I got a code that said leave the road. What does that mean?

Not a code but a message: The information below is from page 119 in the OWNERS MANUAL: Road Departure Mitigation (RDM)* Alerts and helps to assist you if the system determines a possibility of your vehicle unintentionally crossing over detected lane markings while driving between 45–90 mph (72–145 km/h). If your vehicle is getting too close to detected lane markings without a turn signal activated, a message appears in the MID. Steering wheel torque and vibrations are applied to help your vehicle stay in the lane. Braking may also be applied if the lane lines are solid and continuous. If the system operates several times without detecting driver response, the system beeps to alert you. Turning the System On or Off Press the rDM button to turn the system on or off. A green indicator appears on the button when the system is on.