How to Troubleshoot the Lane Keeping Assist System (LKAS)
LKAS Indicator (Amber)
When the LKAS detects a problem while operating, the LKAS stops operating, and the LKAS indicator stays on.

NOTE: The LKAS communicates with the EPS motor/control unit, the gauge control module, the PCM, the VSA modulator-control unit, and the SRS unit via the F-CAN. If a connected unit malfunctions, the LKAS will not operate. In this case, both the LKAS indicator and the connected unit indicator come on and stay on (except for the gauge control module).

Multi-Information Display (MID) Indication
When the LKAS indicates OK, the LKAS indicates its operation on the MID when the MAIN switch is ON.

Self-Diagnostic Function
The LKAS has a self-diagnostic function. If the self-diagnostic function detects a malfunction, the LKAS stops operating. The LKAS indicator comes on, and the LKAS indicates "Lane Keep Assist Problem" on the MID.

Multipurpose Camera Unit
Multipurpose camera unit function sends the lane image which was received by the multipurpose camera to the multipurpose camera unit. Also, it is equipped with an error detection feature which sends error data to the multipurpose camera unit when a malfunction is detected.
The multipurpose camera unit communicates with the gauge control module to send a warning signal.
Multipurpose Camera Aiming Function
If the multipurpose camera unit is removed or replaced, do the multipurpose camera aiming procedure. If the aiming is incomplete, the LKAS indicator blinks.
CAN Communication
The multipurpose camera unit is on the F-CAN, and it communicates with other units (EPS motor/control unit, gauge control module, PCM, VSA modulator-control unit, and SRS unit) via the F-CAN.
How to Troubleshoot DTCs
Check for DTCs with the HDS. Make a copy of the freeze data, then clear the DTC.

Before troubleshooting, check and note these items:
Ask the customer about the conditions when the problem occurred, and try to reproduce the same conditions for troubleshooting.
If the symptom does not appear and the LKAS indicator does not come on while test-driving and if your troubleshooting was based on a DTC, check for poor connections or loose terminals at all connectors related to the circuit that you are troubleshooting.
After the troubleshooting or repairs are done, clear the DTCs, and test-drive the vehicle under the same conditions as when the DTC was originally set. Make sure the LKAS indicator does not come on.
The LKAS sometimes stops operating because of the environment (weather, road conditions, driving conditions, etc.). A DTC may be stored in these cases.
Intermittent Failures
The term ''intermittent failure'' means a system may have had a failure, but it checks OK now. If you cannot reproduce the condition, check for loose connections and terminals. Also check ground and power connections related to the circuit that you are troubleshooting.
How to Retrieve DTCs
NOTE: Make sure the 12 volt battery is fully charged before you begin.

1.

2.
Use the HDS to check for Integrated Driver Support System for DTCs.

3.
Read and record the DTC:
Freeze data indicates the LKAS conditions that were detected when the first system malfunction activated the indicator.
The HDS can read the DTC, the freeze data, the current data, and other system data.

4.
Turn the vehicle to the OFF (LOCK) mode.

5.
Disconnect the HDS.

6.
Do the troubleshooting procedure for the DTC.
How to Clear DTCs
NOTE: Make sure the 12 volt battery is fully charged before you begin.

1.

2.
In the DRIVING SUPPORT MENU of the HDS, select Integrated Driver Support System, then choose the clear DTCs icon, and follow the prompts.

3.
Turn the vehicle to the OFF (LOCK) mode.

4.
Disconnect the HDS.