2020 KIA NIRO PHEV Owners Manual

5147
Driving your vehicle
Limitation of the system
If the driver turns on the turn signallight or the emergency warning
light to change the lane
- Operate the turn signal lightswitch before changing the lane
- If you change the lane without operating the turn signal lights,
steering reaction force of the
wheel may occur.
Once LFA system is turned on or the lane is changed, the vehicle
should be in the center of the road
to switch to the steering assist
mode. If the driver keeps driving
along the lane, LFA system will not
assist the steering.
When the ESC or VSM is activat- ed, the system does not assist
steering.
When driving on a curved road at a high speed, steering assist mode
may not work.
When driving at a speed faster than 110 mph (180 km/h), steering
assist mode may not work. When sudden steering is made,
the system could be temporarily
deactivated.
If you change the lane in a hurry, the system does not assist the
steering.
If the vehicle suddenly stops, it does not assist the steering.
If the lane is too narrow or too wide, steering is not assisted.
If the system is not able to recog- nize a vehicle in front and either of
the lanes is not recognized, the
steering is not assisted
If the radius is too small for the curve  
Cautions for the driver
If the lane recognition is difficult or
limited for the LFA system as shown
below, the driver may need to be
careful because it may not operate or
may cause unnecessary operation.
• Roads or lane markings in bad con-
dition
- When The lane is tainted or invisible
- When the driver cannot see the lane due to rain, snow, dust,
sand, oil, puddles, etc
- When roads are set or the colors of the lane and road are not dis-
tinctive
- If there is a sign other than the lane near the lane or a mark sim-
ilar to the lane
- When the lane is not clear or damaged
- If the road is covered in the shad- ows of objects around the road,
such as medians, guard rails,
noise walls, and trees

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5
- If the number of lanes increases
or decreases, or if the lanes inter-
sect with each other more
intensely (tollgate entry section,
road section / joining section,
etc.)
- When there are two or more lane markings such as a construction
section, a designated lane, etc.
- When the lane is crowded such as the construction section or the
lane is replaced by some struc-
tures
- If there is a road marking such as a zigzag lane, crosswalk mark, or
road surface milestone
- When a lane suddenly becomes invisible or disappears from an
intersection
• The external environment affecting the system
- If the outside brightness of the vehi- cle suddenly changes, such as
when entering or exiting the tunnel
or passing under the bridge - If the vehicle's headlights are not
used at night or in the tunnel, or the
brightness of the headlights is too
weak
- If there are boundary structures such as tollgate booths and side-
walk blocks
- If it is difficult to distinguish lanes due to the reflection on the wet road
made by sunlight, streetlight, and
oncoming traffic.
- When the backlight is strongly reflect- ed in the direction of the vehicle
- When Driving to the left or right lane by bus lane or on the bus lane
- If there is no enough distance between the front car or if the lane
is covered by the car ahead of me
- When the lane change is large, such as a steep curve or a continu-
ous curve
- When passing through speed bump, sudden up / down or left /
right slope
- If the vehicle is severely shaken
- When the temperature around the mirror is very high due to direct sun-
light • When the front camera has poor vis-
ibility
- If the windshield of the vehicle and the camera lens are covered
with dust, fingerprints, or tinting.
- If the camera has poor visibility due to bad weather such as fog,
heavy rain, heavy snow.
- If moisture is not completely removed from the windscreen.
- When placing objects on the dashboard, etc.

5149
Driving your vehicle
HDA system is designed to control
the vehicle distance and speed of the
vehicle when driving on a highway.
The system assists drivers by receiv-
ing information about the speed limit
of the highway that the vehicle is on
and automatically changing the set
speed of Smart Cruise Control sys-
tem when needed.✽ ✽NOTICE
• HDA system is available only on
controlled access road of certain
highways.❈ ❈ Controlled access road indi-
cates roads with limited
entrances and exits that allow
uninterrupted high speed traf-
fic flow. Only passenger cars
and motorcycles are allowed on
controlled access roads.
• Additional highways may be expanded by navigation updates.
HIGHWAY DRIVING ASSIST (HDA) (IF EQUIPPED)
WARNING
HDA system is not a substi-
tute 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.
HDA 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.
Turn off the Highway driving assist system when the vehi-
cle is being towed.
For your safety, please read the owner's manual before
using the system.
Available highway
(Controlled access road)
USASelect Interstate Highways

