419-07 Lane Departure Warning	2013 - 2014 Fusion
Description and Operation	Procedure revision date: 07/9/2013

Lane Departure Warning - System Operation and Component Description

System Operation

Lane Keeping Alert and Lane Keeping Aid

Network Message Chart

Module Network Input Messages - IPMA

Broadcast Message	Originating Module	Message Purpose
Ambient air temperature	PCM	Used to control the camera windshield defrost heater operation. The IPMA may turn the heater on when the ambient temperature is below 5°C (41°F).
Hands off status	PSCM	Used to determine if a driver's hands are on the steering wheel when the lane keeping aid system is active. If a hands off condition is detected, the driver will be alerted via the message center.
HUD flash rate	CCM	Disables the lane keeping system in the event of a collision warning
Ignition key type	BCM	Prevents the lane keeping system from being disabled when a MyKey® is in use.
Ignition status	BCM	Enables and disables the IPMA based on the ignition switch position.
Lane keeping system suppression	PSCM	Disables the lane keeping system in the event of an evasive steering maneuver by the driver.
Lane keeping system switch status	SCCM	Used to communicate the lane keeping switch state to the IPMA
Personalization mode	IPC	Used to configure the personalized options for the lane keeping system (mode and intensity).
Restraint impact event status	RCM	Disables the lane keeping system when a RCM event occurs.
Turn signal status	SCCM	When the turn signal is activated, this message is used to suppress the lane keeping on the side of the vehicle corresponding the turn signal direction.
Yaw rate	RCM	Disables the lane keeping system in the event that the yaw rate of the vehicle exceeds a predetermined threshold.
Lateral and longitudinal acceleration	RCM	Disables the lane keeping system in the event that the lateral or longitudinal acceleration exceed predetermined thresholds.
Vehicle speed	PCM	The lane keeping system is only active when the vehicle speed is above 64 km/h (40 mph).

Module Network Input Messages - PSCM

Broadcast Message	Originating Module	Message Purpose
Calculated steering angle	IPMA	Provides a reference steering angle for PSCM intervention
Lane keeping alert status	IPMA	Request to provide haptic feedback (vibration) through the steering wheel to alert the driver of a lane departure.
Lane keeping aid intervention request	IPMA	Request for steering torque when a lane departure is detected and the lane keeping aid is on.
Road curvature	IPMA	Provides road curvature data detected by the camera. Used to calculate required steering torque for lane keeping aid interventions.

Module Network Input Messages - IPC

Broadcast Message	Originating Module	Message Purpose
Camera status	IPMA	Used to display camera status messages.
Hands off warning	IPMA	Used to display a hands off warning message and sounds a chime through the audio system
Lane keeping aid status	IPMA	Used to display the lane keeping system status (suppressed, available and active states).
Lane keeping aid switch status	IPMA	Turns the lane keeping aid system display on and off

For vehicles built on or before June 02, 2013, the lane keeping system defaults to off with each key cycle. For vehicles built on or after June 03, 2013, the last known on/off setting for the lane keeping system is recalled every time the key is turned on. The system is turned on by pressing the lane keeping system switch. When a MyKey® is in use, the system defaults to on in lane keeping alert mode and cannot be turned off. When the system is on, it is active only when the vehicle speed is above 64 km/h (40 mph) and at least one lane marking can be detected by the camera. The system can be turned off at any time by pressing the lane keeping system switch. When a MyKey® is in use, if the lane keeping system switch is pressed, the IPC message center will display a message informing the driver that the system is on.

The system can be temporarily suppressed at any time by the following:

Rapid braking or acceleration
Evasive steering maneuver
Using the turn signal indicator

Lane Keeping Alert

The lane keeping alert generates vibration through the steering wheel when a lane departure is detected by the IPMA . When commanded by the IPMA , the PSCM rapidly oscillates the power steering left to right, simulating the vehicle driving on a rumble strip. The intensity of the steering wheel vibration can be adjusted using the Driver Assist options in the message center. The system also provides a visual alert in the message center when a lane departure is detected.

Lane Keeping Aid

The lane keeping aid provides steering torque to help the driver keep the vehicle in the lane when a lane departure is detected. The IPMA sends the road curvature and calculated steering angle messages to the PSCM . The PSCM uses these messages to calculate and generate the intervention torque.

