HYUNDAI SONATA 2021 Owners Manual

06
6-117
• When you replace the windshield
glass, LFA system camera or related
parts of the steering wheel, have the
vehicle inspected by an authorized
HYUNDAI dealer.
• The system helps detect lane
markers and controls the steering
wheel by a camera, therefore, if the
lane markers are hard to detect, the
system may not work properly.
• Please refer to “Limitations of the
S y s t e m ”.
• Do not remove or damage the related
parts of LFA system.
• You may not hear a warning sound
of LFA system if the audio volume is
high.
• Do not place objects on the
dashboard that reflects light such as
mirrors, white paper, etc. This may
prevent LFA system from functioning
properly. •
Always have your hands on the
steering wheel while LFA system is
activated. If you continue to drive
with your hands off the steering
wheel after the “Keep hands on
steering wheel” warning message
appears, the system will turn off
automatically.
However, if the driver has their
hands on the steering wheel again,
the system will start controlling the
steering wheel.
• The steering wheel is not
continuously controlled so if the
vehicle speed is at a higher rate
when leaving a lane the vehicle may
not be controlled by the system. The
driver must always follow the speed
limit when using the system.
• If you attach objects to the steering
wheel, the system may not assist
steering or the hands off alarm may
not work properly.

6-118
LFA Operation
ODN8069079
With the Engine Start/Stop button
is in the ON or START position, Lane
Following Assist can be activated by
pressing the button.
Operating conditions
When the system is activated, the
indicator () on the cluster will
illuminate. The color of the indicator will
change depending on the condition of
LFA system.
- Gr

een: Steering assist mode is ON
- Whit

e: Steering assist mode is OFF
LFA system operation
• If the vehicle is inside the lane with
both lanes detected by the system
(lane color changes from gray to
white), and there is no abrupt steering
made by the driver, LFA system
changes to steering assist mode.
The
indicator light will come on
green, and the system helps the
vehicle stay in line by controlling the
steering wheel.
When the steering wheel is not
controlled temporarily, the

indicator light will flash green and
change to white.
Warning Message
ODN8069068L
Keep hands on steering wheel
If the driver takes their hands off the
steering wheel for several seconds while
LFA system is activated, the system will
warn the driver.
Information
Hold the steering wheel tight. Otherwise,
LFA system could misjudge that the
driver’s hands are off the steering wheel,
and the above warning may occur.
WARNING
The warning message may appear
late according to road conditions.
Therefore, always have your hands on
the steering wheel while driving.
While Driving

06
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OOSH069079L
Driver’s hands not detected.
LFA system is disabled temporarily
If the driver still does not have their
hands on the steering wheel after the
message “Keep hands on steering
wheel”, the system will not control the
steering wheel and warn the driver
only when the driver crosses the lane
markers.
However, if the driver has their hands on
the steering wheel again, the system will
start controlling the steering wheel.
WARNING
• LFA system is a supplemental system
only. It is the responsibility of the
driver to safely steer the vehicle and
to maintain it in its lane.
• Turn off LFA system and drive
without using the system in the
following situations:
-In bad w

eather
-In bad r

oad conditions
-When the s

teering wheel needs
to be controlled by the driver
frequently
- A tr

ailer or carrier is installed.
Information
• Even though the steering is assisted by
the system, the driver may control the
steering wheel.
• The steering wheel may feel heavier
when the steering wheel is assisted by
the system than when it is not.
ODN8069070L
Check LFA (Lane Following Assist) system
If there is a problem with the system a
message will appear for a few seconds. If
the problem continues LFA system failure
indicator will illuminate.

