Land Rover Discovery Owners & Service Manuals

Land Rover Discovery: Closing Vehicle Sensing

The closing vehicle sensing system operates in the same principle as blindspot monitoring however; close vehicle sensing will monitor a larger area extending from the back of the of the blindspot monitoring zone, to approximately 70 metres behind the rear wheels, and up to 2.5 metres from the side of the vehicle.


This is to alert the driver to the presence of rapidly approaching vehicle beyond the blindspot.

When a vehicle is detected by the system, the following LED lighting sequence will occur:

  • Amber alert Light Emitting Diode (LED) icon flashing - System operational, potential hazard.

Closing Vehicle Sensing

  1. Warning Alert Icon



  1. Warning Alert Icon
  2. System Status Warning Indicator
  3. Rear View Camera (RVC) Screen
  4. Parking Aid Screen

The Rear View Camera (RVC) and parking aid screen will also show a warning on the relevant side or sides of which a vehicle is approaching on.

The Reverse Traffic Detection (RTD) system will automatically disable if any of the radars become partially or completely obscured. The amber warning indicator dot will illuminate in the exterior mirrors and the message 'Reverse Traffic Sensor Blocked' appears in the message center.


The Lane Departure Warning (LDW) system continuously monitors the vehicle's position relative to the road markings. If the vehicle drifts from the centre of the lane, and the system does not detect an obvious lane change manoeuvre or use of the direction indicators, the vibration alert is triggered.

The alert is reinforced by a graphical warning, displayed in the Instrument Cluster (IC), which is used to inform the driver when the vehicle is tracking left or right of the lane markers.


  1. Instrument Cluster (IC) or Head Up Display (HUD) Graphical Warning
  2. Steering Wheel Feedback
  3. Image Processor Control Module (IPCM) Surveillance

Lane detection is determined by processing the forward looking camera's image data, within the Image Processing Control Module (IPCM), and making measurements against the road lane markers. Examples of lane markers are solid, broken, white or yellow. Vehicle velocity and yaw rate signals are used for lane detection corrections.

The decision to warn the driver is based on processed image data from the forward looking cameras, and key driver inputs such as direction indicator switch, brake pressure, accelerator position and steering wheel angle.

Lane tracking is only possible when lane markers are clearly visible, vehicle speed is above 37 mph (60 km/h) and below 93 mph (150 km/h). The system is deactivated below 37 mph (60 km/h) to avoid interference in urban conditions.

The Lane Departure Warning (LDW) is triggered when the vehicle is tracking, and the system detects that the driver is leaving the lane unintentionally. The system measures the time or distance to the lane crossing threshold to determine when to warn the driver. This measurement is based on the outer edge of the front left/right tyre to the inner edge of the left/right lane marker.

The driver can adjust the system's sensitivity between two levels (high or normal), or can turn the system off completely. The sensitivity of the warning system is adjusted via the Instrument Cluster (IC) menu.

When set at normal sensitivity, the system suppresses any warnings, if driver intervention is detected via the signals listed below:

  • Accelerator pedal movement.
  • Significant steering wheel angle change.
  • Brake pressure.
  • Direction indicator activation.

When set at high sensitivity, the system will not suppress any warnings when intervention is detected, unless the appropriate direction indicator is activated.

The following limitations apply to Lane Departure Warning (LDW):

  • The lane in use must be wider than 2.5 m (8.2 ft).
  • No warning is given if the correct direction indicator is active.
  • Not active in off-road conditions.
  • Not available when the sand or mud-ruts, Terrain Response programs are selected.

The performance of the Lane Departure Warning (LDW) system may also be affected in the following conditions:

  • During adverse driving conditions, if the camera has impaired vision, for example heavy fog, rain, snow, soiled windscreen etc.
  • Worn, damaged or temporary lane markings, for example road works, etc.
  • Tight deviations of the roads and their gradients.
  • Driving towards very bright lights/lamps, in direct sunlight etc.
  • Driving very close to another vehicle.

In the event of a system fault, the feature is suppressed until the fault is rectified. The driver is informed via an Instrument Cluster (IC) text message and warning symbol.


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