Active Lane Keeping Assist, Function - GF54.71-P-0004GN

MODEL 166 as of model year 2016 

with CODE 238 (Active lane keeping Assist) 

MODEL 292 

with CODE 238 (Active lane keeping Assist) 

Block diagram, except model 166.063 

Block diagram, model 166.063 

Function requirements, general 

• Engine running or drive train operational
• Soiling and function test on radar sensor system completed successfully

Object recording (e.g. vehicle ahead) via the radar sensor system is based on the radar measuring procedure.

The front long range radar sensor and the bumper radar sensors perform a soiling and function test after each engine start to ensure that they are functioning correctly. The function test requires an object to be located in the respective detection area (this object is used as a reference value). If a malfunction is detected or no objects (for the function test) are present in the detection range, BAS PLUS cannot be activated. The radar sensors control unit (with CODE 23P (Driving assistance package plus)) receives the signals from the front bumper radar sensors via radar CAN 1 and sends them via chassis FlexRay to the front long range radar sensor. The front long range radar sensor evaluates them in combination with its own signals and, when all the radar sensors are functioning correctly, sends the "Radar sensor system operational" status via the chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)).

The CDI control unit or the ME-SFI [ME] control unit sends the "Engine running" or "Drivetrain operational" signal via:

(Except model 166.063) Chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

(Model 166.063) Engine CAN, powertrain control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Shown on model 292 

Active Lane Keeping Assist, general 

The Active Lane Keeping Assist detects when the vehicle crosses lane markings and issues a haptic warning to the driver in certain situations by means of vibrations at the steering wheel.

Crossing the lane markings is optically recorded and processed further by the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

The haptic warning is generated by the steering wheel vibration motor.

Active Lane Keeping Assist takes the driver's behavior into consideration and decides the point at which a warning is to be issued. If the driver fails to react to this warning, the radar sensors control unit (with CODE 23P (Driving assistance package plus)) initiates specific interventions by the brake system to return the vehicle to the traffic lane. An option is available here to the driver to configure the sensitivity of the Lane Keeping Assist in the instrument cluster's "Assistance" menu.

The following operating modes are available for selection:

• Standard (Sensitivity increased, warnings issued earlier and more frequently)
• Adaptive (reduced sensitivity, warnings issued later and less often)

The instrument cluster sends the operating mode selected via the chassis CAN 2, electronic ignition lock control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Active Lane Keeping Assist operation is speed-dependent. The vehicle speed is calculated from the wheel speed. The Electronic Stability Program control unit sends this information via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)). The Electronic Stability Program control unit also sends the wheel speed via the chassis CAN 1, electronic ignition lock control unit, and chassis CAN 2 to the instrument cluster. The instrument cluster calculates the vehicle speed to be displayed and sends it via the chassis CAN 2, electronic ignition lock control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)). The radar sensors control unit (with CODE 23P (Driving assistance package plus)) calculates the vehicle speed itself.

If the driver indicates that he/she is "active" before or during the intervention by the brake system, the intervention by the brake system is suppressed or canceled.

During active control of the Electronic Stability Program (ESP®), anti-lock braking system (ABS), acceleration skid control (ASR), Brake Assist PLUS or BRAKE ASSIST PLUS CROSS-TRAFFIC or during brake interventions by PRE-SAFE® or by the Active Blind Spot Assist, brake intervention by the Active Lane Keeping Assist is suppressed or canceled immediately.

Warnings are issued as soon as the vehicle is in the direct vicinity of a broken or solid line or crosses over it.

Interventions by the brake system only occur when the vehicle crosses a continuous line (lane delimitation) at an angle of ∠ < 3°, when the lane is delimited by two lane markings or, in the case of a broken line, when there is a vehicle in the oncoming lane or on a lane running in parallel in a collision-critical area.

