Lexus RX500h (2024 year). Manual in english - page 8

250

4-5. Using the driving support systems

• Roads with changes in grade, such as 

sudden inclines or declines

• Roads which is sloped to the left or right

• Roads with deep ruts

• Roads which are rough and unmain-

tained

• Roads which frequently undulate or are 

bumpy

●

When the steering wheel is being oper-

ated frequently or suddenly

●

When the vehicle is not in a constant 

position within a lane

●

When parts related to this system, the 

brakes, etc. are cold or extremely hot, 

wet, etc.

●

When the wheels are misaligned

●

When driving on slick road surfaces, such 

as when it is covered with ice, snow, 

gravel, etc.

●

When the course of the vehicle differs 

from the shape of a curve

●

When the vehicle speed is excessively 

high when entering a curve

●

When entering/exiting a parking lot, 

garage, car elevator, etc.

●

When driving in a parking lot

●

When driving through an area where 

there are obstructions which may contact 

your vehicle, such as tall grass, tree 

branches, a curtain, etc.

●

When driving in strong wind

■

Situations in which the lane may not be 

detected

●

When the lane is extremely wide or nar-

row

●

Immediately after changing lanes or 

passing through an intersection

●

When driving in a temporary lane or lane 

regulated by construction

●

When there are structures, patterns, 

shadows which are similar to lane lines in 

the surrounding

●

When there are multiple white lines for a 

lane line

●

When the lane lines are not clear or driv-

ing on a wet road surface

●

When a lane line is on a curb

●

When driving on a bright, reflective road 

surface, such as concrete

■

Situations in which some or all of the 

functions of the system cannot operate

●

When a malfunction is detected in this 

system or a related system, such as the 

brakes, steering, etc.

●

When the VSC, TRAC, or other safety 

related system is operating

●

When the VSC, TRAC, or other safety 

related system is off

■

Changes in brake operation sound and 

pedal response

●

When the brakes have been operated, 

brake operation sounds may be heard 

and the brake pedal response may 

change, but this does not indicate a mal-

function.

●

When the system is operating, the brake 

pedal may feel stiffer than expected or 

sink. In either situation the brake pedal 

can be depressed further. Further 

depress the brake pedal as necessary.

■

Situations in which the driver monitor 

may not operate properly (if equipped)

In situations such as the following, the driver 

monitor camera may not be able to detect 

the driver’s face, and the function may not 

operate properly.

●

When the inside of the vehicle is hot, such 

as after the vehicle has been parked in 

the sun

●

When a very bright light, such as the sun 

or the headlights of following vehicle, 

shines onto the driver monitor camera

●

When the brightness inside the vehicle 

changes frequently due to the shadows of 

surrounding structures, etc.

●

When a very bright light, such as the sun 

or the headlights of an oncoming vehicle, 

is shining onto the driver’s face

●

When light, either inside or outside of the 

vehicle, is being reflected from the lenses 

of eyeglasses or sunglasses

●

When there are multiple faces in the 

detection range of the driver monitor 

251

4-5. Using the driving support systems

4

Driving

camera, such as when a front or rear pas-

senger is leaning toward the driver’s seat

●

When the driver’s face is outside of the 

detection range of the driver monitor 

camera, such as when leaned forward or 

when their head is outside of the window

●

When the driver monitor camera is being 

blocked by the steering wheel, a hand 

holding the steering wheel, an arm, etc.

●

When the driver is wearing a hat

●

When the driver is wearing an eyepatch

●

When the driver is wearing eyeglasses or 

sunglasses that do not easily transmit 

infrared rays

●

When the driver is wearing contact 

lenses

●

When the driver is wearing a face mask

●

When the driver is laughing or their eyes 

are only slightly open

●

When the driver’s eyes, nose, mouth, or 

shape of their face is blocked

●

When the driver is wearing makeup 

which makes it difficult to detect their 

eyes, nose, mouth, or shape of their face

●

When the driver’s eyes are blocked by 

the frame of eyeglasses, sunglasses, hair, 

etc.

●

When there is a device inside the vehicle 

that radiates near infrared rays, such as a 

non-genuine driver monitoring system.

