LANESENSE System: Operation

The purpose of the LaneSense system is to provide a warning alert to the driver in case of an unintended lane departure (for example, the driver did not use turn signals beforehand to confirm a planned lane change).
The LaneSense system will retain the last system state (enabled or disabled) and the last lane warning sensitivity selected in the radio from the last ignition cycle when the ignition is changed to the ON/RUN position.
The system can be overridden by the driver using a variety of methods, including turn signals, driver steering torque, steering torque rate, acceleration and deceleration rate, and others
The system will automatically disable when a safety system engages. (Antilock Brake System (ABS), Electronic Stability Control (ESC), Forward Collision Warning (FCW), and others)
The driver can configure the torque feedback amount and warning zone start point through personalization settings in an audio screen. Three settings for each are provided
The main component of the LaneSense system is the FFC module. The camera mounts near the rear view mirror and communicates on the Controller Area Network - Chassis (CAN-C) bus. The camera also has a dedicated private can bus that connects directly to the Generation 5 Radar and that is used for FCW and Adaptive Cruise Control systems. The camera has the ability to detect alignment faults and is adjusted similar to the smart beam camera.
Another important factor in system operation is road condition. The FFC has the ability to detect the contrast of the surface of the pavement and the white or yellow lines. Roads that are not marked or that have extremely worn markings may not be detected by the camera which will disable the system. While monitoring the IPC display for driver assist systems, a customer can tell if the system is enabled by the solid lines on the display. This is also important for diagnosing an intermittent or inoperative concern.

OPERATING CONDITIONS

- The LaneSense system will be enabled and ready to provide feedback when the following conditions are met:

The vehicle ignition is in the RUN position state and driver has enabled the system and reverse gear is NOT engaged.
Supply voltage: within normal operating voltage range.
No LaneSense system faults are present
The system operates when enabled above 60 km/h (37 mph) and below 160 km/h (100 mph).
The radius of curvature is within an allowable range.
The vehicle's lateral acceleration is within an allowable range.
Roads with positive or negative inclination transition (change in road grade) of up to 5%

OPERATING CONDITIONS - VISUAL ALERTS

- The LaneSense system will be provide a visual alert when the following additional conditions have been met:

A single (left or right) lane boundary is detected.
The lateral velocity of the vehicle is within an allowable range.

OPERATING CONDITIONS - HAPTIC FEEDBACK WARNINGS

- The LaneSense system will provide haptic feedback warning only when the following additional conditions have been met:

Both left and right lane boundaries are detected.
Minimum and maximum lane width is within an allowable range.
No intervention of the safety systems ABS, ESP and Driver Assist Systems (DAS) Safety Requests (for example, Automatic Brake Assist (ABA), ACC overtake request, FCW, and others). After the intervention of a safety system has ended, the LaneSense system can only provide haptic feedback warnings again after a calibrated period has been allowed to elapse.

OPERATION - IMAGE ACQUISITION

In the daytime, the camera shall be able to detect lane markings where lighting and environmental conditions provide good visibility in excess of 30 meters.
At night, the camera shall be able to detect lane markings with lighting conditions provided by standard, production low beam headlamps, with or without additional sources of road illumination, and where environmental conditions provide good visibility in excess of 30 meters (98 feet).
The camera is capable of compensating for sudden changes in lighting conditions such as during tunnel entry/exit.
The LaneSense system will not have degraded performance from changes of the camera pitch angle due to vehicle dynamics (for example, during hard braking or acceleration) or under maximum rated vehicle loading conditions, for example, Gross Vehicle Weight Rating (GVWR).

OPERATION - FFC

- The camera is able to detect lane marking of any color (especially yellow or white which are common colors for lane markings). The camera will detect and quantify the following information regarding the lane boundaries:

The lateral distance from the center of the camera to the left lane boundary.
The lateral distance from the center of the camera to the right lane boundary.
The heading angle of the vehicle with respect to the center axis of the lane.
A measurement of the radius of curvature of the road ahead of the vehicle.
The type of lane boundary (double line, solid line, dashed line, road edge).

The camera is capable of self-monitoring the diagnosis to determine if it is operating properly. The camera will detect if the camera lens is obstructed and the windshield needs to be cleaned. During this condition, the indication will be provided to clean the windshield.

The system also monitors the torque sensor inside the EPS to verify the driver's hands remain on the wheel. If no driver's steering input is received, the system will deactivate until all enabling conditions are met. These Include:

Drivers steering input.
The FFC can clearly detect the lines in the road.
There are no Diagnostic Trouble Codes (DTC) present in the steering or LaneSense system.
The system operates when enabled above 60 km/h (37 mph) and below 160 km/h (100 mph).