The Active Lane Keeping Assist comprises the following subfunctions:

• Function sequence for lane recognition 
• Function sequence for recognition of oncoming traffic/parallel traffic 
• Function sequence for recognition of driver activity 
• Function sequence for recognition of control interventions 
• Function sequence for issuing warning 
• Function sequence for active intervention by the brake system 

Function sequence for Active Lane Keeping Assist ON and OFF Additional function requirements for lane recognition 

• Detectable lane marking present on both sides (no construction site markings (ambiguous markings), no snow, not covered etc., i.e. not enough contrast)
• Forward travel recognized and gear range "D" selected
• Two lane dividers present

The direction of travel is defined using the wheel rotation direction. The Electronic Stability Program control unit sends corresponding information via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

The fully integrated transmission control unit sends information about the gear range engaged via:

(Except model 166.063) Drive train CAN, CDI control unit or ME-SFI [ME] control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

(Model 166.063) Drive train CAN, powertrain control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Function sequence for lane recognition 

The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) is mounted at the top center of the windshield and records the traffic area in front of the vehicle. The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) documents pictures of the lane at a fixed scanning rate and makes these available to the integrated control unit.

The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) also sends prepared lane data via the chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)).

Schematic display of lane recognition by the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) 

The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) calculates the lane based on two different lane algorithms that are implemented in the stereo multifunction camera (with CODE 23P (Driving assistance package plus)). If a comparison of the two lane algorithms results in a match, the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) uses it to generate a safe lane.

Based on this data, the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) determines the relative position of the vehicle in the lane. The Active Lane Keeping Assist measures are all derived from this position. No lane information can be issued in cases where there are no lane markings or if they are not visible (e.g. owing to dirt or snow), where there is a low contrast between the road surface and the lane markings or where there is a high level of glare.

For multiple markings on the traffic lane, the inner marking is always taken as the reference point. If there are several markings present (e.g. in construction site zones), the Active Lane Keeping Assist may not be ready to issue a warning. If tar joints in the road surface are interpreted as lane markings, a warning is suppressed.

Function sequence for recognition of oncoming traffic/parallel traffic 

Vehicles in the oncoming lane or the lane running parallel are recognized by the long range and/or short range sensor system. The radar sensors control unit (with CODE 23P (Driving assistance package plus)) receives the signals from the corresponding radar sensors, checks their plausibility, and evaluates them taking the data from the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) into account.

The radar sensors control unit (with CODE 23P (Driving assistance package plus)) reads in the signals of the front long range radar sensor via the chassis FlexRay. The signals of the front bumper radar sensors are read in by the radar sensors control unit (with CODE 23P (Driving assistance package plus)) via the radar CAN 1. The signals of the rear bumper radar sensors are read in by the radar sensors control unit (with CODE 23P (Driving assistance package plus)) via the radar CAN 2.

The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) determines values for the width and course of the lane and sends them via the chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)).

Based on values such as the speed of the two vehicles, the respective relative position in the lane and the course of the lane, the radar sensors control unit (with CODE 23P (Driving assistance package plus)) determines whether a course-correcting wheel-specific brake intervention is required.

The following situations can lead to a course-correcting brake intervention when changing to the parallel lane/oncoming lane:

• Approaching vehicle in the oncoming lane
• Slower vehicle to be passed in the parallel lane
• Passing vehicle in the parallel lane
• Vehicle in the parallel lane (at approximately the same level)

Further information on intervention by the brake system can be found in "Function sequence for active brake intervention".

The following representations illustrate the situations described above:

Approaching vehicle in the oncoming lane, shown on model 292 

Vehicles in the oncoming lane are detected by the following radar sensors depending on the distance and angle to the vehicle with Active Lane Keeping Assist:

• Front long-range radar sensor
• Left front bumper radar sensor

Slow vehicle to be passed in the parallel lane, shown on model 292 

Vehicles in the right or left parallel lane in the area ahead are detected by the following radar sensors depending on which lane and on the distance and angle to the vehicle with Active Lane Keeping Assist:

• Front long-range radar sensor
• Right front bumper radar sensor or left front bumper radar sensor