Hands-Off Warning

When the lane keeping aid is active, the PSCM continuously monitors the torque sensor in the EPAS system to determine if a hand is on the steering wheel and sends the data to the IPMA . If the IPMA detects that a driver's hands are off the wheel for more than a few seconds, the hands-off warning is generated.

The hands-off warning is generated in 2 levels. The first level is a message center warning only and is triggered after 3 seconds of hands-off driving is detected. The second level warning consists of a message center warning and an audio chime and is generated after 4 seconds (vehicles built on or before June 02, 2013) or 6 seconds (vehicles built on or after June 03, 2013) of hands-off driving.

NOTE: Due to certain road conditions and the driver's individual grip/touch on the steering wheel, the system may generate a hands-off warning when hand(s) are still on the steering wheel.

Camera Windshield Defrost Heater

The camera windshield defrost heater keeps the windshield in front of the IPMA clear of frost and ice. The IPMA uses input from the front camera and the ambient air temperature to turn the camera windshield defrost heater on and off. Voltage and ground is supplied to the heater by the IPMA . The heater may be commanded on if the ambient temperature is below 5°C (41°F).

System Display

When the lane keeping system is turned on, an overhead graphic of a vehicle and lane markings is displayed in the LH IPC display. If the lane keeping aid mode is selected when the system is on, a separate icon will also appear in the IPC . When the system is off, the lane marking graphics are not displayed. The overhead vehicle graphic may still be displayed if adaptive cruise control is enabled. While the system is on, the color of the lane markings change to indicate the system status.

Gray: Indicates the system is temporarily unable to provide a lane keeping aid or alert activation on the indicated side(s). This may be caused by:

The vehicle speed is under the activation limit
High sunload on the IPMA camera lens
Too close to lane markings
Lane markings are too narrow or wide
Road has no or poor lane markings in the camera field-of-view
Following vehicle in front too closely
IPMA camera blocked
Windshield dirty or damaged
Standing water on road
Environmental conditions (significant sun angles, shadows, snow, heavy rain or fog)
Turn signal is active
Vehicle is in a dynamic maneuver
Tight curves on the road

Green: Indicates the system is available or ready to provide a lane keeping aid or alert activation on the indicated side(s).

Yellow: Indicates the system is providing or has just provided a lane keeping aid activation.

Red: Indicates the system is providing or has just provided a lane keeping alert activation.

Message Center Settings

The system has 2 optional setting menus available through the Driver Assist menu in the message center. The last-known selection for each setting is stored by the IPMA and does not need to be set again after the key is cycled.

The Mode setting allows the driver to select which of the system features will be enabled and turned on when the button is pressed. The 3 options in this menu are:

Lane Keeping Alert only - provides a steering wheel vibration when an unintended lane departure is detected.
Lane Keeping Aid only - provides steering input toward the center of the lane when an unintended lane departure is detected.
Lane Keeping Alert and Lane Keeping Aid - provides both a warning and steering input towards the center of the lane.

The Intensity setting allows the driver to select the intensity of the steering wheel vibration used in lane keeping alert mode. This setting does not impact the lane keeping aid mode. The 3 options in this menu are:

Low
Normal
High

Camera Alignment

Camera alignment is required for the lane keeping alert and lane keeping aid to function correctly. The procedure is initiated using the scan tool and requires about 10 minutes of driving above 64 km/h (40 mph) to complete. If the alignment is unsuccessful, check the interior mirror for proper installation. The IPMA camera alignment procedure should be performed when any of the following occur:

Windshield replacement
Change in tire size
Suspension repair or alignment
Front air bag deployment
Interior mirror replacement

Component Description

IPMA

The IPMA is integral to the interior rear view mirror. The IPMA contains a forward-looking camera that is used to detect the position of the vehicle within the lane.

Camera Windshield Defrost Heater

The camera windshield defrost heater is a resistive-type heater grid that is adhered to the inside of the windshield directly in front of the IPMA camera.

Lane Keeping System Switch

The lane keeping system switch is a momentary contact switch located on the LH steering column multifunction switch. The lane keeping system switch inputs directly to the SCCM , which provides a switch state message to the IPMA .