Driving your vehicle
150
5
Setting and activating HDA
system
With the ignition switch or ENGINE
START/STOP button in the [ON],
select or release the setting from
“User Setting → Driver Assistance
→Driving Assist → Highway Driving
Assist”.
Select HDA system in the User set-
ting of the instrument panel. and the
system will operate if the following
conditions are met :
If the engine is turned off then on
again, the system maintains the last
setting.
Operating conditions
If you activate HDA in the User set-
ting of the instrument panel. and the
following conditions are met, HDA
system will be ready to operate, and
the indicator light ( ) will come
on green in the cluster.
When driving on the highway main line.
When Smart Cruise Control is in operation (Vehicle deceleration
and acceleration control)
- Refer to “Smart Cruise Control(SCC)” in this chapter.
- If SCC is in standby mode (SCC is on but speed is not set), HDA
system will be in the same mode.
The white indicator ( ) light
will be turned on.
When the vehicle speed is below 95 mph (153 km/h)
HDA system operation
The speed is automatically set in
accordance with the steering control
and the highway speed limit when all
the operating conditions are met.

5151
Driving your vehicle
Steering control
If both lanes are recognized properly
(lane color: white), the steering
wheel indicator ( ) lights up in
green and then the steering control
is initiated.When the system cannot provide
temporary steering inputs, the indi-
cator flashes green and then
changes to white. Even when HDA
system cannot provide temporary
steering inputs, it still controls the
distance from other vehicles.
(For information on non-operating
conditions of steering wheel control,
please refer to “Limitations of LFA
system” in this chapter.
Warning related to steering
wheel
The hands-off warning appears
when the system detects that the dri-
ver's hands are not on the steering
wheel while HDA system is in work.
(First warning: warning message,
Second warning: warning message
with warning sound)
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5
When the hands-off warning
lasts for a certain period of
time
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 can-
celed. However, if Smart Cruise
Control is reactivated manually by
the driver, Highway Driving Assist
system will reactivate.
To activate Smart Cruise control
refer to "Smart Cruise Control
(SCC)" 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 con-
trolled.
The vehicle is not driven in the mid- dle 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.
CAUTION
The hands-off warning may be delayed depending on roadconditions. Always keep yourhands on the steering wheelwhile driving.
If you hold the steering wheel lightly, it may be perceivedthat the steering wheel is notheld at all and trigger thehands-off warning.
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5153
Driving your vehicle
The vehicle brakes suddenly.
Only one lane marker is detected.
The lane is very wide or narrow.
There are more than two lanemarkers on the road (e.g. construc-
tion area).
Radius of a curve is too small.
The vehicle is driven on a steep incline.
The steering wheel is turned sud- denly.Automatic speed setting
If HDA system operating conditions
are all met and setting speed match-
es with the legal highway speed limit,
HDA system will enter the automatic
speed setting mode. (The set speed
and the "AUTO" symbol will be dis-
played in green with an indicative
sound) In the automatic speed set-
ting mode, the set speed is automat-
ically adjusted to the changing speed
limits of highway sections. If the driver directly changes the
speed, it enters the manual speed
setting mode and the set speed is
displayed in white and the “AUTO”
symbol will disappear.
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Driving your vehicle
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HDA malfunction
This message shows that there is a
problem with HDA system, so have
your vehicle inspected by an author-
ized Kia dealer.
✽ ✽
NOTICE
• 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 sys-
tem cannot be activated in the
Infotainment System screen.
• If your vehicle is 1640 ft. (500 m) ahead and behind of an open toll-
gate, the system is automatically
canceled. Also, it is converted to
Smart Cruise Control automati-
cally with a pop-up message on the
navigation. (Continued)(Continued)
• 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 naviga-
tion.
• If you enter a rest area on the highway or a IC/JC
(intersection/junction) without a
destination set, the system is can-
celed later than when the vehicle
actually leaves the highway.
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