Passing vehicle in the parallel lane, shown on model 292 

Vehicles approaching from behind with a high relative speed compared to the vehicle with Active Lane Keeping Assist are detected by the following radar sensors depending on which lane and on the distance and angle to the vehicle with Active Lane Keeping Assist:

• Center rear bumper radar sensor
• Left rear bumper radar sensor or right rear bumper radar sensor

Vehicle in the parallel lane is at approximately the same level as the vehicle with Active Lane Keeping Assist, shown on model 292 

Vehicles in the right or left parallel lane level with the vehicle with Active Lane Keeping Assist are detected by the following radar sensors depending on which lane and on the distance and angle to the vehicle with Active Lane Keeping Assist:

• Right front bumper radar sensor
• Left front bumper radar sensor
• Left rear bumper radar sensor or right rear bumper radar sensor

The following situations can lead to a cancellation of the course-correcting brake intervention:

• Vehicle detected with short distance in the rear area in own lane (tailgating scenario)
• Obstacle detected in own lane (e.g. bicycle)
• Driving obstacle detected behind the lane delimitation (hard shoulder) with narrow lane

Function sequence for recognition of driver activity 

The following situations suggest driver activity and result in suppression of any pending warning or brake intervention:

• Clearly active steering, braking or accelerating
• Turn signals
• Cutting a tight corner
• Sporty driving at high cornering speeds or with high acceleration

Steering:

Steering movements are recorded by the steering wheel angle sensor.

The steering column tube module control unit directly reads in the signals from the steering wheel angle sensor and sends information about the steering wheel angle and the steering wheel velocity via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Brakes:

The Electronic Stability Program control unit sends the status of the brake pedal via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Acceleration:

• (Except model 166.063) The CDI control unit or ME-SFI [ME] control unit sends information about the accelerator pedal position via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).
• (Model 166.063) The ME-SFI [ME] control unit sends information about the accelerator pedal position via the engine CAN, powertrain control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Turn signaling:

The steering column tube module control unit directly reads in the position of the combination switch and sends it via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Turn rate, lateral acceleration and longitudinal acceleration:

The acceleration/yaw rate is detected by the yaw rate sensor for lateral and longitudinal acceleration. The yaw rate sensor for lateral and longitudinal acceleration transmits appropriate values via the dynamics CAN to the Electronic Stability Program control unit. The Electronic Stability Program control unit evaluates the data and sends it via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the radar sensors control unit (with CODE 23P (Driving assistance package plus)) and stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

If the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) and the radar sensors control unit (with CODE 23P (Driving assistance package plus)) detect active corner cutting by the driver, crossing over the lane markings at an angle of ∠ > 3°, or a lateral acceleration of a > 4 m/s² , a pending warning or brake intervention is also suppressed here.

Function sequence for recognition of control interventions 

Controls located in close proximity of the driver and that affect the attention of the driver when they are operated are monitored. If a control intervention is registered, the Active Lane Keeping Assist deems the driver to be "distracted". Control interventions are evaluated by the stereo multifunction camera (with CODE 23P (Driving assistance package plus)). The warning threshold is adjusted to match the actuation frequency of the controls, i.e. the Active Lane Keeping Assist warns earlier and possibly more often. An active warning is output as soon as the vehicle is in the direct proximity of or crosses over the lane marking.

The following controls are monitored:

• Audio system controls
• Comfort function controls:
  • Cruise control lever
  • Steering column adjustment switch (with CODE 275 (Memory package))
  • Left multifunction steering wheel button group or right multifunction steering wheel button group
  • Driver-side power window and outside mirror adjustment switch group (only the outside mirror adjustment is monitored)
• Interior illumination controls:
  • Interior lamp automatic function switch
  • Left front reading lamp switch
  • Right front reading lamp switch

Control interventions on audio system:

