Road Departure Mitigation System Description - Overview

The Road Departure Mitigation (RDM) System uses image information from the multipurpose camera to recognize the lane markings on the road. The multipurpose camera unit monitors the lane markings and detects risks of the vehicle moving out of its lane. When the unit determines that the vehicle begins to move out of its lane, the unit warns the driver by vibrating the steering wheel, showing a road-departure warning image on the multi information display (MID) and also provides a steering control to assist steering the vehicle back in its lane to prevent the vehicle from moving out of its lane. When the multipurpose camera unit determines that a steering control is not sufficient to prevent the vehicle moving out if its lane and the approaching lane marking on the road is indicated as a solid line, the unit also provides a brake control to assist decelerating the vehicle. When the vehicle goes out of a lane or the multipurpose camera unit determines that the vehicle begins to move out of its lanes for the third time after moving out of its lane twice in a row without the driver's steering action, the unit warns the driver with only an MID warning image and a buzzer sound without providing steering control.

Operation Conditions

If the vehicle is equipped with RDM, it also incorporates LDW functions. There are no separate LDW components.

RDM

System Operation Conditions	The Road Departure Mitigation (RDM) System works as long as an approaching lane marking is recognizable (lane markings may not be recognizable under some conditions such as bad weather, backlit, and on snowy roads).
	Operation vehicle speed	45 - 90 mph (72 - 145 km/h)
	Object lane line types	Broken lines on the road	The road-departure warning image on the multi information display (MID) and steering wheel assist control.
		Solid lines on the road	The road-departure warning image on the multi information display (MID), steering wheel assist control and brake control to assist decelerating the vehicle.
	Driver operation	The vehicle will not react if the system receives inputs to indicate that the driver is intentionally departed the road by movements of the steering wheel, accelerator pedal, brake pedal, turn signal switch, etc.
System setting	Changeover of RDM control timing can be selected.	Operation timing: Normal	Operation on the inside of lane lines
		Operation timing: Later	Operation on the outside of lane lines
		WARNING ONLY	Only warning, no steering wheel assist control

LDW

System Operation Conditions	Operation under conditions where lane line recognition is possible on one side (Lane line recognition may not be possible in bad weather, on snow-covered roads, or with backlight).
	Operation vehicle speed	45 - 90 mph (72 - 145 km/h)
	Object lane line types	Broken lines, markers (Botts' dots* etc.), solid lines, or yellow lines on the road.
	Driver operation	The vehicle will not react if the system receives inputs to indicate that the driver is intentionally departing the road by movements of the steering wheel, accelerator pedal, brake pedal, turn signal switch, etc.

*: Botts' dots apply only for the USA market.