2023 HYUNDAI IONIQ 6 steering wheel

Driver Assistance System
7-84
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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7
7-85
• 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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7
7-89
• 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
7-90
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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Driver Assistance System
7-92
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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7-93
- The target lane to make a lane change disappears
- The target lane to make a lane change is not detected
- There is a problem with turn signal lights
- Highway Lane Change Assist function is off (The function turns off
when the function is turned off from
the settings menu, when the road
changes to a one-way road, when
there is a intersection or crosswalk
ahead, when you enter a road with no
structure, such as a medium strip,
guardrail, etc., or when there is a
pedestrian or cyclist on the driving
lane.)
- Your vehicle speed is below 35 mph (55 km/h)
• While the function is operating, when the function is canceled, depending on
the driving conditions, the vehicle may
drive to the middle of the driving lane or
steering assist may stop. Always pay
attention to road and driving conditions
while driving.
• The function may not operate properly on roads with pedestrians or cyclists,
such as an intersection or crosswalk.
Always pay attention to road and
driving conditions while driving.
Highway Driving Assist
Malfunction and Limitations
Highway Driving Assist malfunction
Type A/Type B
B7005701
When Highway Driving Assist or Highway
Lane Change function is not working
properly, the 'Check Highway Driving
Assist system' or 'Check Lane Change
Assist function' warning message will
appear, and the warning light will
illuminate on the instrument cluster. Have
the vehicle inspected by an authorized
HYUNDAI dealer.
WARNING • The driver is responsible for controlling the vehicle and safe driving.
• Always have your hands on the steering wheel while driving.
• Highway Driving Assist is a supplemental function that assists the
driver in driving the vehicle and is not a
complete autonomous driving system.
Always check road conditions, and if
necessary, take appropriate actions to
drive safely.
• Always have your eyes on the road, and it is the responsibility of the driver to
avoid violating traffic laws. The vehicle
manufacturer is not responsible for any
traffic violation or accidents caused by
the driver.
• Highway Driving Assist may not be able to recognize all traffic situations.
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Driver Assistance System
7-94
Highway Driving Assist may not detect
possible collisions due to limitations of
the function. Always be aware of the
limitations of the function. Obstacles
such as vehicles, motorcycles, bicycles,
pedestrians, or unspecified objects or
structures such as guardrails, tollbooth,
etc., that may collide with the vehicle
may not be detected.
• Highway Driving Assist will turn off automatically under the following
situations:
- Driving on roads that Highway Driving Assist does not operate, such
as a rest area, intersection, junction,
etc.
- The navigation does not operate properly such as when the navigation
is being updated or restarted
• Highway Driving Assist may inadvertently operate or turn off
depending on road conditions
(navigation information) and
surroundings.
• Lane Following Assist function may be temporarily disabled when the front
view camera cannot detect lanes
properly or the hands-off warning is on.
• You may not hear the warning sound of Highway Driving Assist if the
surrounding is noisy.
• If the vehicle is driven at high speed above a certain speed at a curve, your
vehicle may drive to one side or may
depart from the driving lane.
• When you are towing a trailer or another vehicle, turn off Highway
Driving Assist for safety reasons.
• The hands-off warning message may appear early or late depending on how
the steering wheel is held or road
conditions. Always have your hands on
the steering wheel while driving.
• For your safety, please read the owner's manual before using the Highway
Driving Assist. • Highway Driving Assist will not operate
when the vehicle is started, or when the
detecting sensors or navigation is being
initialized.

Limitation of Highway Driving Assist
Highway Driving Assist and Highway Lane
Change function may not operate
properly, or may not operate under the
following circumstances:
• The map information and the actual road is different because the navigation
is not updated
• The map information and the actual road is different because of real-time
GPS data or map information error
• The infotainment system is overloaded by simultaneously performing
functions such as route search, video
playback, voice recognition, etc.
• GPS signals are blocked in areas such as a tunnel
• The driver goes off course or the route to the destination is changed or
canceled by resetting the navigation
• The vehicle enters a service station or rest area
• Android Auto or Car Play is operating
• The navigation cannot detect the current vehicle position (for example,
elevated roads including overpass
adjacent to general roads or nearby
roads exist in a parallel way)
• White single dotted lane line or road edge cannot be detected
• The road is temporarily controlled due to construction, etc.
• There is no structure, such as a medium strip, guardrails, etc., on the road
• There is a changeable lane in the direction of lane change
• If a trailer, carrier, etc., is installed
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Driver Assistance System
7-104
Collision-Avoidance Assist and deselect
to turn off the function.
WARNING When the vehicle is restarted, Rear
Cross-Traffic Collision-Avoidance Assist
will always turn on. However, the driver
should always be aware of the
surroundings and drive safely especially if
Rear Cross-Traffic Safety is deselected.

Warning Methods
B7000205
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.
• Haptic Warning : The steering wheel
vibration can be set.
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.
• When Haptic Warning is deselected while
Warning Volume is selected as 0, Warning
Volume will activate and be selected as 2.
• When Warning Volume is selected as 0
while Haptic Warning is deselected,
steering wheel vibration will activate.

Rear Cross-Traffic
Collision-Avoidance Assist
Operation
Rear Cross-Traffic Collision-Avoidance
Assist will warn and help control the
vehicle depending on collision risk level:
‘Collision Warning’, ‘Emergency Braking’
and ‘Stopping vehicle and ending brake
control’.
Collision Warning
B7006801
B7006803
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