COMPONENT RESPONSIBILITY - BCM

Acquisition on the CAN-C bus of the LaneSense system enabled/disabled status from the Forward Facing Camera (FFC) to control the ICS LED indication.
Acquisition on the CAN-C bus of the chime request from the FFC to inform the driver to place their hands on the steering wheel.
Acquisition on the CAN-C bus of the current LaneSense system sensitivity setting from the FFC.
Acquisition on the CAN-C bus of the current LaneSense system torque intensity setting from the FFC.
Acquisition on the Local Interface Network (LIN) bus of the LaneSense system enable/disable switch (pressed/not pressed) status from the ICS.
Gates the ICS ON/OFF signal command on LIN to a signal on CAN-C.
Gates the current ICS status signal on CAN-C to the BCM concerning an ICS control signal on the LIN bus.
Transmission on the CAN bus of the chime request to the Radio to inform the driver to place their hands on the steering wheel (audible alert).
Transmission on the CAN bus of the LaneSense system current sensitivity setting to the radio.
Transmission on the CAN bus of the LaneSense system current torque intensity setting to the radio.
Transmission on the CAN-C bus of the (left/right) turn signal lamp status to the FFC.
Transmission on the CAN-C bus of the wiper status (parked/not parked) to the FFC.
Transmission on the CAN-C bus of the reverse gear status to the FFC.
Transmission on the CAN-C bus of the vehicle configuration settings to the FFC.
Transmission on the CAN-C bus of the net configuration module options to the FFC.
Transmission on the CAN-C bus of the ignition status to the FFC.
Transmission on the CAN-C bus of the LaneSense system enable/disable request to the FFC (gated from LIN).
Transmission on the CAN-C bus of the LaneSense system sensitivity setting request (gated from CAN) to the FFC.
Transmission on the CAN-C bus of the LaneSense system torque intensity setting request (gated from CAN) to the FFC.
Transmission on the LIN bus of the LaneSense system enable/disable switch indicator control status to the ICS (gated from CAN-C).

COMPONENT RESPONSIBILITY - EPS

Apply directional torque to the steering wheel as requested by the FFC module during an unintentional lane departure.
Manage the Torque Overlay Interface (TOI).
Acquisition on the CAN-C bus of the torque overlay interface activation request from the FFC.
Acquisition on the CAN-C bus of the FFC system status from the FFC.
Acquisition on the CAN-C bus of the FFC drive style status from the FFC.
Transmission on the CAN-C bus of the FFC TOI activation status to the FFC.
Transmission on the CAN-C bus of the FFC TOI fault status to the FFC.
Transmission on the CAN-C bus of the EPS temporary deactivation status to the FFC.
Transmission on the CAN-C bus of the steering column torque to the FFC.
Transmission on the CAN-C bus of the steering column torque validity to the FFC.
Transmission on the CAN-C bus of the EPS motor torque to the FFC.
Transmission on the CAN-C bus of the EPS motor torque validity to the FFC.