The audio system is operated via the Audio/COMAND control panel or via the touchpad (with CODE 531 (COMAND APS)). The control interventions at the Audio/COMAND control panel are received via the telematics CAN from the radio (with CODE 505 (Radio 20 NTG5 non-navigation-capable), with CODE 522 (Audio 20 radio)), the control interventions at the touchpad (with CODE 531 (COMAND APS)) are received from the COMAND controller unit (with CODE 531 (COMAND APS)). The radio (with CODE 505 (Radio 20 NTG5 non-navigation-capable), with CODE 522 (Audio 20 radio)) or the COMAND controller unit (with CODE 531 (COMAND APS)) sends information about control interventions at the audio system via the interior CAN, electronic ignition lock control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Control interventions on comfort functions:

The steering column tube module control unit sends information about control interventions at the CRUISE CONTROL lever, steering column adjustment switch (with CODE 275 (Memory package)), and multifunction steering wheel button groups via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

The steering wheel electronics reads in the control signals on the multifunction steering wheel button groups directly and transmit them to the steering column tube module control unit over the steering LIN.

The left front door control unit reads in the control signals of the driver-side power window and outside mirror adjustment switch group via the left front door LIN and sends these via the interior CAN, electronic ignition lock control unit and chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Interior illumination control interventions:

The overhead control panel control unit directly reads in the control signals of the interior lamp automatic function switch and the front reading lamp switch and sends them via the roof LIN to the SAM control unit. The SAM control unit sends these signals via the interior CAN, electronic ignition lock control unit and chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)).

Additional function requirements for warning output 

• Lane recognition via stereo multifunction camera (with CODE 23P (Driving assistance package plus))
• Vehicle speed v = 60 to 200 km/h
• Radius of curve = r > 150 m
• Exiting of the lane detected (recorded by the stereo multifunction camera (with CODE 23P (Driving assistance package plus)))
• Oncoming traffic, overtaking vehicles or parallel traffic detected in critical area by the radar sensor system when the vehicle crosses a broken line

Function sequence for issuing warning 

The warning is issued haptically by the steering wheel vibration motor, which is integrated in the multifunction steering wheel. The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) sends the request to actuate the steering wheel vibration motor via the chassis FlexRay, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis CAN 1 to the steering column tube module control unit. The steering column tube module control unit sends this request over the steering LIN to the steering wheel electronics, which then actuates the steering wheel vibration motor.

The steering wheel vibration motor is actuated for a duration of t = 1.5 s.

The intensity of the haptic warning is adapted to the vehicle speed in order to allow for the perceivable effects of the suspension at high speeds.

The warning is suppressed when the triggering conditions are no longer given or when driver activity is detected (braking, accelerating, steering or turn signaling).

In "Standard" mode, a haptic warning is suppressed under the following prerequisites:

• Turn signaling recognized (the warnings are suppressed for a certain period of time)
• Intervention by a driving safety system detected (e.g. by ESP®, PRE-SAFE® brake or Active Blind Spot Assist)

In "Adaptive" mode, a haptic warning is suppressed under the following prerequisites:

• Turn signaling recognized (the warnings are suppressed for a certain time period)
• Intervention by a driving safety system detected (e.g. by ESP®, PRE-SAFE® brake or Active Blind Spot Assist)
• Heavy acceleration (e.g. kickdown)
• Strong braking
• Rapid steering movement (e.g. during an evasive maneuver or during a rapid lane change)
• Corner cutting recognized

Following suppression (driver activity, triggering condition not given), a new warning can be issued in "Standard" mode only after approx. t = 3 s, in "Adaptive" mode only after approx. t = 5 s and following turn signaling only after t = 10 s.

By means of lane recognition and the current vehicle position, the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) recognizes a road with bends and concludes "corner cutting". Warnings about corner cutting are not issued until a defined lateral acceleration is reached.

The corresponding information for suppression of the warning is received by the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) via the chassis FlexRay. If "corner cutting" is detected, the warning is delayed until a defined threshold (lateral acceleration depending on ground speed) is reached. Afterwards, a warning is output.

