System Description

FUNCTION DESCRIPTION

The front camera unit is used to control the steering so that the vehicle drives close to the center of the lane and to assist driver steering operations. [Steering wheel assist function is not available at speeds under 70 km/h (44 MPH).]
note When the steering wheel is operated by more than a certain amount, the steering wheel is operated by the steering wheel assistance function.
During Lane Keep Assist[LKA] control, the ADAS control unit detects driver's steering operations based on the steering torque signal received from the power steering control module via CAN communication.
If the ADAS control unit 2 detects a condition that driver releases the steering wheel, a warning is indicated on the vehicle information display.
If the driver does not operate the steering wheel after the warning has been displayed, an audible alert sounds and the warning blinks in the vehicle information display, followed by a quick brake application to request the driver to take control of the vehicle again.
If the driver still does not respond, the MI-PILOT Assist turns on the hazard light and slows the vehicle to a complete stop.
The driver can cancel the deceleration at any time by steering, braking, accelerating, or operating the MI-PILOT Assist switch.

note	If the driver lightly touches (instead of firmly grips) the steering wheel, the steering torque sensor may not detect the driver’s hand(s) on the wheel and a sequence of warnings may occur. When the driver holds and operates the steering wheel again, the warnings turn OFF.

OPERATION DESCRIPTION

When MI-PILOT Assist is OFF, pressing the MI-PILOT Assist steering switch for less than 1.5 seconds displays the MI-PILOT Assist status, and the set wait condition is engaged.

ADAS control unit 2 performs the control as per the following:

Control active (straight road)	The front camera unit detects the lane markers and sends the lane marker detection signal via CAN communication to the ADAS control unit 2. Based on the lane marker detection signal, the ADAS control unit 2 supports steering by sending commands via CAN communication to the power steering control module for keeping the vehicle in the lane.
Control active (curved road)	The front camera unit detects the lane markers and sends the lane marker detection signal via CAN communication to the ADAS control unit 2. Based on the lane marker detection signal, the ADAS control unit 2 supports steering to match the curve by sending commands via CAN communication to the power steering control module for keeping the vehicle in the lane.
Control standby	When the ADAS control unit 2 receives the turn signal indicator signal via CAN communication from BCM, it temporarily cancels the steering wheel assistance function.
Control reactivation	When the lane change is completed and the ADAS control unit 2 receives the lane marker detection signal via CAN communication from the front camera unit, it reactivates the steering wheel assistance function.

OPERATION CONDITION

The Lane Keep Assist[LKA] function can be activated when the following conditions are satisfied.

MI-PILOT Assist system: ON
Lane markers on both sides are clearly detected
A vehicle ahead is detected [when the vehicle is driven at speeds under 70 km/h (44 MPH)]
The driver grips the steering wheel
The vehicle is driven at the center of the lane
The turn signals are not operated
The windshield wiper is not operated in the high speed operation (the Steering Assist function is disabled after the wiper operates for approximately 10 seconds)

CANCEL CONDITION

When unusual lane markers appear in the traveling lane or when the lane marker cannot be correctly detected for some time due to certain conditions (for example, a snow rut, the reflection of light on a rainy day, the presence of several unclear lane markers)
When the windshield wiper operates in the high speed operation (the Steering Assist is disabled when the wiper operates for more than approximately 10 seconds)