Environmental conditions

1. There is little contrast between lane lines and the roadway surface.
2. Driving in bad weather (rain, fog, snow, etc.).
3. Driving on a snowy or wet roadway.
4. Driving into low sunlight (e.g., at dawn or dusk).
5. Shadows of adjacent objects (trees, buildings, guard rails, vehicles, etc.) are parallel to white (or yellow) lines.
6. Sudden changes between light and dark, such as the entrance or exit of a tunnel or the shadows of trees, buildings, etc.
7. Strong light is reflected onto the roadway.
8. Driving at night or in a dark place such as a tunnel (due to low-light conditions, lane lines, the road surface, or oncoming vehicles may not be illuminated).
9. The distance between your vehicle and the vehicle ahead of you is too short, and lane lines and the road surface are not visible.
10. The outer edge of the road is bordered by objects, materials, etc. other than grass or gravel.

Roadway conditions

1. Driving on a road with temporary lane markings.
2. Faint, multiple, or varied lane markings are visible on the roadway due to road repairs or old lane markings.
3. The roadway has merging, split, or crossing lines, such as at an intersection or crosswalk.
4. The lane markings are extremely narrow, wide, or changing.
5. Part of the lane markings are hidden by an object, such as a vehicle.
6. The road is hilly or the vehicle is approaching the crest of a hill.
7. Your vehicle is strongly shaken on uneven road surfaces.
8. When objects on the road (curb, guard rail, pylons, etc.) are recognized as white (or yellow) lines.
9. Driving on rough or unpaved roads, or over bumpy surfaces.
10. Driving on roads with double lane lines.
11. Driving on snowy or slippery roads.
12. Passing through an exit or an intersection.
13. The pavement is only partially visible due to snow or puddles on the road.
14. Driving on unpaved or rutted roads.
15. White (or yellow) lines are not recognized correctly due to road conditions such as curves, twists, or hills.

Vehicle conditions

1. When lighting is weak due to dirt covering the headlight lenses, or there is poor visibility in a dark place due to the headlights being improperly adjusted.
2. The front of the camera is covered by dirt, fog, rain, mud, wet snow, accessories, stickers, or film on the windshield.
3. Driving at night or in a dark place (e.g., a tunnel) with the headlights off.
4. When the driver operates the brake pedal and steering wheel.
5. There is residue on the windshield from the windshield wipers.
6. The inside of the windshield is fogged.
7. An abnormal tire or wheel condition (incorrect sizes, varied sizes or construction, improperly inflated, compact spare tire, etc.).
8. The vehicle is tilted due to heavy load in the cargo area or rear seats.
9. The suspension has been modified.
10. Tire chains* are installed.
11. The vehicle is towing a trailer.

Examples of limitations on detection due to the condition of oncoming vehicles

1. The oncoming vehicle or vehicle ahead of you is sideways.
2. The oncoming vehicle jumps out in front of you.
3. When the oncoming vehicle blends in with the background, preventing the system from recognizing it.
4. The headlights of an oncoming vehicle are lit on one side or not lit on either side in a dark place.
5. The distance between your vehicle and the oncoming vehicle is too short.
6. Part of the oncoming vehicle is not visible due to the vehicle ahead of you.
7. There are multiple oncoming lanes or turning lanes.
8. The vehicle in the adjacent lane is parked or moving at an extremely slow speed.
9. When the oncoming vehicle is specially-shaped.
10. When the camera cannot correctly identify the shape of the oncoming vehicle.

With little chance of a collision

The Road Departure Mitigation system may activate in the below conditions.

1. When driving through curves, your vehicle comes to a point where an oncoming vehicle is right in front of you.