6-120
LFA system will not be in the ENABLED
state and/or the steering wheel will not be
assisted when:
• The turn signal is turned on before
changing a lane. If you change
lanes without the turn signal on, the
steering wheel might be controlled.
• The vehicle is not driven in the middle
of the lane when the system is turned
on or right after changing a lane.
• ESC (Electronic Stability Control) or
VSM (Vehicle Stability Management)
is activated.
• The vehicle is driven on a sharp curve.
• If vehicle speed is over 95 mph (153
km/h)
• The vehicle makes sharp lane
changes.
• The vehicle brakes suddenly.
• Only one lane marker is detected.
• The lane is very wide or narrow.
• There are more than two lane markers
on the road (e.g. construction area).
• Radius of a curve is too small.
• The vehicle is driven on a steep
incline.
• The steering wheel is turned suddenly.
• The system may not operate for 15
seconds after the engine is started or
the camera is initialized.Limitations of the System
LFA system may operate prematurely
even if the vehicle does not depart from
the intended lane, OR, LFA system may
not assist your steering or warn you if the
vehicle leaves the intended lane under
the following circumstances:
When the lane and road conditions are
poor
• It is difficult to distinguish the lane
marking from the road surface or the
lane marking is faded or not clearly
marked.
• It is difficult to distinguish the color of
the lane marker from the road.
• There are markings on the road
surface that look like a lane marker
that is inadvertently being detected
by the camera.
• The lane marker is indistinct or
damaged.
• The lane marker is merged or divided
(e.g. tollgate).
• The lane number increases or
decreases or the lane marker are
crossing complicatedly.
• There are more than two lane markers
on the road in front of you.
• The lane marker is very thick or thin.
• The lane is very wide or narrow.
• The lane marker ahead is not visible
due to rain, snow, water on the road,
damaged or stained road surface, or
other factors.
While Driving

06
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• The shadow is on the lane marker by
a median strip, trees, guardrail, noise
barriers, etc.
• The lane markers are complicated or a
structure substitutes for the lines such
as a construction area.
• There are crosswalk signs or other
symbols on the road.
• The lane marker in a tunnel is stained
with oil, etc.
• The lane suddenly disappears such as
at the intersection.
• Driving the shared lane usage (bicycle
lane, pedestrians lane, etc.)
When external condition is intervened
• The brightness outside changes
suddenly such as when entering or
exiting a tunnel, or when passing
under a bridge.
• The brightness outside is too low such
as when the headlamps are not on at
night or the vehicle is going through
a tunnel.
• There is a boundary structure in the
roadway such as a concrete barrier,
guardrail and reflector post that is
inadvertently being detected by the
camera.
• When light coming from a street light
or an oncoming vehicle is reflected on
a wet road surface such as a puddle in
the road.
• The field of view in front is obstructed
by sun glare. •
There is not enough distance between
you and the vehicle in front to be
able to detect the lane marker or the
vehicle ahead is driving on the lane
marker.
• Driving on a steep grade, over a hill, or
when driving on a curved road.
• The adverse road conditions cause
excessive vehicle vibrations while
driving.
• The surrounding of the inside rear
view mirror temperature is high due to
direct sunlight, etc.
• The sensor recognition changes
suddenly when passing over a speed
bump or driving on a steep up/down
or right/left grade
When front visibility is poor
• The windshield or the camera lens is
blocked with dirt or debris.
• The windshield glass is fogged up; a
clear view of the road is obstructed.
• Placing objects on the dashboard, etc.
• The sensor cannot detect the lane
because of fog, heavy rain or snow.

6-122
Highway Driving Assist system helps
keep the vehicle between lanes, maintain
a distance with the vehicle ahead, and
automatically adjusts the vehicle speed
to the speed limit while driving on the
highway.
WARNING
• Highway Driving Assist system is
not a substitute for safe driving
practices, but a convenience
function. It is the responsibility of
the driver to always be aware of the
surroundings and drive safely.
• Highway Driving Assist system relies
entirely on the road information
provided by the navigation system.
It is the responsibility of the driver
to follow traffic laws and avoid
accidents.
• For your safety, please read the
owner's manual before using the
system.
Information
• Highway Driving Assist system is
available only on controlled access road
of certain highways.


Contr
olled access road indicates
roads with limited entrances and
exits that allow uninterrupted high
speed traffic flow. Only passenger
cars and motorcycles are allowed on
controlled access roads.
Available highway
(Controlled access road)
USA Select Interstate
Highway and U.S.
(Federal) and State Highways
Canada Select Provincial and
Territorial Highways
• Additional highways may be expanded
by navigation updates.
HIGHway drIvInG aSSISt (H da ) (I f equ I pped )
While Driving

