System Description: Example
WARNING: This page is about a different car, the 2016 Infiniti Q50. However, it is still accessible from the selected car via links, so may be relevant.
Courtesy of NISSAN NORTH AMERICA, INC.
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When the vehicle approaches the right lane marker, the driver is alerted by the buzzer and the blinking of LDP warning display (yellow). Simultaneously, the left brake is controlled independently to generate force toward the direction to recover the vehicle from the lane departure.