Recently I've noticed a message appearing that says "Road Departure Mitigation Activated". Previously, I only saw "Lane Departure" when I got too close to the lane marking. According to the manual, this message comes on only when in Narrow mode which is what I changed to so I didn't get Lane Departure warnings too frequently. I read the manual but I really don't understand this message and why it only applies when Narrow mode is selected. It also wasn't clear to me whether Narrow or Wide mode allows for a wider range before getting the warning and a little experimenting convinced me that Narrow mode is what I wanted. Anyone care to elaborate? Thanks!