*

: If equipped

During controlled driving, the driver 
monitor camera detects the position 
and direction the driver is facing, and 
whether their eyes are opened or 
closed. Through this, the system deter-
mines if the driver is checking their sur-
roundings and if the driver can perform 
driving operations.

■

Warning function

In situations such as the following, a 
buzzer will sound and a message will 
be displayed to warn the driver.



When the system determines that 
the driver is not paying attention to 
the road or their eyes are closed



When the driver’s face cannot be 
detected or the system determines 
that the driver has poor driving pos-
ture

■

Face identification

The driver monitor is used as a device 
to identify faces in order to identify an 
individual.

Driver monitor

*

Basic functions

252

4-5. Using the driving support systems

For information about how to use the 
face identification function, priorities 
among other devices of individual 
identification, and linked vehicle set-
tings, see “My Settings”. (



P.174)

■

Warning function

These functions may not operate when the 

vehicle speed is low.

■

Face identification

Face identification starts when the door is 

opened then closed.
In face identification, facial traits are digi-

tized and stored in a built-in computer, to be 

used for identification in My Settings.

●

Face image or video are not stored. Voice 

is not stored either.

●

Digitized face information is not used for 

any purpose other than identification in 

My Settings. Additionally, face informa-

tion cannot be decoded and will not be 

disclosed or provided to a third party.

●

Face information can be deleted by your-

self.

●

For the handling of face information, 

please consent to the following before 

using it:

• Face identification does not guarantee a 

complete identity authentication, colla-

tion, or identification.

• When face information registration fails 

frequently or face identification fails fre-

quently, the driver cameras should be 

cleaned or face information should be 

registered again.

• Face information stored in the vehicle 

computer cannot be decoded or moved 

to another media. Therefore, it is neces-

sary to register face information again 

once it is deleted or relevant parts are 

replaced.

• Once deleted, face information cannot 

be restored. It is necessary to register 

face information again.

■

Situations where face identification may 

not be performed correctly

This system is designed for use to identify 

facial traits. In the following situations, face 

information may not be able to be regis-

tered or identified correctly:

●

When a part of the driver’s face (eye-

brows, eyes, nose, or mouth) is not visible

●

When the driver is wearing glasses/sun 

glasses, a face mask, muffler, etc.

●

When the driver is not facing front

●

When part of driver’s face is covered with 

hair, beard, a hand, clothes, jewelry, etc.

●

When the driver is closing eyes

●

When a non-registered driver is a twin, 

etc. with a registered driver, whose face 

looks quite alike with each other

■

Situations in which the driver monitor 

may not operate properly



P.250

The settings of Driver monitor can be 
changed through customize settings. 
(



P.585)

WARNING

■

For safe use

●

The driver monitor is not designed to 

prevent the driver from driving care-

lessly or having a poor driving posture. 

Pay careful attention to the surround-

ing conditions in order to ensure safe 

driving.

●

The driver monitor cannot reduce 

drowsiness. If you feel unable to con-

centrate or drowsy, take a break and 

sleep as necessary in order to ensure 

safe driving.

Changing Driver monitor set-
tings

253

4-5. Using the driving support systems

4

Driving

The system can detect the following as 
detectable objects. (Detectable 
objects differ depending on the func-
tion.)



Vehicles



Bicycles

*



Pedestrians



Motorcycles

*



Walls

*

: Detected as a detectable object only 

when being ridden.

■

Pre-collision warning

When the system determines that the 
possibility of a collision is high, a buzzer 
will sound and an icon and warning 
message will be displayed on the 
multi-information display to urge the 
driver to take evasive action.

PCS (Pre-Collision System)

The pre-collision system uses sen-
sors to detect objects (



P.253) in 

the path of the vehicle. When the 
system determines that the possi-
bility of a frontal collision with a 
detectable object is high, a warning 
operates to urge the driver to take 
evasive action and the potential 
brake pressure is increased to help 
the driver avoid the collision. If the 
system determines that the possi-
bility of a collision is extremely high, 
the brakes are automatically 
applied to help avoid the collision or 
help reduce the impact of the colli-
sion.

The pre-collision system can be dis-
abled/enabled and the warning tim-
ing can be changed. (



P.262)

WARNING

■

For safe use

●

Driving safely is solely the responsibil-

ity of the driver. Pay careful attention to 

the surrounding conditions in order to 

ensure safe driving.

