Kia Sorento: Description
System Operation
Typically, lane departure warning is activated at a speed over 60 km,
but suppressed in case of unintentional lane departure when driver do not operate
turn signal.
System Operation Conditions
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1. |
User Conditions
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(1) |
When unintended lane departure is occured, warnings are
generated.
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(2) |
When driver operates a turn signal for lane departure,
no warnings are generated.
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(3) |
When driver operates wiper, no warnings are generated
according to operating coditions (Wiper High)
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|
2. |
Vehicle Conditions
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(1) |
When the accelerated velocity of vehicle exceeds certain
speed, LDW system is activated.
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(2) |
When a turn signal is not used. LDW system activates.
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(3) |
LDWS system is not activated when wipe motor speed is
more than 45 RPM, even if the vehicle is equipped with rain
sensor.
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3. |
Lane Conditions
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(1) |
lanes are visible and recognizable , LDWS can be on normal
operation mode.
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(2) |
Operate on all roads, including highways, country roads
and urban freeways at a speed of 60 km/h and from 2.7 to 5.0
meters of lane width.
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(3) |
Lane material: asphalt roads, concreat roads
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(4) |
Lane color: White, Yellow, Blue,
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(5) |
Temporary lane marker for repairing road
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(6) |
lanes are visible and recognizable, LDWS can be on normal
operation mode independent of season or time,
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(7) |
Operate under partially visible lane markers such as and
regardless of inclement weather, including rain and wet roads,
and time limit
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(8) |
Be performed in a curve of radius 250 meters
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Lane Departure Warning
This lane Departure Warning Algorithm is for HKMC whole vehicle that will
apply to LDWS
|
1. |
Lane departure warning start speed: 60KPH
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(1) |
Warning Start Speed: 60KPH
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|
(2) |
Warning Stop Speed: 55KPH
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To prevent repetation of system warning on and off according to
vehicle speed variation, This specification establish warning stop speed
as 55 KPH for hystheresis characteristic.
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|
2. |
Lane Recognition Standard Speed : 40KPH
|
(1) |
Lane recognition start speed : 40KPH
Lane recognition is started at 40KPH less than warning
start speed to minimize recognition time after vehicle is drived
into lane.
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(2) |
Lane recognition stop speed: 35KPH
Lane recognition stop speed is setted 35KPH with hysteresis
to avoid repetition of lane recognition on and off.
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(3) |
Cluster can not display lane recognition even if lane
detected, cluster display lane recognition when operation speed
is more than 60KPH.
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3. |
Warning Method
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(1) |
Warning Device
Cluster, Buzzer
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(2) |
Cluster Display Symbols
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Lane not detected
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Lane detected and warning system engaged
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Right side deviation
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Left side deviation
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System OFF/ System fail
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※ Display symbol and period vary according to vehicle's
LCD and alarm.
(It is possible to adjust blinking period.)
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Lane Type
LDW System can recognize a full lane, a dotted lane, Bott’s Dot and yellow
Retroreflective on a road.
In case of double lane, LDW System can recognize the lane on the inside.
This is a standard about a dotted lane.
Recognition of Double Lane
In case of double lane, LDW System can recognize the lane on the inside.
Determination of Lane Departure
Lane Departure is determined according to vehicle speed, lane width and
color.
LDW System set lane recognition error limits under 8cm.
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1. |
Lane width (L)
If Lane width is 2.7 ~ 5.2m(Including North America standard)
then departure warning is activated. Also Lane width is less than 2.8m
then departure warning is deactivated.
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2. |
Line painted width (p)
Line painted width is refered to 16cm (the minimum 10cm, the maximum
55cm). LDWS can distinguish left,right lane color. If it is technically
possible, LDWS can distinguish kind of lane such as solid and dot.
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3. |
Vehicle Width (W)
Vehicle width is defined by kind of vehicle. Vehicle width is
stored in internal memory and can be written by In-line tool using WriteDataByLocalIdentifier
command or vehicle project code
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4. |
Lane Departure Warning Standard of Left Yellow Lane (Central Lane)
| A. |
condition 1 : Gap between yellow lane and a median strip
is 25cm.
→ In case of road limit speed less than 80KPH, The distance
between central lane and lane designs 25cm
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| B. |
condition 2 : Yellow line width is 16cm as same line painted
width.
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| 1) |
Central lane Departure Warning
Central lane departure warning is activated when Vehicle’s
tire reachs to lane.
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| 2) |
Cancellation of Central lane Departure Warning
When the vechicle departs the lane toward opposite lane
more than 40% of the lane width, the warnings are deactivated.
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5. |
Left,Right normal Lane (Blue, White, Right Yellow)
Condition : Lane width standard is a 16cm.
| A. |
1st Lane Departure Warning
The departure alarm of the general lane when the wheel
of the vehicle reaches to the lane, does in standard.