Additional function requirements for active intervention by the brake system 

• Active warning by the stereo multifunction camera (with CODE 23P (Driving assistance package plus))
• No driver activities recognized following a warning
• The lane delimitation crossed is a continuous line
• The lane delimination crossed is a broken line and oncoming traffic/parallel traffic is recognized by the radar sensor system or the stereo multifunction camera (with CODE 23P (Driving assistance package plus))
• Lane width s = 2.6 to 4.4 m (vehicle speed v = 60 to 200 km/h) (exceptions are lane widths of s > 3.9 m where a speed of v < 100 km/h is permitted)
• Radius of curve = r > 500 m (inner radius), r > 150 m (outer radius)
• No stationary objects detected by radar sensor system on the vehicle side opposite the intervention (e.g. warning beacons in construction sites)
• ESP® not switched passively
• ESP® not in active diagnostic or dynamometer test mode
• No autonomous brake interventions recognized (e.g. by ESP®, PRE-SAFE® brake or Active Blind Spot Assist)
• Tire pressure of all wheels within the tolerance range (run-flat mode not active) (with CODE 475 (Tire pressure monitor) or CODE 477 (Tire pressure loss warning))
• No driving with a trailer recognized (with CODE 550 (Trailer hitch) (except model 166.063))
• Approval issued for active intervention by the brake system for yawing moment interface

The yawing moment interface is integrated in the Electronic Stability Program control unit and it issues the approval for a course-correcting braking torque.

The Electronic Stability Program control unit sends the status of the ESP® via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) and to the radar sensors control unit (with CODE 23P (Driving assistance package plus)).

On vehicles with CODE 475 (Tire pressure monitor), the tire pressure monitor control unit (with CODE 475 (Tire pressure monitor)) sends information about the respective tire pressure via the chassis CAN 2, electronic ignition lock control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) and radar sensors control unit (with CODE 23P (Driving assistance package plus)). On vehicles with CODE 477 (Tire pressure loss warning), the tire pressure is determined based on the rolling circumference. The tire pressure loss warning (RDW) system is functionally integrated in the Electronic Stability Program control unit. The Electronic Stability Program control unit sends information about the tire pressure via the chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) and radar sensors control unit (with CODE 23P (Driving assistance package plus)).

(Except model 166.063) If a trailer is detected, the trailer recognition control unit (with CODE 550 (Trailer hitch)) sends the "trailer detected" status via the interior CAN, electronic ignition lock control unit, chassis CAN 1, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis FlexRay to the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) and radar sensors control unit (with CODE 23P (Driving assistance package plus)).

Function sequence for active intervention by the brake system 

If the vehicle crosses over a continuous line on the right side of the vehicle, for example, the radar sensors control unit (with CODE 23P (Driving assistance package plus)) decides whether and with which intensity a course-correcting intervention by the brake system is to take place.

If the stereo multifunction camera (with CODE 23P (Driving assistance package plus)) does not detect any driver activity and at the same time also does not detect any stationary objects on the vehicle side facing away from the intervention, the radar sensors control unit (with CODE 23P (Driving assistance package plus)) issues approval for the intervention by the brake system.

The radar sensors control unit (with CODE 23P (Driving assistance package plus)) sends the request for wheel-selective (active) braking on the left side of the vehicle via the chassis FlexRay, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), and chassis CAN 1 to the Electronic Stability Program control unit. The Electronic Stability Program control unit implements this request and actuates the traction system hydraulic unit accordingly.

The vehicle is "guided back" into the lane. At the same time as the wheel-specific intervention by the brake system, the driver is visually notified of this activity.

The stereo multifunction camera (with CODE 23P (Driving assistance package plus)) sends the corresponding request via the chassis FlexRay, chassis gateway control unit (with CODE 23P (Driving assistance package plus)), chassis CAN 1, electronic ignition lock control unit, and chassis CAN 2 to the instrument cluster.

The brake intervention is canceled immediately as soon as driver activity is detected (e.g. if the driver steers against the brake intervention (overrides the brake intervention)) or if the above function requirements are no longer given.

	Electrical function schematic for Active Lane Keeping Assist		PE54.71-P-2053-97NBA
	Overview of system components for driver assistance systems		GF54.00-P-9998GN