Never use the pre-collision system in 

place of normal braking operations. This 

system cannot help avoid or reduce the 

impact of a collision in every situation. 

Over-reliance on this system to drive the 

vehicle safely may lead to an accident 

resulting in death or serious injury.

●

Although the pre-collision system is 

designed to help avoid or help reduce 

the impact of a collision, its effective-

ness may change according to various 

conditions. Therefore, it may not 

always be able to achieve the same 

level of performance.

Read the following items carefully. Do 

not overly rely on this system and 

always drive carefully.

●

For safe use: 



P.244

■

When to disable the pre-collision sys-

tem

●

When it is necessary to disable the sys-

tem: 



P.244

Detectable objects

System functions

254

4-5. Using the driving support systems

If the detectable object is a vehicle, 
moderate braking will be performed 
with the warning.

If the system determines that the accel-
erator pedal is strongly depressed, the 
following icon and message will be dis-
played on the multi-information dis-
play.

■

Pre-collision brake assist

If the system determines that the possi-
bility of a collision is high and the brake 
operation by the driver is insufficient, 
the braking power will be increased.

■

Pre-collision brake control

If the system determines that the possi-
bility of a collision is extremely high, the 
brakes are automatically applied to 
help avoid the collision or reduce the 
impact of the collision.

■

Emergency steering assist

If the system determines that the fol-

lowing conditions are met, assistance 
will be provided to help enhance vehi-
cle stability and prevent lane depar-
ture. During assistance, in addition to 
the pre-collision warning, the following 
icon will be displayed on the 
multi-information display.



The possibility of a collision is high



There is sufficient space within the 
lane to perform evasive steering 
maneuvers



The driver is operating the steering 
wheel

Vehicles with active steering function: 
The brakes and steering are controlled 
to help avoid a collision or reduce the 
impact of a collision, regardless of the 
evasive steering maneuvers performed 
by the driver.
During assistance, the pre-collision 
warning will operate and a message 
will be displayed to warn the driver.

■

Intersection collision avoidance 
support (left/right turn)

In situations such as the following, if the 
system determines that the possibility 
of a collision is high, the pre-collision 
warning and pre-collision braking will 
operate.

255

4-5. Using the driving support systems

4

Driving

Depending on the intersection, assis-
tance may not operate correctly.



When turning left/right at an inter-
section and crossing the path of an 
oncoming vehicle



When turning left/right and a 
pedestrian or bicycle is detected

■

Intersection collision avoidance 
support (crossing vehicles)

At an intersection, etc., if the system 
determines that the possibility of a col-
lision with an approaching vehicle or 
motorcycle is high, the pre-collision 
warning and pre-collision braking will 
operate.
Depending on the intersection, assis-
tance may not operate correctly.

■

Acceleration Suppression at Low 
Speed

When driving at a low speed, if the 
accelerator pedal is strongly 
depressed and the system determines 
that there is a possibility of a collision, 
hybrid system output will be restrained 
or the brakes will be applied weakly to 
restrict acceleration. During operation, 
a buzzer will sound and a warning indi-
cator and message will be displayed on 
the multi-information display.

■

Suspension control (if equipped)

When the system determines that the 
possibility of a collision is high, the 
Adaptive Variable Suspension system 
(



P.386) controls the damping force 

of the shock absorbers to help maintain 
an appropriate vehicle posture.

256

4-5. Using the driving support systems

■

Operating conditions of each function of the pre-collision system

The pre-collision system is enabled and the system determines that the possibility of a frontal 

collision with a detected object is high.
However, the system will not operate in the following situations:

WARNING

■

Pre-collision braking

●

When the pre-collision braking func-

tion is operating, a large amount of 

braking force will be applied.

●

The pre-collision braking function is 

not designed to hold the vehicle 

stopped. If the vehicle is stopped by 

pre-collision brake control, the driver 

should operate the brakes immedi-

ately as necessary.

●

The pre-collision braking function may 

not operate if certain operations are 

performed by the driver. If the acceler-

ator pedal is being depressed strongly 

or the steering wheel is being turned, 

the system may determine that the 

driver is taking evasive action and pos-

sibly prevent the pre-collision braking 

function from operating.

