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:
For LKAS function, review the Lane Keeping Assist System (LKAS) Description.
The LKAS communicates with other control units via F-CAN. For LKAS diagram, refer to the System Diagram for LKAS. If a connected unit malfunctions, the LKAS will not operate. In this case, both LKAS indicator and connected unit indicator come on and stay on (except for the gauge control module).
Multi-Information Display (MID) Indication
When the LKAS is 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 Keeping Assist Problem" on the MID.

Millimeter Wave Radar
The millimeter wave radar measures the distance between your vehicle and the vehicle directly ahead to calculate the difference in speed between the vehicles.

The millimeter wave radar has a self-diagnostic function. If the system detects a problem, it disables the LKAS, and turns on the LKAS indicator.
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.

The multipurpose camera unit also has an error detection function which sends a signal to the millimeter wave radar if an error is detected. The millimeter wave radar receives this information from the multipurpose camera unit.
Dirt or dust detective function (CLEAN FRONT WINDSHIELD Indication)
If the following message appears on the MID, the camera lens or the windshield has enough dirt so that the camera view is obstructed, the LKAS stops operating.

Clean any dirt or contamination on the camera lens or the windshield. Once the camera's view is unobstructed, the indicator on the MID turns off and the LKAS automatically turns back to ON.

NOTE: When millimeter wave radar detected dirt or dust on the multipurpose camera lens or the windshield surface, DTC B2A60-97 is stored as a past failure.

System Protect Function (High temperature) (MULTIPURPOSE CAMERA HOT Indication)
If the following message appears on the MID, the LKAS stops operating, and stores a DTC.

When the multipurpose camera temperature cools down to its proper operating temperature, the indicator on the MID turns off, and the LKAS automatically resumes operation.

Multipurpose Camera Aiming Function
If the multipurpose camera unit is removed or replaced, you must do the multipurpose camera aiming procedure. If the aiming is incomplete, the LKAS indicator blinks.
CAN Communication
The LKAS communicates with other control units via F-CAN. For LKAS diagram, refer to the System Diagram for LKAS.

If the millimeter wave radar and the multipurpose camera unit detects a communication error or a malfunction in another connected unit, the LKAS system will not operate even though it is OK. In this case, both the LKAS indicator and the related unit indicator will come on and stay on.
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 intermittent failure DTCs. If intermittent failure DTCs are not stored, check for loose connections and terminals. Also check ground and power connections related to the circuit that you are troubleshooting.
How to Troubleshoot DTCs
Check the DTCs with the HDS.

NOTE: For LKAS DTCs, refer to the DTC troubleshooting index.

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 code may be stored in these cases.
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 DTCs.

3.
Read and record the DTC.

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 of the HDS, select Integrated Driver Support System, then DTCs, choose the clear DTCs icon, and follow the prompts.

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

4.
Disconnect the HDS.