LKAS system is composed of LKAS control unit, ACC unit, LKAS camera and LKAS control unit and ACC unit are sending and receiving a dater by the other control system inter-unit and the multiplex-communication system which used F-CAN (Between LKAS control unit and LKAS camera, special CAN communicates).

If there is a communication malfunction between the system which is related with ACC sysytem, LKAS system does not do LKAS contol and ACC system even if it is normal. Other system indicator and the LKAS indicator comes on.