●

If the brake pedal is being depressed, 

the system may determine that the 

driver is taking evasive action and pos-

sibly delay the operation timing of the 

pre-collision brake control.

■

Acceleration Suppression at Low 

Speed

If the steering wheel is being turned, the 

system may determine that the driver is 

taking evasive action and possibly pre-

vent the Acceleration Suppression at 

Low Speed function from operating or 

possibly causing its operation to be can-

celed.

■

Emergency steering assist

●

The emergency steering assist will be 

canceled when the system determines 

that lane departure prevention control 

has completed.

●

Depending on operations performed 

by the driver, emergency steering 

assist may not operate or operation 

may be canceled.

• If the accelerator pedal is depressed 

strongly, the steering wheel is turned 

heavily, the brake pedal is depressed, 

or the turn signal lever is operated, the 

system may determine that the driver 

is taking evasive action and the emer-

gency steering assist may not operate.

• While the emergency steering assist is 

operating, if the accelerator pedal is 

depressed strongly, the steering wheel 

is turned heavily, or the brake pedal is 

depressed, the system may determine 

that the driver is taking evasive action 

and emergency steering assist opera-

tion may be canceled.

• While the emergency steering assist is 

operating, if the steering wheel is held 

or turned in the opposite direction of 

system operation, emergency steer-

ing assist operation will be canceled.

257

4-5. Using the driving support systems

4

Driving

●

When the vehicle has not been driven a certain amount after a terminal of the 12-volt bat-

tery has been disconnected and reconnected

●

When the shift position is in R

●

When the VSC OFF indicator is illuminated (only the pre-collision warning function will 

be operational)

The following are the operational speeds and cancelation conditions of each function:

●

Pre-collision warning

While the pre-collision warning is operating, if the steering wheel is operated heavily or sud-

denly, the pre-collision warning may be cancelled.

●

Pre-collision brake assist

●

Pre-collision braking

Detectable objects

Vehicle speed

Relative speed between your 

vehicle and object

Preceding vehicles, stopped 
vehicles

Approximately 3 to 110 mph 
(5 to 180 km/h)

Approximately 3 to 110 mph 
(5 to 180 km/h)

Oncoming vehicles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 50 to 130 
mph (80 to 220 km/h)

Bicycles

Approximately 3 to 50 mph 
(5 to 80 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Pedestrians

Approximately 3 to 50 mph 
(5 to 80 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Preceding motorcycles, 
stopped motorcycles

Approximately 3 to 110 mph 
(5 to 180 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Oncoming motorcycles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 20 to 110 
mph (30 to 180 km/h)

Detectable objects

Vehicle speed

Relative speed between your 

vehicle and object

Preceding vehicles, stopped 
vehicles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 7 to 110 mph 

(10 to 180 km/h)

Bicycles

Approximately 20 to 50 
mph (30 to 80 km/h)

Approximately 20 to 50 
mph (30 to 80 km/h)

Pedestrians

Approximately 20 to 50 
mph (30 to 80 km/h)

Approximately 20 to 50 
mph (30 to 80 km/h)

Preceding motorcycles, 
stopped motorcycles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 7 to 50 mph 
(10 to 80 km/h)

258

4-5. Using the driving support systems

If either of the following occur while the pre-collision braking function is operating, it will be 

canceled:
• The accelerator pedal is strongly depressed
• The steering wheel is operated heavily or suddenly

●

Emergency steering assist

The emergency steering assist will not operate when the turn signal lights are flashing.

*

: Minimum vehicle speed: Vehicle speed at which evasion using pre-collision brake con-

trol is difficult

While the emergency steering assist is operating, if any of the following are performed, 

emergency steering assist operation may be cancelled:
• The accelerator pedal is strongly depressed
• The steering wheel is operated heavily or suddenly
• The brake pedal is depressed

●

Intersection collision avoidance support (left/right turn)

The intersection collision avoidance support (for left/right turning vehicles) will not operate 

when the turn signal lights are not flashing.

