lane assist HYUNDAI IONIQ 6 2023 Service Manual

Driver Assistance System
7-82
Lane Following Assist
(LFA)
Lane Following Assist detects lane
markings and/or a vehicle ahead on the
road, and center your vehicle in the lane.
Detecting sensor
B7004901(1) Front view camera
The front view camera is used as a
detecting sensor to detect lane markings
and front vehicles.
Refer to the picture above for the detailed
location of the detecting sensor.
CAUTION For more information on the precautions
of the front view camera, refer to the
“Forward Collision-Avoidance Assist
(FCA)” section in this chapter.

Lane Following Assist Settings
Warning Methods
B7001902
B7001902_1
With the vehicle on, go to Setup > Vehicle
> Driver Assistance > Warning Methods
from the Settings in the infotainment
system to select the following:
• Warning Volume : The Warning Volume
can be adjusted.
• Driving Safety Priority : Your vehicle
lowers all other audio volumes when
the Driver Assistance system warning
sounds.
Information • If you change the Warning Methods, Warning Methods of other Driver
Assistance systems may change.
• If the vehicle is restarted, Warning Methods will maintain the last setting.
• There may be no Settings menu depending on the feature applied to your vehicle.
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• Even though 0 is selected for Warning
Volume, the Hands-off warning volume
will not be turned off but warning volume
will sound as 1.

Lane Following Assist
Operation
Turning Lane Following Assist
On/Off
B7001101
With the vehicle on, short press the Lane
Driving Assist button located on the
steering wheel to turn on Lane Following
Assist. The grey or green ( ) indicator
light will illuminate on the instrument
cluster.
Press the button again to turn off the
function.
Lane Following Assist
B7005102
If the vehicle ahead and/or both lane
markings are detected and your vehicle
speed is below 112 mph (180 km/h), the
green ( ) indicator light illuminates on
the instrument cluster, and Lane
Following Assist helps center the vehicle
in the lane by assisting the steering wheel.
CAUTION When the steering wheel is not assisted,
the white ( ) indicator light blinks and
changes to grey.

Hands-off warning
B7005103
If the driver takes their hands off the
steering wheel for several seconds, the
'Keep hands on steering wheel' warning
message will appear and an audible
warning will sound in stages.
First stage: Warning message
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Second stage: Warning message (red
steering wheel) and audible warning
B7005103_1
If the driver still does not have their hands
on the steering wheel after the hands-off
warning, the ‘Lane Following Assist
deactivated’ warning message will
appear and Lane Following Assist will be
automatically canceled.
WARNING • The steering wheel may not be assisted if the steering wheel is held very tight or
the steering wheel is steered over a
certain degree.
• Lane Following Assist does not operate at all times. It is the responsibility of the
driver to safely steer the vehicle and to
maintain the vehicle in its lane.
• The hands–off warning message may appear late depending on road
conditions. Always have your hands on
the steering wheel while driving.
• If the steering wheel is held very lightly the hands–off warning message may
appear because Lane Following Assist
may not recognize that the driver has
their hands on the steering wheel.
• If you attach objects to the steering wheel, the hands-off warning may not
work properly.

Information • For more information on instrument cluster settings, refer to the “Cluster
Display Control” section in chapter 4.
• When both lane markings are detected, the lane lines on the instrument cluster will
change from grey to white.
Lane undetected
B7005105Lane detected
B7005106
• The images and colors in the instrument cluster may differ depending on the
instrument cluster type or theme selected
from the settings menu.
• If lane markings are not detected, steering wheel control by Lane Following Assist can
be limited depending on whether a vehicle
is in front or the driving conditions of the
vehicle.
• Even though the steering is assisted by Lane Following Assist, the driver may control the
steering wheel.
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• The steering wheel may feel heavier or lighter when the steering wheel is assisted
by Lane Following Assist than when it is
not.

Lane Following Assist
Malfunction and Limitations
Lane Following Assist malfunction
B7005201
When Lane Following Assist is not
working properly, the ‘Check Lane
Following Assist system’ warning
message will appear on the instrument
cluster for several seconds, and the
master ( ) warning light illuminates on
the instrument cluster. If this occur, have
the vehicle inspected by an authorized
HYUNDAI dealer.
Limitations of Lane Following Assist
For more information on Lane Following
Assist's limitations, refer to the Lane
Keeping Assist (LKA) section in this
chapter.
Information For more information on "Warnings" when
using Lane Following Assist, refer to the
“Lane Keeping Assist (LKA)” section in this
chapter.

Highway Driving Assist
(HDA)
Basic function
Highway Driving Assist detect lanes and
vehicles ahead, and help maintain the
distance from the vehicle ahead and the
set speed, and center your vehicle in the
lane while driving on the highway.
B7005301
if equipped
Highway Lane Change Assist
Highway Lane Change Assist function
helps change lanes to the direction you
operate the turn signal switch if the
function judges that lane change is
possible.
B7005302
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CAUTION For more information on the precautions
of the detecting sensors, refer to the
“Forward Collision-Avoidance Assist
(FCA)” section in this chapter.

