2023 HYUNDAI SONATA sensor

Forward Collision – Avoidance Assist (FCA) - Sensor Fusion ...................6-50
System Setting and Activation .............................................................................. 6-50
FCA Warning Message and Brake Control ............................................................6-52
FCA Sensor ............................................................................................................. 6-55
System Malfunction ............................................................................................... 6-57
Limitations of the System ...................................................................................... 6-58
Forward Collision-Avoidance Assist - Junction Turning .....................................6-65
Lane Keeping Assist (LKA) ........................................................................... 6-70
LKA Operation ......................................................................................................... 6-71
LKA System Function Change ............................................................................... 6-72
Warning Light and Message .................................................................................. 6 -74
Limitations of the System ...................................................................................... 6-75
Blind-Spot Collision Warning (BCW) /
Blind-Spot Collision-Avoidance Assist (BCA) .............................................6-77
System Description ................................................................................................. 6-77
System Setting and Activation .............................................................................. 6-78
Warning and System Control ................................................................................ 6-80
Detecting Sensors (Front View Camera and Rear Corner Radar) .......................6-82
Limitations of the System ...................................................................................... 6-85
Declaration of Conformity .......................................................................... 6-89
The Radio Frequency Components (Rear Corner Radar) Complies: ..................6-89
Safe Exit Warning (SEW) ............................................................................. 6-90
Function Settings ................................................................................................... 6-91
Function Operation ................................................................................................ 6-92
Function Malfunction and Limitations .................................................................. 6-94
Driver Attention Warning (DAW) ................................................................ 6-96
System Setting and Operation .............................................................................. 6-96
Resetting the System ............................................................................................. 6-98
System Standby ...................................................................................................... 6-99
System Malfunction ............................................................................................... 6-99
Leading Vehicle Departure Alert ......................................................................... 6-101
Blind View Monitor (BVM) ........................................................................ 6-104
Smart Cruise Control (SCC) ....................................................................... 6-105
Smart Cruise Control Switch ............................................................................... 6-106
To Convert to Cruise Control Mode .................................................................... 6-106
Smart Cruise Control Speed ................................................................................. 6-107
Smart Cruise Control Vehicle-to-Vehicle Distance .............................................6-113
Limitations of the System ..................................................................................... 6-118
6

Navigation-Based Smart Cruise Control ..................................................6-122
System Setting and Operation ............................................................................. 6-123
Lane Following Assist (LFA) ....................................................................... 6-126
LFA Operation ........................................................................................................ 6-127
Warning Message .................................................................................................. 6-128
Limitations of the System .................................................................................... 6-130
Highway Driving Assist (HDA) .................................................................... 6-132
System Setting and Operation ............................................................................. 6-133
Warning Message .................................................................................................. 6-135
Rear Cross-Traffic Collision Warning (RCCW) /
Rear Cross-Traffic Collision-Avoidance Assist (RCCA) ...........................6-138
System Description .............................................................................................. 6-138
System Setting and Activation ............................................................................ 6-139
Warning and System Control ................................................................................ 6-141
Detecting Sensors ................................................................................................ 6-144
Limitations of the System ..................................................................................... 6-145
Special Driving Conditions ........................................................................ 6-150
Hazardous Driving Conditions ............................................................................ 6-150
Rocking the Vehicle ............................................................................................. 6-150
Smooth Cornering ................................................................................................. 6-151
Driving at Night ..................................................................................................... 6-151
Driving in The Rain ................................................................................................ 6-151
Driving in Flooded Areas ....................................................................................... 6-152
Highway Driving .................................................................................................... 6-152
Winter Driving ............................................................................................. 6-153
Snow or Icy Conditions ......................................................................................... 6-153
Winter Precautions ................................................................................................ 6-154
Vehicle Load Limit ..................................................................................... 6-156
Tire Loading Information Label ............................................................................ 6-156
Trailer Towing .............................................................................................. 6-161
6
6. While Driving

