LANE-KEEP ASSIST SYSTEM [(E)]
id1510000030a4
Outline
• The system helps in avoiding departure from the lane by providing steering assistance if the vehicle may be deviating from its lane.
• The system detects the vehicle lane lines (lane markers) while the vehicle is being driven and if it determines that the vehicle may deviate from its lane, the system operates the electric power steering and assists the driver’s steering wheel operation.
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Warning
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• The lane-keep assist system is not an autonomous driving system. In addition, because the system is not designed to compensate for not paying attention to the conditions ahead, over-reliance on the system could result in an accident.
• The detection ability of the lane-keep assist system is limited. Always stay on course using the steering wheel and drive with care.
• Do not use the lane-keep assist system under the following conditions. Otherwise, it could lead to an accident.
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― Vehicle is driven on slippery roads such as icy or snow-covered roads, and unpaved roads
― Tires other than specified size, such as temporary spare tire, are used
― Tires without sufficient groove depth are used
― Tire pressure not adjusted to specified value
― Towing camping trailer or boat trailer
― Tire chains are installed
― Vehicle is driven on roads other than expressways and highways with white lines (yellow lines)
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Caution
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• To ensure that the lane-keep assist system operates normally, heed the following precautions.
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― Do not modify the suspension
― Always install tires of the specified size to all four wheels
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Note
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• The lane-keep assist system may not operate normally under the following conditions.
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― Poor lane marker visibility due to fading or soiling
― Poor lane marker visibility due to weather (such as rain, fog, or snow)
― Vehicle is driven on section with temporary lane or closed lane resulting from construction (there are multiple lane markers, or there are breaks in the lines)
― Lane markers and indiscernible lines such as road maintenance markings, guardrail shadows, residual snow, or water-filled road ruts are visible
― Surrounding brightness suddenly changes such as when entering or exiting tunnel
― Road surface is shiny due to backlight
― Road surface is wet and shiny or there are water puddles
― Vehicle lane lines are narrow
― Sharp curve
― Vehicle is tilted by heavy cargo in luggage compartment or rear seat
― Driving on junction or forked road
― Shadow of guardrail parallel to white lane line (yellow lane line) is cast on road
― At night, headlight lens is dirty and illumination is weak or its optical axis is deviated
― Road is winding
― Vehicle is shaken heavily due to hitting road bump
― Poor white line (yellow line) visibility due to vehicle ahead traveling near white lines (yellow lines)
― Windshield is dirty or fogged
― Vehicle is subjected to strong light from vehicle front (sunlight or headlights (high beam) from on-coming vehicle)
Structural view
Function
• The body control module (BCM) and EPS control module assist the driver in operating the steering wheel based on the white lines (yellow lines) detected by the forward sensing camera (FSC). For details on the forward sensing camera (FSC), refer to the [FORWARD SENSING CAMERA (FSC)]. (See
FORWARD SENSING CAMERA (FSC) [(E)].)
• With the lane-keep assist system, the steering wheel operation assist can be changed between operational and non-operational using the personalization features. For details on personalization features, refer to [PERSONALIZATION FEATURES] in the workshop manual.
Steering wheel operation assist
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• The system assists the driver in operating the steering wheel to prevent lane departure if the possibility of a lane departure increases.
• The multi-information display notifies the driver which direction the steering wheel operation is being assisted.
Lane-keep assist system warning
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• When the system is operated under the following conditions, the warning sound from the notification and warning speaker is activated to alert the driver.
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― Steering wheel operation assist performed continuously for 10 s or more
― Steering wheel operation assisted 2 or more times within continuous interval of 180 s without driver intervention
• The following lane-keep assist system warning settings can be changed. For details on personalization features, refer to [PERSONALIZATION FEATURES] in the workshop manual.
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― Operational/non-operational
System conditions display
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Lane-keep assist system condition
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Condition
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i-ACTIVSENSE status symbol (warning/risk avoidance support system)
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i-ACTIVSENSE OFF symbol (warning/risk avoidance support system)
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i-ACTIVSENSE warning light
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Multi-information display
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OFF
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System off
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No display
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OFF
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No display
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ON
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Operation conditions are not met
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OFF
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OFF
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No display
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Operation conditions are met, but no vehicle lane lines are detected
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OFF
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OFF
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No display
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Operation conditions are met and only vehicle lane lines on left side are detected
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OFF
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OFF
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No display
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Operation conditions are met and only vehicle lane lines on right side are detected
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OFF
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OFF
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No display
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Operation conditions are met and vehicle lane lines on both sides are detected
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OFF
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OFF
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No display
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Steering controlled to right
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OFF
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OFF
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Steering controlled to left
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OFF
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OFF
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Temporarily disabled
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OFF
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OFF
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No display
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System malfunction
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OFF
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ON
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System wiring diagram
Block diagram
Operation
• The lane-keep assist system operates when all of the following conditions are met.
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― Lane-keep assist system is on
― Driving at vehicle speed of approx. 60 km/h {37 mph} or more
― White lines (yellow lines) of either left or right vehicle lane detected
― DSC is on
• Even if the lane-keep assist system is turned on, the lane-keep assist system goes on stand-by under any of the following conditions.
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― Vehicle speed is less than approx. 55 km/h {34 mph}
― White lines (yellow lines) on both sides of vehicle lane cannot be detected
― The turn signal lever is operated
― The accelerator pedal is depressed abruptly
― The steering wheel is operated
― The brake pedal is operated
― DSC/TCS is operated
― DSC is off
• The lane-keep assist system determines that the driver is performing the following driving operations, and cancels the steering wheel operation assist.
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― Turn switch is operated
― Avoidance maneuver or lane change is performed
― Accelerator pedal is depressed a certain amount or more
― Brake pedal is depressed
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Note
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• When the operation conditions are met after driving, the lane-keep assist system automatically returns to the operational status.
• If a malfunction in the lane-keep assist system, forward sensing camera (FSC), or EPS control module occurs, the lane-keep assist system temporarily turns off.
• When the i-ACTIVSENSE off switch is operated while the lane-keep assist system is turned on, the lane-keep assist system turns off.
Steering wheel operation assist
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• When the vehicle approaches the white lines (yellow lines) of the vehicle lane, the body control module (BCM) calculates the steering angle required for the prevention of a lane departure and outputs a steering wheel operation assist request signal to the EPS control module.
• The EPS control module energizes the EPS motor to generate assist torque and supplement the insufficient steering angle for the prevention of a lane departure based on the steering wheel operation assist request signal.
• When the driver performs the prevention operation during steering wheel operation assist, the driver's operation is given priority.
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Note
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• When the forward sensing camera (FSC) can detect white lines (yellow lines) on either the left or right, the lane-keep assist system operates. However, the steering wheel operation assist cannot be performed to a side where white lines (yellow lines) cannot be detected.