Detectable objects

Vehicle speed

Relative speed between your 

vehicle and object

Preceding vehicles, stopped 
vehicles

Approximately 3 to 110 mph 
(5 to 180 km/h)

Approximately 3 to 110 mph 
(5 to 180 km/h)

Oncoming vehicles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 50 to 130 
mph (80 to 220 km/h)

Bicycles

Approximately 3 to 50 mph 
(5 to 80 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Pedestrians

Approximately 3 to 50 mph 
(5 to 80 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Preceding motorcycles, 
stopped motorcycles

Approximately 3 to 110 mph 
(5 to 180 km/h)

Approximately 3 to 50 mph 
(5 to 80 km/h)

Oncoming motorcycles

Approximately 20 to 110 
mph (30 to 180 km/h)

Approximately 20 to 110 
mph (30 to 180 km/h)

Detectable objects

Vehicle speed

Relative speed between your 

vehicle and object

Preceding vehicles, stopped 
vehicles, bicycles, pedestri-
ans, motorcycles

Approximately 25 to 50 
mph (40 to 80 km/h)

Active steering function: 

*

 to 

50 mph (

*

 to 80 km/h)

Approximately 25 to 50 
mph (40 to 80 km/h)

Active steering function: 

*

 to 

50 mph (

*

 to 80 km/h)

259

4-5. Using the driving support systems

4

Driving

●

Intersection collision avoidance support (crossing vehicles)



Vehicles without front side radars



Vehicles with front side radars

When driving at approximately 29 mph (40 km/h) or more, this system will only operate 

when the speed of the other vehicle is approximately 29 mph (40 km/h) or less.
The system operates only when the crossing vehicle speed is same as or less than the vehi-

cle speed.

●

Acceleration Suppression at Low Speed

The Acceleration Suppression at Low Speed function will not operate when the turn signal 

Detectable objects

Vehicle speed

Oncoming vehicle 
speed

Relative speed 
between your vehi-
cle and object

Oncoming vehicles

Approximately 3 to 
25 mph (5 to 40 
km/h)

Approximately 3 to 
45 mph (5 to 75 
km/h)

Approximately 7 to 
70 mph (10 to 115 
km/h)

Pedestrians

Approximately 3 to 
20 mph (5 to 30 
km/h)



Approximately 3 to 

25 mph (5 to 40 

km/h)

Bicycles

Approximately 3 to 
20 mph (5 to 30 
km/h)



Approximately 3 to 

30 mph (5 to 50 

km/h)

Oncoming motorcy-
cles

Approximately 3 to 
25 mph (5 to 40 
km/h)

Approximately 3 to 
45 mph (5 to 75 
km/h)

Approximately 7 to 

70 mph (10 to 115 

km/h)

Detectable objects

Vehicle speed

Crossing vehicle 
speed

Relative speed 
between your vehicle 
and object

Vehicles, Motorcy-
cles (side)

Approximately 3 to 

38 mph (5 to 60 

km/h)



Your vehicle speed 
or less



Approximately 25 
mph or less (40 
km/h or less)

Approximately 3 to 
38 mph (5 to 60 
km/h)

Detectable objects

Vehicle speed

Crossing vehicle 
speed

Relative speed 
between your vehi-
cle and object

Vehicles, Motorcy-
cles (side)

Approximately 3 to 
38 mph (5 to 60 
km/h)

Approximately 
31mph or less (50 
km/h or less)

Approximately 3 to 
38 mph (5 to 60 
km/h)

260

4-5. Using the driving support systems

lights are flashing.

While the Acceleration Suppression at Low Speed function is operating, if any of the follow-

ing are performed, the low speed sudden acceleration suppression function operation will 

be cancelled:
• The accelerator pedal is released.
• The steering wheel is operated heavily or suddenly

■

Detection of detectable objects

Objects are detected based on their size, 

shape, and movement.
Depending on the ambient brightness, 

movement, posture and direction of a 

detectable object, it may not be detected 

and the system may not operate properly.
The system detects shapes, such as the fol-

lowing, as detectable objects.

■

Situations in which the system may 

operate even though the possibility of a 

collision is not high

●

In certain situations, such as the following, 

the system may determine that the possi-

bility of a collision is high and operate:

• When passing a detectable object

• When changing lanes while overtaking a 

detectable object

• When suddenly approaching a detect-

able object

• When approaching a detectable object 

or other object on the roadside, such as 

guardrails, utility poles, trees, walls, etc.

