Lane Keeping Aid
WARNING: This page is about a different car, the 2013 Ford Explorer. However, it is still accessible from the selected car via links, so may be relevant.
Lane Departure Assist (LDA) provides a steering input toward the center of the lane when an unintended lane departure is detected. The Image Processing Module - A (IPM-A) provides the road curvature and calculated steering angle inputs to the PSCM . The PSCM then commands EPAS towards the center of the lane.