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System Setting and Operation
System setting
• With the Engine Start/Stop button in
the ON or START position, Highway
Driving Assist can be activated
by selecting 'Driver Assistance
→
Highway Driving Assist’ from the User
Settings mode on the infotainment
system. For detailed information,
please refer to the infotainment
system manual separately supplied.
• If the engine is turned off then on
again, the system maintains the last
setting.
Operating conditions
Select 'Highway Driving Assist' from
the Settings menu in the infotainment
system screen and satisfy the following
conditions for the system to operate.
• Driving on the highway main line
• Smart Cruise Control is operating
- If Smart Cruise Con

trol is in the
READY state the Highway Driving
Assist will be in the READY state.
The
indicator on the cluster
will illuminate white.
• Vehicle speed is under 95 mph (153
km/h)
If all the mentioned conditions are
satisfied, the system is ENABLED and
the
indicator on the cluster will
illuminate green.
Steering wheel control
ODN8A069215
Steering control
If the vehicle detects both lane markers
(lane color white), the
indicator light
will change from white to green. This
indicates that the steering wheel is being
controlled.
ODN8A069216
Temporary deactivation
The
indicator light changes from
green to white when the steering wheel
control is temporarily deactivated. Even
if the steering wheel is not controlled,
the distance between the vehicle ahead
will be maintained.

6-124
Speed setting
ODN8A069217
Automatic speed setting mode
The system enters the automatic speed
setting mode when:
1.
The oper
ating conditions are satisfied
- indicator will illuminate
green
2.

Smart Cruise Con
trol set speed and
the highway speed limit matches
If the system changes to the automatic
speed mode, the
symbol will turn
green and a chime will sound.
When the highway speed limit changes,
the set speed automatically changes to
the changed speed limit.
ODN8A069218
Manual speed setting mode
If the speed is set manually using the
RES+ or SET- toggle switch on the
steering wheel, the set speed on the
cluster will turn white and the 'AUTO'
symbol will disappear.
While Driving

06
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Warning Message
Hands-off warning
ODN8A069219
Keep hands on steering wheel
If the driver takes their hands off the
steering wheel for several seconds while
HDA system is activated, the system will
warn the driver.
Information
If the steering wheel is held with a light
grip, the message may appear because
HDA system may not recognize that the
driver has their hands on the steering
wheel.
WARNING
The warning message may appear
late according to road conditions.
Therefore, always have your hands on
the steering wheel while driving.Highway Driving Assist (HDA) system
canceled
If the driver still does not have their
hands on the steering wheel after the
message "Keep hands on steering
wheel", HDA system will be canceled.
However, if Lane Following Assist is
reactivated manually by the driver,
Highway Driving Assist System will
reactivate.
To activate Lane Following Assist, refer to
“Lane Following Assist” in this chapter.
HDA system will not be in the ENABLED
state and/or the steering wheel will not
be assisted when:
•
The turn signal is turned on before
changing a lane. If you change
lanes without the turn signal on, the
steering wheel might be controlled.
• The vehicle is not driven in the middle
of the lane when the system is turned
on or right after changing a lane.
• ESC (Electronic Stability Control) or
VSM (Vehicle Stability Management)
is activated.
• The vehicle is driven on a sharp curve.
• Vehicle speed is over 95 mph (153
km/h).
• The vehicle makes sharp lane
changes.
• The vehicle brakes suddenly.
• Only one lane marker is detected.
• The lane is very wide or narrow.
• There are more than two lane markers
on the road (e.g. construction area).
• Radius of a curve is too small.
• The vehicle is driven on a steep
incline.
• The steering wheel is turned suddenly.

6-126
System malfunction
ODN8A069220
Check Highway Driving Assist (HDA)
system
If there is a problem with the system, a
message will appear for a few seconds. If
the problem continues, have the vehicle
inspected by an authorized HYUNDAI
dealer.
Information
• High Driving Assist is limited in other
countries.
• High Driving Assist only operates based
on the speed limits of the highway but it
does not work with the speed cameras.
• The time gap could occur between the
navigation speed warning and system
operation.
• The system is not designed to work
on highways other than mentioned as
a controlled access road. The system
automatically cancels when you leave
the highway.
• If there is a problem with Highway
Driving Assist, the system cannot be
activated in the infotainment system
screen.
• If your vehicle is 1640 ft. (500 m) ahead
and behind of an open tollgate, the
system is automatically canceled. Also,
it is converted to Smart Cruise Control
automatically with a pop-up message
on the navigation. •
In the automatic speed setting mode,
the vehicle automatically accelerates
or decelerates when the highway speed
limit changes.
• If your vehicle speed exceeds 95 mph
(153 km/h), Highway Driving Assist
is automatically canceled. Also, it is
converted to Smart Cruise Control
automatically with a pop-up message
on the navigation.
• If you enter a rest area on the highway
or a IC/JC (intersection/junction)
without a destination set, the system is
canceled later than when the vehicle
actually leaves the highway.
While Driving