• When there is a detectable object or 

other object by the roadside at the 

entrance of a curve

• When there are patterns or a painting 

ahead of the vehicle that may be mistaken 

for a detectable object

• When passing a detectable object that is 

changing lanes or turning left/right

• When passing a detectable object which 

is stopped to make a left/right turn

• When a detectable object stops immedi-

ately before entering the path of the vehi-

cle

Detectable objects

Vehicle speed

Relative speed between your 
vehicle and object

Preceding vehicles, stopped 
vehicles, Pedestrians, Bicy-
cles, Wall

Approximately 0 to 9 mph 
(0 to 15 km/h)

Approximately 0 to 9 mph 
(0 to 15 km/h)

261

4-5. Using the driving support systems

4

Driving

• When passing through a location with a 

structure above the road (traffic sign, bill-

board, etc.)

• When approaching an electric toll gate 

barrier, parking lot barrier, or other bar-

rier that opens and closes

• When turning left/right and an oncoming 

vehicle, oncoming motorcycle, pedes-

trian or bicycle crosses in front of the 

vehicle

• When attempting to turn left/right in front 

of an oncoming vehicle, oncoming 

motorcycle, pedestrian or bicycle

• When turning left/right and an oncoming 

vehicle, oncoming motorcycle, pedes-

trian or bicycle stops or changes course 

immediately before entering the path of 

the vehicle

• When turning left/right and an oncoming 

vehicle turns left/right in front of the vehi-

cle

• When the steering wheel is operated 

toward the path of an oncoming vehicle

• When there is an object moving above or 

under the road

■

Situations in which the system may not 

operate properly

●

In certain situations, such as the following, 

a detectable object may not be detected 

by the front sensors, and the system may 

not operate properly:

• When a detectable object is approaching 

your vehicle

• When your vehicle or a detectable object 

is wandering

• When a detectable object makes an 

abrupt maneuver (such as sudden swerv-

ing, acceleration or deceleration)

• When suddenly approaching a detect-

able object

• When the detectable object is near a 

wall, fence, guardrail, manhole cover, 

steel plate on the road surface, or 

another vehicle

• When there is a structure above a detect-

able object

• When part of a detectable object is hid-

den by another object (large luggage, 

umbrella, guardrail, etc.)

• When multiple detectable objects are 

overlapping

• When a bright light, such as the sun, is 

reflecting off of a detectable object

• When a detectable object is white and 

looks extremely bright

• When  the  color  or  brightness of a detect-

able object causes it to blend in with its 

surroundings

• When a detectable object cuts in front of 

or suddenly emerges in front of your 

vehicle

• When approaching a vehicle which is 

diagonal

• If a bicycle is a child sized bicycle, is car-

rying a large load, is carrying an extra 

passenger, is carrying a forward leaning 

rider, or has an unusual shape (bicycles 

equipped with a child seat, tandem bicy-

cles, etc.)

• If a pedestrian or bicycle is shorter than 

approximately 3.2 ft. (1 m) or taller than 

approximately 6.5 ft. (2 m).

• When the silhouette of a pedestrian or 

bicycle is unclear (such as when they are 

wearing a raincoat, long skirt, etc.)

• When a pedestrian is bending forward or 

squatting

• When a pedestrian or bicycle is moving 

at high speed

262

4-5. Using the driving support systems

• When a pedestrian is pushing a stroller, 

wheelchair, bicycle or other vehicle

• When a detectable object blends in with 

the surrounding area, such as when it is 

dim (at dawn or dusk) or dark (at night or 

in a tunnel)

• When the vehicle has not been driven for 

a certain amount of time after the hybrid 

system was started

• While turning left/right or a few seconds 

after turning left/right

• While driving around a curve and a few 

seconds after driving around a curve

• When turning left/right and an oncoming 

vehicle is driving in a lane 3 or more lanes 

from the vehicle

• When turning left/right and the direction 

of the vehicle differs greatly from the 

direction traffic flows in the oncoming 

lane

• When turning left/right, a pedestrian or 

bicycle behind the vehicle comes in front 

of it as if it overtakes the vehicle

• When at an intersection, the approaching 

crossing vehicle is long in overall length, 

such as a large truck, towing trailer, etc.

