LANE DEPARTURE ALERT SYSTEM


  1. FUNCTION OF MAIN COMPONENTS

    Components Function
    Combination Meter Sub-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.
    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 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.

    • Transmits the indicator illumination request signal, multi-information display indication request signal and buzzer sound request signal to the combination meter sub-assembly.
    Power Management Control ECU

    • Transmits the reverse signal to the lane departure warning camera.

    • Transmits data between the CAN V bus and CAN sub bus 11.
    Brake Booster with Master Cylinder Assembly Skid Control ECU Sends a vehicle speed signal from the speed sensor to the lane departure warning camera.
    LDA Main Switch Transmits an on/off signal to the lane departure warning camera.
    Headlight Dimmer Switch Assembly Transmits a turn signal command to the combination meter sub-assembly.
    Yawrate Sensor Detects yaw rate and transmits a signal to the lane departure warning camera.
    Speed Sensor Transmits a vehicle speed signal to the skid control ECU.
    Main Body ECU (Multiplex Network Body ECU) Sends country specification information signals to the lane departure warning camera.

  2. FUNCTION


    1. Lane Departure Warning Camera


      1. The lane departure warning camera captures a view of the road up to approximately 15 m (49 ft.) ahead of the camera.

      2. The lane departure warning camera detects lane markers and calculates the radius to the center of the lane, the vehicle center position disparity among the distances from each left and right lane marker and the angle disparity between the vehicle traveling direction and each left and right lane marker.

      3. When one of the following operations is conducted, the lane departure warning camera angle must be adjusted. For details, refer to the Repair Manual.


        • The lane departure warning camera is removed and reinstalled or replaced.

        • Parts relating to the tires or suspension are replaced or adjusted.

        • Excessive force is applied to the lane departure warning camera.

      4. The lane departure warning camera calculates the estimated position which the front wheel will reach based on the information collected, vehicle speeds and front wheel positions. When the lane departure warning camera determines that the front wheel is about to cross the lane marker, the lane departure warning camera activates the lane departure alert system, displays a warning indicator on the combination meter assembly and sounds the buzzer.

      5. The lane departure alert system does not operate if the vehicle approaches the lane marker at a shallow angle, but does not cross it.

        A00514TE03
        Text in Illustration
        *1 Lane Departure Warning Camera - -
        *a Image Processing Range *b Lane Marker
        *c Approximately 2.5 m (8.2 ft.) or more *d Approximately 15 m (49 ft.)
        A005147E03
        Text in Illustration
        *a Image Captured by Lane Departure Warning Camera *b Left Lane Marker
        *c Center of Lane *d Right Lane Marker
        *e Angle between the vehicle traveling direction and right lane marker. *f Distance from the center of lane to right lane marker.
        *g Distance from the center of lane to left lane marker. *h Angle between the vehicle traveling direction and left lane marker.
        *i Lane Radius (If only the left lane marker or right lane marker is recognized, the radius of the recognized lane marker will be calculated.) - -

  3. OPERATING CONDITION


    1. Operating Conditions of Lane Departure Alert System

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

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

      • Lane markers are detected.

      • No turn 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 lower than 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 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 lane departure alert system 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 power 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.

  4. OPERATION


    1. The lane departure warning camera calculates the estimated position which the front wheel will reach based on the information collected, vehicle speeds and front wheel positions. When the lane departure warning camera determines that the front wheel is about to cross the lane market, the lane departure warning camera activates the lane departure alert system, displays a warning indicator on the multi-information display and sounds the buzzer.

    2. The lane departure alert system does not operate if the vehicle approaches the lane marker at a shallow angle, but does not cross it.

    3. Combination Meter Assembly


      1. The combination meter assembly illuminates the indicator lights or displays an indicator on the multi-information display, and sounds a buzzer (which is built into the combination meter assembly) in accordance with the respective condition.

      2. Examples are shown below for the illumination or display of each indicator, warning light or multi-information display.

        Lane Departure Alert System On and Radar Cruise Control System Off
        Condition Multi-information Display LDA Indicator Light Buzzer

        • Approximately 50 km/h (32 mph) or more

        • Lane Markers Detected

        		 A0050Z7 Illuminates -

        • Approximately 50 km/h (32 mph) or more

        • One Lane Marker Detected

        		 A0050YD

        • Approximately 50 km/h (32 mph) or more

        • Warning Operating*

        		 A00518B Illuminates Sounds 2 Seconds Maximum
        The lane marker icons blink

        • Approximately 50 km/h (32 mph) or more

        • Lane Markers Not Detected

        		 A00514D Illuminates -
        Below Approximately 50 km/h (32 mph)

        *: The vehicle and the lane marker icons are displayed on the headup display also for vehicle with the headup display.

        Warning Messages
        Condition Multi-information Display LDA Indicator Light Master Warning Light Buzzer
        Temperature of Lane Departure Warning Camera is Abnormal. LANE DEPARTURE ALERT UNAVAILABLE CAMERA OVERHEATED - Illuminates Sounds
        System Malfunction LANE DEPARTURE ALERT MALFUNCTION VISIT YOUR DEALER - Illuminates Sounds
        Lane Departure Warning Camera Angle Being Adjusted ADJUSTING LDA CAMERA - - -
        LDA main switch is turned on at approximately 50 km/h (32 mph) or lower LANE DEPARTURE ALERT UNAVAILABLE BELOW APPROX 50KM/H* Illuminates - -

        Vehicle decelerates to below operating speed


        • Displayed once after the power switch is turned on (IG)

        *: Displayed for 6 seconds

  5. 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, 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 a Global TechStream (GTS) is connected to the DLC3, the DTC can be read. For details, refer to the Repair Manual.