While Driving
6-50
Forward Collision-Avoidance Assist
system is designed to detect the
vehicle, a pedestrian or cyclist ahead (if
equipped) in the roadway through front
radar signals and front view camera
recognition to warn the driver that a
collision is imminent, and if necessary,
apply emergency braking.
WARNING
Take the following precautions when
using Forward Collision-Avoidance
Assist system: • This system is only a supplemental
system and it is not intended to,
nor does it replace the need for
extreme care and attention of
the driver. The sensing range and
objects detectable by the sensors
are limited. Pay attention to the road
conditions at all times.
• Drive at posted speed limits and
accordance to road conditions.
• Always drive cautiously to prevent
unexpected and sudden situations
from occurring. FCA does not always
stop the vehicle completely.
System Setting and Activation
System setting
OTMA058186
• Setting Forward Safety function
The driver can activate FCA by placing
the ignition switch to the ON position
and by selecting:
‘User Settings → Driver Assistance →
Forward Safety’
- If you select ‘Active Assist’, FCA system activates. FCA produces
warning messages and warning
alarms in accordance with the
collision risk levels. Braking assist
will be applied in accordance with the collision risk.
- If you select ‘Warning Only’, FCA system activates and produces only
warning alarms in accordance with
the collision risk levels. Braking
assist will not be applied in this
setting.
- If you select ‘Off’, FCA system deactivates. If you turn the ESC off
stage 2, FCA deactivates and the
warning light comes on.
forwarD collision – avoiDance assist (fca) - sensor
fusion (if equippeD)

06
6-55
FCA Sensor
„„Front view camera
ODN8A069024
„„Front radar
ODN8A069023
These sensors detect frontal vehicles,
pedestrian and cyclist.
In order for FCA system to operate
properly, always make sure the sensor
cover or sensor is clean and free of dirt,
snow, and debris.
Dirt, snow, or foreign substances on the
sensor cover or sensor may adversely
affect the sensing performance of the
sensor. Always keep these clean.  Refer to “Lane Keeping Assist (LKA)”
for cautions for the front camera.
NOTICE
• Do not apply license plate frame or
foreign objects such as a bumper
sticker or a bumper guard near the
radar sensor. Doing so may adversely
affect the sensing performance of
the radar.
• Always keep the radar sensor and
cover clean and free of dirt and debris.
• Use only a soft cloth to wash the
vehicle. Do not spray pressurized
water directly on the sensor or
sensor cover.
• Be careful not to apply unnecessary
force on the radar sensor or sensor
cover. If the sensor is forcibly moved
out of proper alignment, FCA system
may not operate correctly. In this
case, a warning message may not
be displayed. Have the vehicle
inspected by an authorized HYUNDAI
dealer.
• If the front bumper becomes
damaged in the area around the
radar sensor, FCA system may not
operate properly. Have the vehicle
inspected by an authorized HYUNDAI
dealer.
• Use only genuine parts to repair or
replace a damaged sensor or sensor
cover. Do not apply paint to the
sensor cover.

While Driving
6-56
NOTICE
NEVER install any accessories or
stickers on the front windshield, or tint
the front windshield.
NEVER place any reflective objects
(i.e. white paper, mirror) over the
dashboard. Any light reflection may
prevent the system from functioning
properly.
Pay extreme caution to keep the camera
dry.
NEVER disassemble the camera
assembly, or apply any impact on the
camera assembly.
Information
Have the vehicle inspected by an
authorized HYUNDAI dealer when: • The windshield glass is replaced.
• The radar sensor or cover gets
damaged or replaced. Warning message and warning light
ODN8A069221OIK057091L
Forward Collision-Avoidance Assist (FCA)
system disabled. Camera obscured / Radar blocked
When the sensor cover is blocked with
dirt, snow, or debris, FCA system may
not detect other vehicles. If this occurs, a
warning message will appear on the LCD
display.
The system will operate normally when
such dirt, snow or debris is removed.
FCA may not properly operate in an area
(e.g. open terrain), where any substances
are not detected after turning ON the
vehicle.
Also, even though a warning message
does not appear on the LCD display, FCA
may not properly operate.
WARNING
FCA system may not activate according
to the road conditions, inclement
weather, driving conditions or traffic
conditions.

06
6-57
System Malfunction
„„Type A„„Type B
OAD058171LOIK057091L
Check Forward Collision Avoidance Assist system
When FCA is not working properly, FCA
warning light () will illuminate and the
warning message will appear for a few
seconds. After the message disappears,
the master warning light (
) will
illuminate. In this case, have the vehicle
inspected by an authorized HYUNDAI
dealer.
The FCA warning message may appear
along with the illumination of the ESC
(Electronic Stability Control) warning
light. Both FCA warning light and
warning message will disappear once the
ESC warning light issue is resolved.
WARNING
• FCA is only a supplemental system
for the driver's convenience. The
driver should hold the responsibility
to control the vehicle operation. Do
not solely depend on FCA system.
Rather, maintain a safe braking
distance, and, if necessary, depress
the brake pedal to reduce the driving
speed or to stop the vehicle.
• In certain instances and under
certain driving conditions, FCA
system may activate unintentionally.
This initial warning message appears
on the LCD display with a warning chime.
Also due to sensing limitations, in
certain situations, the front radar
sensor or camera recognition
system may not detect the vehicle,
pedestrian or cyclist (if equipped)
ahead. FCA system may not activate
and the warning message may not be
displayed.
• Even if there is any problem with
the brake control function of FCA
system, the vehicle’s basic braking
performance will operate normally.
However, brake control function for
avoiding collision will not activate.

