This EPS system is added to the LKAS. When the LKAS related problem is detected, LKAS indicator (orange) will come on. However, when the EPS control is failed while the LKAS control is activated, LKAS indicator (orange) will also come on. In this case, EPS indicator will not come on, but the EPS control unit memorizes the DTC. If LKAS indicator (orange) comes on, it deactivates the LKAS control. The power assist works as an usual after deactivating LKAS, but it may stop the power assist depending on the detected malfunction.