Highway Driving Assist
Settings
B7005401
With the vehicle on, select or deselect
Setup > Vehicle > Driver Assistance >
Driving Convenience from the Settings
menu to set whether to use each
function.
Basic function
If Highway Driving Assist is selected, it
helps maintain distance from the vehicle
ahead, maintain the set speed, and helps
center the vehicle in the lane.
if equipped
Highway Lane Change Assist
If Highway Lane Change Assist is
selected, it helps the driver change lanes.
Information • When Highway Driving Assist is
deselected, the setting for Highway Lane
Change Assist cannot be changed.
• If there is a problem with the functions, the settings cannot be changed. Have the vehicle inspected by an authorized
HYUNDAI dealer.
• If the vehicle is restarted, the functions will maintain the last setting.

WARNING For your safety, only change the settings
after parking the vehicle at a safe
location.

Warning Methods
B7001902
B7001902_1
With the vehicle on, go to Setup > Vehicle
> Driver Assistance > Warning Methods
from the Settings in the infotainment
system to select the following:
• Warning Volume : The Warning Volume
can be adjusted.
• Driving Safety Priority : Your vehicle
lowers all other audio volumes when
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Driver Assistance System
7-88
the Driver Assistance system warning
sounds.
Information • If you change the Warning Methods, Warning Methods of other Driver
Assistance systems may change.
• If the vehicle is restarted, Warning Methods will maintain the last setting.
• There may be no Settings menu depending on the feature applied to your vehicle.
• Even though 0 is selected for Warning
Volume, Warning Volume will not be
turned off but Warning Volume will sound
as 1.

Highway Driving Assist
Operation
Basic function
Displaying operating status
You can see the status of the Highway
Driving Assist operation in the Driving
Assist view on the instrument cluster. For
more information, refer to the “View
Modes” section in chapter 4.
Highway Driving Assist will be displayed
as below depending on the status of the
function.
Operating state
B7005501
Standby state
B7005502
1. Highway Driving Assist indicator, whether there is a vehicle ahead and
the selected distance level are
displayed.
• Highway Driving Assist indicator ( )
- Green HDA: Operating state
- Grey HDA: Standby state
- White HDA blink: Accelerator depressed state
2. Set speed
3. Lane Following Assist indicator
4. Whether there is a vehicle ahead and the selected headway
5. Whether the lane is detected or not
Information • For more information on the display refer to the “Smart Cruise Control (SCC)” and
“Lane Following Assist (LFA)” sections in
this chapter.
• The images and colors in the instrument cluster may differ depending on the
instrument cluster type or theme selected
from the settings menu.

Highway Driving Assist operation
Highway Driving Assist operates when:
• Driving on the main road of highways, and turning on Highway Driving Assist
by pressing the Driving Assist button
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155MPH
155MPH
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• Entering the main road of highways while Lane Following assist and Smart
Cruise Control are operating
Restarting after stopping
B7005503
When Highway Driving Assist is
operating, your vehicle will stop if the
vehicle ahead of you stops. Also, if the
vehicle ahead of you starts moving within
30 seconds after the stop, your vehicle
will start as well. In addition, after the
vehicle has stopped and 30 seconds have
passed, the 'Use switch or pedal to
accelerate' message will appear on the
instrument cluster. Depress the
accelerator pedal or operate the + switch,
- switch or switch to start driving.
Hands-off warning
B7005504
If the driver takes their hands off the
steering wheel for several seconds, the
'Keep hands on steering wheel' warning
message will appear and an audible
warning will sound in stages.
First stage: Warning message Second stage: Warning message (red
steering wheel) and audible warning
B7005505
If the driver still does not have their hands
on the steering wheel after the hands-off
warning,
‘Highway Driving Assist
deactivated’ warning message will
appear and Highway Driving Assist and
Lane Change Assist will be automatically
canceled.
Driving speed limit
B7005506
When Highway Driving Assist is canceled
by the hands-off warning, The driving
speed will be limited.
While Driving Speed Limit function is
operating, the ‘Driver’s grasp not
detected. Driving speed will be limited’
warning message will appear on the
instrument cluster, and an audible
warning will sound continuously.
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Driver Assistance System
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if equipped
Driving to one side within lane
B7005507
When vehicle speed is above 40 mph (60
km/h), if a vehicle around you is driving at
a close distance, your vehicle will control
steering in the opposite direction of the
vehicle to assist in safe driving.
If there are detected vehicles on both
sides of the lane that are driving close to
you, your vehicle does not control
steering in either direction.
Highway Driving Assist standby
When the Smart Cruise Control is
temporarily canceled while Highway
Driving Assist is operating, Highway
Driving Assist will be in the standby state.
At this time, Lane Following Assist will
operate properly.
Information • Driving Speed Limit helps you drive below 40 mph (60 km/h). At this time, the vehicle
decelerates due to the vehicle ahead. After
the vehicle has decelerated, it cannot
automatically accelerate.
• Driving Speed Limit will cancel in the following circumstances:
- When the driver grabs the steering wheel again
- When the driver turns on Lane Following Assist by pressing the Lane Driving
Assist button - When +, -, switch or button is
operated, or the accelerator pedal or the
brake pedal is depressed