COMPONENT RESPONSIBILITY - FFC

Monitor the road scenario.
Process the video image.
Quantify the geometry of the lane boundaries in front of the vehicle.
Calculate the torque request to control the vehicle response based on lane position of vehicle.
Evaluate the "Hands Off" condition. When the driver's hands are not detected on the steering wheel, the system provides an audible warning consisting of left front and right front chimes to inform the driver to place their hands on the steering wheel.
Acquisition on the CAN-C bus of the EPS motor torque from the EPS.
Acquisition on the CAN-C bus of the FFC TOI activation status from the EPS.
Acquisition on the CAN-C bus of the FFC TOI fault status from the EPS.
Acquisition on the CAN-C bus of the effective torque applied on the steering wheel from the EPS.
Acquisition on the CAN-C bus of the brake pedal status from the BCM.
Acquisition on the CAN-C bus of the (left/right) turn signal request status from the SCCM.
Acquisition on the CAN-C bus of the (left/right) turn signal lamp status from the BCM.
Acquisition on the CAN-C bus of the wiper status (parked/not parked) from the BCM.
Acquisition on the CAN-C bus of the LaneSense system enable/disable request from the BCM.
Acquisition on the CAN-C bus of the customer-selected LaneSense system sensitivity setting from the BCM.
Acquisition on the CAN-C bus of the customer-selected LaneSense system torque intensity setting from the BCM.
Acquisition on the CAN-C bus of the ABS status from the BCM.
Acquisition on the CAN-C bus of the ESC status from the BCM.
Acquisition on the CAN-C bus of the DAS request active status from the BCM.
Acquisition on the CAN-C bus of the vehicle speed from the BCM.
Acquisition on the CAN-C bus of the yaw rate offset from the BCM.
Acquisition on the CAN-C bus of the lateral acceleration offset from the BCM.
Acquisition on the CAN-C bus of the longitudinal acceleration offset from the BCM.
Acquisition on the CAN-C bus of the ACC takeover request from the Radar.
Acquisition on the CAN-C bus of the FFC system status from the Radar.
Acquisition on the CAN-C bus of the engine start/stop status from the ECM.
Acquisition on the CAN-C bus of the accelerator pedal position from the ECM.
Acquisition on the CAN-C bus of the reverse gear status from the ECM.
Acquisition on the CAN-C bus of the steering angle from the EPS.
Acquisition on the CAN-C bus of the steering angle rate from the EPS.
Acquisition on the CAN-C bus of the TOI activation status from the EPS.
Acquisition on the CAN-C bus of the EPS temporary deactivation status from the EPS.
Acquisition on the CAN-C bus of the yaw rate from the ORC.
Acquisition on the CAN-C bus of the lateral acceleration from the ORC.
Acquisition on the CAN-C bus of the longitudinal acceleration from the ORC.
Transmission on the CAN-C bus of the torque request to the EPS.
Transmission on the CAN-C bus of the LaneSense system enabled/disabled status to the BCM.
Transmission on the CAN-C bus of the chime request to the BCM (gateway) to inform the driver to place their hands on the steering wheel.
Transmission on the CAN-C bus of the current LaneSense system sensitivity and torque intensity settings to the BCM and IPC.
Transmission on the CAN-C bus of the LaneSense lane boundary detection status to the IPC.
Transmission on the CAN-C bus of the LaneSense warning status to the IPC.
Transmission on the CAN-C bus of the LaneSense ISO telltale status to the IPC.
Transmission on the CAN-C bus of the LaneSense display indicator status to the IPC.
Transmission on the CAN-C bus of the LaneSense fault status to the IPC.

COMPONENT RESPONSIBILITY - ESC MODULE

Transmission on the CAN-C bus of the ABS status to the FFC
Transmission on the CAN-C bus of the brake pedal status to the FFC
Transmission on the CAN-C bus of the brake booster vacuum level to the FFC
Transmission on the CAN-C bus of the DAS request active status to the FFC
Transmission on the CAN-C bus of the vehicle speed to the FFC
Transmission on the CAN-C bus of the lateral acceleration to the FFC
Transmission on the CAN-C bus of the longitudinal acceleration to the FFC
Transmission on the CAN-C bus of the yaw rate to the FFC
Transmission on the CAN-C bus of the lateral acceleration offset to the FFC
Transmission on the CAN-C bus of the longitudinal acceleration offset to the FFC
Transmission on the CAN-C bus of the yaw rate offset to the FFC

COMPONENT RESPONSIBILITY - IPC

Display LaneSense system state, lane boundary detection, warning and fault status.
Acquisition on the CAN-C bus of the LaneSense lane boundary detection status from the FFC.
Acquisition on the CAN-C bus of the LaneSense warning status from the FFC.
Acquisition on the CAN-C bus of the LaneSense fault status from the FFC.
Acquisition on the CAN-C bus of the LaneSense ISO telltale status from the FFC.
Acquisition on the CAN-C bus of the LaneSense display indicator status from the FFC.
Acquisition on the CAN-C bus of the current LaneSense system sensitivity setting from the FFC.
Acquisition on the CAN-C bus of the current LaneSense system torque intensity setting from the FFC.
Acquisition on the CAN-C bus of the vehicle configuration setting, i.e. LaneSense present, from the BCM.

COMPONENT RESPONSIBILITY - ICS

Display LaneSense system defeat switch state (LED illuminated = LaneSense System OFF, i.e. "defeated").
Transmission on the CAN-C bus of the LaneSense system enable/disable switch (pressed/not pressed) status to the BCM.
Acquisition on the CAN bus of the LaneSense system enable/disable switch indicator control status from the BCM.

COMPONENT RESPONSIBILITY - ORC

Acquisition on the CAN-C bus of the torque request from the FFC.
Acquisition on the CAN-C bus of the TOI activation request from the FFC.
Acquisition on the CAN-C bus of the LaneSense warning status from the FFC.
Acquisition on the CAN-C bus of the LaneSense system enabled/disabled status from the FFC.
Acquisition on the CAN-C bus of the FFC TOI activation status from the EPS.
Acquisition on the CAN-C bus of the EPS motor torque from the EPS.
Acquisition on the CAN-C bus of the EPS motor torque validity from the EPS.

COMPONENT RESPONSIBILITY - SCCM

Transmission on the CAN-C bus of the (left/right) turn signal lamp status to the FFC
Transmission on the CAN-C bus of the steering angle and steering angle rate to the FFC