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.*
    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 Transmits the LDA main switch signal to the forward recognition camera.
    ECM Transmits the reverse signal to the forward recognition camera.
    Skid Control ECU Sends a vehicle speed signal from the speed sensor to the forward recognition camera.
    LDA Main Switch Detects an on/off status of the system and transmits a signal to the forward recognition camera.
    Center Airbag Sensor Assembly Yawrate Sensor Detects yaw rate and transmits a signal to the forward recognition camera.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals 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 ahead and then transmits this information to the forward recognition camera.
    Speed Sensors Detects the vehicle speed and transmits a signal via the skid control ECU to the forward recognition camera.
    Power Steering ECU Assembly

    • Controls the power steering motor assembly according to signals from the forward recognition camera.

    • Detects steering operations performed by the driver and outputs the operations to the forward recognition camera.
    Steering Sensor Detects the angle and direction of steering and transmits signals to the forward recognition camera.
    Central Gateway ECU Transmits the signal between the CAN communication bus.

    *: Models with camera heater

  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 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 above approximately 50 km/h (32 mph) or more.

      • Lane markers are detected.

      • The turn signal light is not operated.

      • 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 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 main switch is off.

      • The LDA system is malfunctioning.

      • Ignition 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 ignition switch is turned off and ON 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 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 above approximately 50 km/h (32 mph) or more.

      • 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-crash safety 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.

      • The center airbag sensor assembly 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-crash safety 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

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


      • The LDA main switch is off.

      • The LDA system is malfunctioning.

      • The ignition 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 ignition switch is turned off and ON 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 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.

      • A 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 main switch is off.

      • The LDA system is malfunctioning.

      • The ignition 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 are satisfied.

      • The LDA system condition returns to normal.

      • The ignition switch is turned off and ON again to ensure normal operation, after the LDA system has been stopped by a system malfunction.

  3. SYSTEM CONTROL


    1. LDA System Warning Operation


      1. Function Over View (Steering Assist Unavailable)


        • 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 sounds a buzzer so that the driver can take action to avoid lane departure.

          B001IPPE01
          *1 Warning

      2. Function Over View (Steering Assist Available)


        • 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 sound a buzzer.

          B001IQCE01
          *1 Steering Assist
          *2 Control output level
          *3 Example of vehicle behavior and control output

      3. Function Over View (Vehicle Sway Warning)


        • 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 alerts the driver before a lane departure or collision occurs.

        B001IQ4E01
        *1 Warning
        *2 and

  4. FUNCTION


    1. Using the meter control switches of the steering pad switch assembly, the steering assist functions and the vehicle sway warning functions can be customized.

      B001IQTC01
      *a Meter Control Switches - -

      1. Customize Steering Assist 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 Assists steering to prevent lane departure (steering wheel control)

        • ON

        • OFF
        Sensitivity Timing of lane departure warning

        • Normal

        • High

      2. Customize Unsteady Driving Alert 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 Sway Warning function

        • ON

        • OFF
        Sway Sensitivity Sway sensitivity

        • High

        • Standard

        • Low

  5. DIAGNOSIS


    1. If a malfunction is detected in the LDA system the forward recognition camera cancels the LDA system, turns on the LDA indicator light (umber) 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.