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| B. |
Cancellation of lane departure warning
When the vechicle departs the lane toward opposite lane
more than 40% of the lane width, the warnings are stopped.
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6. |
The case of recognizing one of two lines (lane)
The case of recognizing one of two lane, system provide departure
warning using one line.
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Lane Departure Warning Deactivation
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1. |
Turn signal is actived
| A. |
Depart from lane after turn signal is activate
If vehicle departs from lane after turn signal is activated,
the departure warning of turn sigal direction is not activated.
If vehicle departs from opposite line of turn signal direction,
Departure warning is activated. Warning alarm is not activated
while turn signal is activated. If turn signal is deactivated
during lane departure after turn signal activates, system can
issue warning after 2sec when it can recognize lane.
If turn signal is deactivated after lane departure during
turn signal activated, Warning signal can be generated after
2 second.
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| B. |
Turn signal is activated after lane departure
Alarm is immediately deactivated when driver operates
turn signal during lane departure.
Alarm can be activated again after 2 second when turn
signal is deactivated.
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2. |
When Wiper operation signal is given, the condition of deactivation
When driver operate wiper switch, LDWS do not excute lane departure
warning.
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3. |
Tracking on a curve under 250m radius
When measured curve radius which is derived from lane recognition
and Yaw Rate is under 250m,
LDWS do not warn lane departure. LDWS can recognize if a road
curvature condition is under 250m (R >= 250m)
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4. |
Lane is unrecognizable
| A. |
During the warning, lane becomes unrecognizable
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| -
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In lane departure alarm, the case where one lane becomes
unrecognizable: Alarm is activated using previously measured
lane width, a hue and a curvataure.
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| -
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In lane departure alarm, the case where both lanes become
unrecognizable: Lane departure Warning is immediately stopped
and LDWS signal that lanes are unrecognizable to warn its condition
to driver.
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| B. |
A line is unrecognizable
During vehicle is tracking the lane, if a line is not
recognizable, LDWS can excute lane dwparture warning using previous
lane width which is measured from previous image processing.
LDWS normally refer the color of lines to previous recognition
result, but if there are any changes of system operation and
power on/off, when system can not determine the color of the
lane, system can excute lane departure warning algorithm refer
lane color to white. When system line unrecognized state is
maintained, System status is changed to line unrecognized state.
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| C. |
Both lanes are unrecognizable
LDWS signal the status of unrecognizable lane. If there
are none of additional indicator, system do not indicate recognition
status.
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LDWS is capable of recognizing continuing lines as lanes
and has limited lane recognition capabilities when it comes
to sharp-bending roads.
In addition, the system may not function properly under
the following circumstances:
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- |
No or faded lane markings (failed lane detection).
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|
- |
Low visibility due to foul weather conditions.
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- |
Low light or sudden change in exterior light conditions.
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- |
Sharp bends of the road (curvature radius of less
than 250m).
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- |
Sidewalks and other dividing structures along
the edge of the lane.
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- |
Dirty windshield (low camera visibility).
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Camera Calibration
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1. |
Necessity
Once installed to the vehicle, LDWS needs to be calibrated to
achieve accurate lane marking recognition.
Specifically, the system needs to be calibrated to correct any
difference between the ideal road coordinates and the actual road coordinates.
| A. |
When replacing the lane departure warning system unit.
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| B. |
When repairing the roof panel of chassis by vehicle crash.
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| C. |
When repairing the LDWS unit mounting bracket
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| D. |
The system need to be calibrated to corect any vehicle
crash.
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2. |
Schedule
Calibrate after LDWS replacement and as necessary.
| A. |
Condition : There
should be an error between ideal road coordinates and actual
road coordinates after installing the LDWS unit.
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| B. |
Object : Calibrate
an error in LDWS unit to improve coordinates accuracy.
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| C. |
Procedure : Operate
the calibration procedure using the GDS and calibration target
jig.
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| D. |
Environment : Vehicle
on an even surface and align the center of target jig to down
the degree of scattering.
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| E. |
Calibration process :
Refer to bellow "Calibration procedures"
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Calibration Procedures
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Check LDWS lens vision field and if the lens is dirty make it
clean.
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1. |
Install the calibration target jig (09890-3N100) on the hood.
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2. |
Install the target jig at the end of the hood (B) after aligning
the center (A) of the target jig and emblem.
Tolerance : 0.19
in (5mm)
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3. |
Adjust the top of target jig to center a drop of air (A) in circle
by bending the target board.
(To adjust the target vertically)
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4. |
Connect GDS to the vehicle to calibrate LDWS unit.
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5. |
Select model and LDWS system.
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7. |
Operate calibration automatically.
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8. |
Select "LDWS Reference Point Calibration" and complete calibration
procedures.
Coordinates allowance ranges
X : 123 ~ 143
Y : 179 ~ 199
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1. LDWS ON/OFF switch
2. Instrument cluster
3. LDWS unit
4. Camera
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Components