Active Lane Keep (Lane Departure Prevention)

NOTE: Make sure in advance that adaptive cruise control is not set.

Phenomenon		Check Item	Note
1	Lane keep switch is not turned to ON. (Lane keep indicator light does not illuminate in white.)	Perform the real-time diagnosis. Check the input signal of EyeSight system.	Real-time Diagnosis Ref. to EyeSight (DIAGNOSTICS)>Real-time Diagnosis . When normal, go to (3). When abnormal, go to (2).
		(2) Check the lane keep switch.	Check EyeSight steering switch Ref. to EyeSight (DIAGNOSTICS)>Diagnostics with Phenomenon>CHECK EyeSight STEERING SWITCH .
		(3) Check the combination meter.	Combination meter (diagnostics) Ref. to COMBINATION METER (DIAGNOSTICS)>Basic Diagnostic Procedure .
2	Lane keep (lane departure prevention) does not turn to standby mode. (Lane indicator light does not illuminate.) Lane keep (lane departure prevention) does not operate. (Lane keep indicator light does not illuminate in green.) Though lane keep (lane departure prevention) is operating, the vehicle departs out of the lane due to poor assistance.	(1) Read the lane departure prevention deactivate code. Ref. to EyeSight (DIAGNOSTICS)>Active Lane Keep System Code(s) Display .	When there is a relevant item in the lane departure prevention deactivate code, it can be the cause of malfunction. Eliminate the cause, and check that the malfunction has been improved. If not solved, go to (2).
		(2) Using CHECK LIST (LANE KEEP), check the current conditions and respond to it. Does it apply to the condition that use of lane keeping is not desired? Is this applied to the object or condition that is hard to be recognized by the stereo camera? Does it apply to the road condition that the white line is difficult to be recognized?	Check list (lane keep) Ref. to EyeSight (DIAGNOSTICS)>Diagnostics with Phenomenon>DIAGNOSTIC PROCEDURE WITH PHENOMENON>CHECK LIST (ACTIVE LANE KEEP) . When there is a relevant item in the check list, it can be the cause of malfunction. Eliminate the cause, and check that the malfunction has been improved. If not solved, go to (3).
		(3) Check the windshield glass and dashboard.	Inspection of windshield glass and dashboard Ref. to EyeSight (DIAGNOSTICS)>General Description>INSPECTION>WINDSHIELD GLASS AND DASHBOARD . When normal, go to (4).
		(4) Check the front wiper.	Inspection of front wiper Ref. to EyeSight (DIAGNOSTICS)>General Description>INSPECTION>FRONT WIPER . When normal, go to (5).
		(5) Check the optical axis of the headlights.	Headlight optical axis adjustment Ref. to LIGHTING SYSTEM>Headlight Assembly>ADJUSTMENT . When normal, go to (6).
		(6) Check the stereo camera.	CHECK STEREO CAMERA. Ref. to EyeSight (DIAGNOSTICS)>General Description>INSPECTION>STEREO CAMERA . When normal, go to (7).
		(7) Check the tires and wheel alignment.	When normal, go to (8).
		(8) Check the midpoint of the steering angle sensor.	Perform «VSC(VDC) Centering Mode» for VDC. Ref. to VEHICLE DYNAMICS CONTROL (VDC)>VDC Control Module and Hydraulic Control Unit (VDCCM&H/U)>ADJUSTMENT>VDC SENSOR MIDPOINT SETTING MODE . After the adjustment, check the following value when the vehicle is in the straight ahead position. Using Subaru Select Monitor, check that the value of «Steering Angle Sensor Value (Right +) (Left -)» is within "-2 - +2 deg" for the current data of the stereo camera. Ref. to EyeSight (DIAGNOSTICS)>Data Monitor . When normal, go to (9).
		(9) Perform the automatic adjustment by driving.	Perform the automatic adjustment by driving. (Refer to "Automatic adjustment by driving" in margin*) Using the Subaru Select Monitor, check that the value of current data «Active Lane Keep System Control Learning Value 3 (Steering Wheel Angles Offset)» of stereo camera is within "-4.8 - 4.8". Ref. to EyeSight (DIAGNOSTICS)>Data Monitor . When normal, go to (10).
		(10) Check the optical axis of the stereo camera.	Adjust the optical axis of the stereo camera. Ref. to EyeSight>Camera Adjustment, Inspection .
3	Lane keep (lane departure prevention) is cancelled without releasing operation.	Read the lane departure prevention deactivate code. Ref. to EyeSight (DIAGNOSTICS)>Active Lane Keep System Code(s) Display .	When there is a relevant item in the lane departure prevention deactivate code, it can be the cause of malfunction. Eliminate the cause, and check that the malfunction has been improved.