if equipped
Highway Lane Change Assist
Displaying operating status
You can see the status of the Highway
Lane Change Assist function operation in
the Driving Assist view on the instrument
cluster. For more information, refer to the
“View Modes” section in chapter 4.
Highway Lane Change Assist function will
be displayed as below depending on the
status of the function.
Ready/Operating
B7005508Standby/Canceled
B7005509
1. Highway Lane Change Assist indicator • Green on : Ready state
• Green blink : Operating state
• Grey on : Standby state
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• White blink : Canceled state (display only a certain time)
2. Lane line The lane line is displayed same as the
Highway Lane Change Assist indicator
(1). However, if the function is on
standby, it displays whether the lane
line is detected.
3. Green arrow and shade The green arrow is displayed when a
certain amount of time has passed after
the function has started operating, and
until the lane change has completed.
4. Message • Message is displayed when the function does not operate even
though the turn signal is used.
• Message is displayed when the function is canceled while operating.
To turn on Highway Lane Change Assist
Highway Lane Change Assist function will
turn on when the following conditions are
satisfied.
• The Driving Assist button or Lane Driving Assist button is used to turn on
Highway Driving Assist.
Highway Lane Change Assist ready to
operate
While Highway Lane Change Assist
function is on, the function will be ready
to operate when all the following
conditions are satisfied:
• Highway Driving Assist is operating
• Lane Following Assist is operating
• A vehicle in the rear area of your vehicle is detected more than once after the
vehicle is turned on
• Your vehicle speed is above 40 mph (60 km/h)
• Hands-off warning is not displayed on the instrument cluster
• Hazard warning flasher is offInformation • While Lane Change Assist function is turned on (indicator on), Lane Following
Assist will not cancel even if the turn signal
indicator or hazard warning flasher is
operating.
• Lane Change Assist function turns off automatically when driven in the following
road conditions:
- One driving lane
- A road with no structure, such as a medium strip, guardrails, etc.
- There is a pedestrian or cyclist on the road ahead
• When the function is in the ready state, and vehicle speed is below 35 mph (55 km/h),
the function will change to the standby
state.

WARNING When Highway Lane Change Assist
function turns off while operating,
steering assist will be temporarily
canceled. Always be cautious while
driving.

Highway Lane Change Assist operation
B7005511(1) Center
Highway Lane Change Assist function will
operate, when you push the turn signal
lever up or down to the A or B position
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Driver Assistance System
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while the function is in the ready state (
indicator is green), and all of the following
conditions are satisfied:
• The driver has his/her hand on the steering wheel
• There is no collision risk in the direction of lane change
• There is a single dotted lane line in the direction of lane change
• There are no Forward Collision-Avoidance Assist and Blind
Spot Collision-Avoidance Assist
warnings
• The vehicle is driven in the middle of the lane (should not be driving close to
one side of the lane)
• The road you are driving on, or the road you are about to change lane is a road
that the function can operate
Information • Highway Lane Change Assist operates when the turn signal lever is positioned at
A. If the turn signal lever is released to the
center (1) before stepping on the lane,
Highway Lane Change Assist cancels. If
the turn signal lever is released to the center
(1) after stepping on the lane, Highway
Lane Change Assist changes the lane and
turns off the turn signal after lane change is
complete.
• When the turn signal lever is placed at B position for a certain period of time, the
green arrow will appear. At this time, even
when the lever is released and returns to it’s
original position (1), lane change will still
be assisted.
• While lane change is being made by the function, the turn signal indicator will blink
even when the turn signal lever is not held,
and the turn signal indicator will turn off
when lane change is complete.
Highway Lane Change Assist standby
Highway Lane Change Assist function will
be in the standby state when one of the
ready state condition is not satisfied, or
when entering or driving on one of the
following roads:
• Road within a certain distance from the
tollbooth on the main road of the
highway
• The road ahead ends without an interchange or junction
• Road with sharp curves
• Road with narrow lanes
Highway Lane Change Assist cancel
The function will be canceled when:
• The turn signal lever is moved to the "A" position while the Highway Lane
Change Assist function is operating and
placed in the center (1) before stepping
on the lane line
• The turn signal lever is turned on in the opposite direction of lane change
• The steering wheel is steered sharply
WARNING • While Highway Driving Assist is operating, the function will cancel if
one of the following occurs:
- Highway Driving Assist is turned off
- Lane Following Assist or Smart Cruise Control is turned off or temporarily
canceled
- Hands-off warning message is displayed on the instrument cluster
- The hazard warning flasher is turned on
- Forward Collision-Avoidance Assist or Blind-Spot Collision-Avoidance
Assist warning message is displayed
- Possible collision is detected in the next lane, even though there are no
Forward Collision-Avoidance Assist
and Blind-Spot Collision-Avoidance
Assist warning
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