Functional Description - Central ADAS Decision Module (CADM)

The CADM is the decision master and the main operating component of the Lane Centering system and its sub systems.

Lane Management System 

The CADM enables the Lane Centering system once it receives the ignition state of "RUN", PROXI information indicating that the vehicle is equipped with "Active Lane Management", and the ASBM switch request. The CADM will then set an internal flag indicating that the lane management system is available when the following conditions are met:

• Engine is running
• Vehicle speed is between 60 km/h (37 mph) and below 145 km/h (90 mph)
• Video imaging is not blinded or degraded beyond lane keeping capability
• The left or right lane marking is detected
• Blind Spot System (rear radars) enabled

The CADM then uses all radar sensors for sensing. The CADM receives vehicle ride height information and air suspension status from the Air Suspension Control Module (ASCM) for vertical tuning of the radars and auto-calibrates them as needed.

The CADM enables the Lane Centering system with haptic feedback when the following conditions are met:

• Hands on wheel detected
• The EPS does not detect the customer performing a driver override condition
• An evasive maneuver is not detected
• No active safety system events are active

Once the Lane Centering system is engaged and the vehicle is between lane boundaries, the CADM provides commands to the EPS in order to keep the vehicle within the lane. A lane boundary refers to:

• Lane markers
• Road edges
• Curbs
• Bott's dots

The CADM will request haptic feedback when the system detected that the vehicle performs an unintended lane change by first moving into the lane boundary and then again when moving into an adjacent lane. Using the turn signal to change lanes indicates that this was an intended lane change. The IPC will also display visual warning and the customer will also hear audible warnings during this event. These warning system levels are all customer programmable options.

The system will also provide haptic feedback when making intended lane changes while the BSS detects an object on the same side of the vehicle as active turn signal indicator.

Hand On Steering Wheel Detection 

The Lane Centering system requires the driver to be fully engaged in the driving task at all times with their hands on the steering wheel. The system has the capability of detecting when the driver does not have their hands on the steering wheel.

When the driver's hands are not detected on the steering wheel (i.e. hands-off steering wheel condition) via the combination of torque sensing and/or capacitive inputs, the CADM triggers visual and audible warnings in order to alert the driver to resume full control of the steering function.