●

In addition to the preceding, in certain sit-

uations, such as the following, the emer-

gency steering assist may not operate 

properly:

• When a detectable object is too close to 

the vehicle

• When there is insufficient space to per-

form evasive steering maneuvers or an 

obstruction exists in the evasion direction

• When there is an oncoming vehicle

●

In addition to the preceding, in certain sit-

uations, such as the following, walls may 

not be detected as a target object and the 

Acceleration Suppression at Low Speed 

function may not operate properly:

• When scenery behind the wall is visible, 

such as a glass door, grid fence, etc.

• When the wall is slanted or low

• When the wall is narrow, such as a pole, 

etc.

• When the wall is made of plants, such as a 

hedge, etc.

• When the road, etc. is reflected on the 

wall

• When the vehicle is approaching the wall 

at an angle



The pre-collision system can be 
enabled/disabled through a custom-
ize setting. (



P.585)

The system is enabled each time the power 
switch is turned to ON.



When the system is disabled, the 
PCS warning light will illuminate 
and a message will be displayed on 
the multi-information display.



The pre-collision setting can be 
changed on the customize settings. 
(



P.585)



Vehicles with active steering func-
tion: When the pre-collision warn-
ing timing is changed, the 
emergency steering assist timing 
will also be changed. When “Later” 
is selected, the emergency steering 
assist (excluding the active steering 
function) will not operate in most 
cases.

Changing the pre-collision set-
ting

263

4-5. Using the driving support systems

4

Driving



Vehicles with a driver monitor cam-
era: When the system determines 
that the driver is not facing forward, 
the pre-collision warning and emer-
gency steering assist will operate at 
the “Earlier” timing, regardless of 
the user setting.



When the dynamic radar cruise 
control is operating, the pre-colli-
sion warning will operate at the 
“Earlier” timing, regardless of the 
user setting.



Vehicles with Traffic Jam Assist: 
When the Traffic Jam Assist is oper-
ating, the pre-collision warning will 
operate at the “Earlier” timing, 
regardless of the user setting.



When driving on a road with clear 
lane lines with the dynamic radar 
cruise control operating, lane lines 
and preceding and surrounding 
vehicles are detected using the front 
camera and radar sensor, and the 
steering wheel is operated to main-
tain the vehicle’s lane position.

Use the this function only on highways and 
expressways.
If the dynamic radar cruise control is not 
operating, the function will not operate.
In situations where the lane lines are diffi-
cult to see or are not visible, such as when 
in a traffic jam, support will be provided 
using the path of preceding and surround-
ing vehicles.
If the system determines that the steering 
wheel has not been operated for a certain 
amount of time or the steering wheel is not 
being firmly gripped, the driver will be 
alerted and this function will be temporarily 
canceled.
If the steering wheel is firmly gripped, the 
function will begin operating again.

LTA (Lane Tracing Assist)

LTA functions

264

4-5. Using the driving support systems



When the function is operating, if 
the vehicle is likely to depart from its 
lane, the driver will be alerted via a 
display and buzzer.

When the buzzer sounds, check the area 
around the vehicle and carefully operate 
the steering wheel to move the vehicle 
back to the center of the lane.

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA system detects lane lines or the 

path of preceding or surrounding vehi-

WARNING

■

Before using the LTA system

●

Do not overly rely on the LTA system. 

The LTA system is not a system which 

provides automated assistance in driv-

ing and it is not a system which reduces 

the amount of attention necessary for 

safe driving. The driver is solely 

responsible for paying attention to 

their surroundings and operating the 

steering wheel as necessary to ensure 

safety. Also, the driver is responsible 

for taking adequate breaks when 

fatigued, such as when driving for a 

long time.

●

Failure to perform appropriate driving 

operations and pay careful attention 

may lead to an accident.

●

When not using the LTA system, turn it 

off using the LTA switch.

265

4-5. Using the driving support systems

4

Driving

cles.

●

The dynamic radar cruise control is oper-

ating.

●

The lane width is approximately 10 to 13 

ft. (3 to 4 m).

●

The turn signal lever is not being oper-

ated.

