LDWS - Lane Departure Warning System - Centennial / Equus Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company.

2 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. [Camera & ECU] Introduction Display & Buzzer Camera ECU LDWS Utilizes an exclusive forward view camera to detect and monitor the vehicles position in relation to the central line and the lane. Sounds the buzzer and tightens the seatbelt if the vehicle deviates from the lane.

3 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. LDWS S/W Cluster (Display + Gateway) High Speed CAN Turn Signal Low Speed CAN High Speed CAN network Wiper signal Low Speed CAN LDWS ECU with camera Low Speed CAN System Layout

4 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. LDWS Module Block Diagram Regulator 3.3V HS CAN Transceiver DSP (BF539F) SDRAM CMOS CAMERA 16bit 8bit HSYNC VSYNC PCLK TX RX IGN 1 CAN_H CAN_L GND

5 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. Lane recognition Lane recognition by image treatment : (Lane width : 3m~3.6m) Image input Lane filtering Make candidate point Recognize lane with candidate point Detecting condition : Vehicle speed > 60kph Lane cutting length < 8m Two lane road 1. Image input2. Color emphasis 3. Lane scanning4. Lane recognition

6 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. Warning (leaving the lane) + + Leaving the laneDisplay warning - yellow lane is blinking on the cluster (1.25/2.2 Hz) Buzzer warning - Buzzer works (inside cluster) (1.25/2.2 Hz) Haptic (PSB) - PSB works (vibration- retract/release repeat) Prohibit condition Turn signal working (except hazard lamp working) Wiper high position

7 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. ConditionDisplayWarning LDWS ON Vehicle icon ON Lane detected Vehicle icon ON Lane icon ON (white) Leaving the Right lane Vehicle icon ON Right lane icon blink (yellow) Buzzer & Haptic warning Leaving the left lane Vehicle icon ON Left lane icon blink (yellow) Buzzer & Haptic warning LDWS Fail Vehicle icon ON LDWS failure ON (yellow) Display on Cluster

8 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. 1 Let a vehicle on flat road 2 Install calibration plate on the hood latch 4 Test drive 3 Using GDS calibration done Camera calibration

9 LDWS Copyright 2009 All rights reserved. No part of this material may be reproduced, stored in any retrieval system or transmitted in any form or by any means without the written permission of Hyundai Motor Company. Camera calibration – Jig installation Install target jig on the hood - Match the end of jig with end of emblem Bend target plate (cross marked) to make vertical position - Using level (bubble should be inside circle) Jig Part Number: N100