While Driving
6-58
•
If the vehicle in front stops suddenly,
you may have less control of the
brake system. Therefore, always keep
a safe distance between your vehicle
and the vehicle in front of you.
• FCA system may activate during
braking and the vehicle may stop suddenly shifting loose objects
toward the passengers. Always keep
loose objects secured and fasten the
seat belt.
• FCA system may not activate if the
driver applies the brake pedal to
avoid collision.
• The brake control may be
insufficient, possibly causing a
collision, if a vehicle in front abruptly
stops. Always pay extreme caution.
• Occupants may get injured, if
the vehicle abruptly stops by the
activated FCA system. Pay extreme caution.
• FCA system operates only when the
system detect vehicles, pedestrian or
cyclist in front of the vehicle.
• FCA system may not activate
according to road conditions,
inclement weather, driving
conditions or traffic conditions.
• FCA system may not work for all
vehicles, passengers or cyclists.
WARNING
• FCA system does not operate when
the vehicle is in reverse.
• FCA system is not designed to detect
other objects on the road such as animals.
• FCA system does not detect vehicles
in the opposite lane.
• FCA system does not detect cross
traffic vehicles that are approaching.
• FCA system cannot detect vehicles
that are stopped vertically to your
vehicle at a intersection or dead end
street.
• FCA system cannot detect the cross
traffic cyclist that are approaching.
In these cases, you must maintain a
safe braking distance, and if necessary,
depress the brake pedal to reduce the
driving speed in order to maintain a
safe distance or to stop the vehicle.
Limitations of the System
Forward Collision avoidance assist
system is designed to monitor the
vehicle ahead or a pedestrian or cyclist
in the roadway through radar signals
and camera recognition to warn the
driver that a collision is imminent, and if
necessary, apply emergency braking.
In certain situations, the radar sensor
or the camera may not be able to
detect the vehicle, pedestrian or cyclist
ahead. In these cases, FCA system may
not operate normally. The driver must
pay careful attention in the following
situations where FCA operation may be
limited.

06
6-59
Detecting vehicle, pedestrian and
cyclist
The sensor may be limited when: •
The system may not operate for 15
seconds after the vehicle is started or
the camera is initialized
• The radar sensor or camera is covered
with a foreign object or debris
• The camera lens is contaminated due
to tinted, filmed or coated windshield,
damaged glass, or stuck of foreign
matter (sticker, bug, etc.) on the glass
• Inclement weather such as heavy rain
or snow obscures the field of view of
the radar sensor or camera
• There is interference by
electromagnetic waves
• There is severe irregular reflection
from the radar sensor
• The radar/camera sensor recognition
is limited
• The vehicle in front is too small to be
detected (for example a motorcycle
etc.)
• The vehicle in front is an oversize
vehicle or trailer that is too big to be
detected by the camera recognition
system (for example a tractor trailer,
etc.)
• The camera’s field of view is not well
illuminated (either too dark or too
much reflection or too much backlight
that obscures the field of view)
• The vehicle in front does not have
their rear lights or their rear lights
does not turned ON or their rear lights
are located unusually
• The outside brightness changes
suddenly, for example when entering
or exiting a tunnel
• 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 or head light of oncoming
vehicle
• The windshield glass is fogged up; a
clear view of the road is obstructed
• The vehicle in front is driving
erratically
• The vehicle is on unpaved or uneven
rough surfaces, or road with sudden
gradient changes
• The vehicle is driven near areas
containing metal substances as a
construction zone, railroad, etc.
• The vehicle drives inside a building,
such as a basement parking lot
• The camera does not recognize the
entire vehicle in front
• The camera is damaged
• The brightness outside is too low such
as when the headlamps are not on at
night or the vehicle is going through a tunnel
• The shadow is on the road by a
median strip, trees, etc.
• The vehicle drives through a tollgate
• The windshield glass is fogged up; a
clear view of the road is obstructed
• The rear part of the vehicle in front is
not normally visible (the vehicle turns
in other direction or the vehicle is
overturned.)
• The adverse road conditions cause
excessive vehicle vibrations while driving
• The sensor recognition changes
suddenly when passing over a speed bump
• The vehicle in front is moving
vertically to the driving direction
• The vehicle in front is stopped
vertically
• The vehicle in front is driving towards
your vehicle or reversing
• You are on a roundabout and the
vehicle in front circles