●

The vehicle is not being driven around a 

sharp curve.

●

The vehicle is not accelerating or decel-

erating more than a certain amount.

●

The steering wheel is not being turned 

with a large force.

●

The hands off steering wheel warning 

(



P.265) is not operating.

●

The vehicle is being driven in the center 

of a lane.

■

Temporary cancelation of functions

●

When the operating conditions are no 

longer met, a function may be temporar-

ily canceled. However, when the opera-

tion conditions are met again, operation 

of the function will automatically be 

restored. (



P.264)

●

If the operating conditions of a function 

are no longer met while the function is 

operating, a buzzer may sound to indi-

cate that the function has been temporar-

ily canceled.

●

The steering assist operation of the func-

tion can be overridden by the steering 

wheel operation of the driver.

■

Lane departure warning function when 

the LTA is operating

●

Even if the LDA warning method is 

changed to vibration of the steering 

wheel, if the vehicle deviates from the 

lane while the LTA is operating, the warn-

ing buzzer will sound to alert the driver.

●

If steering wheel operation equivalent to 

that necessary for a lane change is 

detected, the system will determine the 

vehicle is not deviating from the lane and 

the warning will not operate.

■

Hands off steering wheel warning oper-

ation

●

When the system determines the driver is 

not holding the steering wheel, a mes-

sage urging the driver to grip the steering 

wheel and the icon shown in the illustra-

tion will be displayed on the multi-infor-

mation display to warn the driver. If the 

system detects that the steering wheel is 

held, the warning will be canceled. When 

using the system, make sure to grip the 

steering wheel firmly, regardless of 

whether the warning is operating or not.

●

If no operations are detected for a certain 

amount of time, the warning will operate 

and the function will be temporarily can-

celed. This warning may also operate if 

the driver only operates steering wheel a 

small amount continuously.

■

Situations in which the hands off steer-

ing wheel warning may not operate 

properly

●

Depending on the condition of the vehi-

cle, handle control condition and road 

surface, the warning function may not 

operate.

●

Vehicles with LCA: In the following situa-

tions, the system may not be able to 

detect when the driver’s hands are off the 

steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the 

steering wheel

• When the driver is gripping the wood 

trim, seam of the leather, spokes, or other 

part of the steering wheel that does not 

have sensors

●

Vehicles with LCA: In the following situa-

tions, the hands off steering wheel warn-

ing may not operate and the LTA function 

may continue operating even though the 

driver’s hands are off the steering wheel:

• When something other than a hand is 

contacting the steering wheel

• When a wide object or arms are held 

266

4-5. Using the driving support systems

across the steering wheel

The LTA will change between 
ON/OFF each time the LTA switch is 
pressed.

When the LTA is ON, the LTA indicator will 
illuminate.



Vehicles without a head-up display



Vehicles with a head-up display

Enabling/disabling the system

WARNING

■

Situations in which the functions may 

not operate properly

In the following situations, the functions 

may not operate properly and the vehicle 

may depart from its lane. Do not overly 

rely on these functions. The driver is 

solely responsible for paying attention to 

their surroundings and operating the 

steering wheel as necessary to ensure 

safety.

●

When a preceding or surrounding 

vehicle changes lanes (Your vehicle 

may follow the preceding or surround-

ing vehicle and also change lanes)

●

When a preceding or surrounding 

vehicle is swaying (Your vehicle may 

sway accordingly and depart from the 

lane)

●

When a preceding or surrounding 

vehicle departs from a lane (Your vehi-

cle may follow the preceding or sur-

rounding vehicle and also depart from 

the lane)

●

When a preceding or surrounding 

vehicle is being driven extremely close 

to the left/right lane line (Your vehicle 

may follow the preceding or surround-

ing vehicle accordingly and depart 

from the lane)

●

When there are moving objects or 

structures in the surrounding area 

(Depending on the position of the 

moving object or structure relative to 

your vehicle, your vehicle may sway)

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby 

vehicles

●

Situations in which the sensors may not 

operate properly: 



P.249

●

Situations in which the lane may not be 

detected: 



P.250

●

When it is necessary to disable the sys-

tem: 



P.244

267

4-5. Using the driving support systems

4

Driving

The operating state of the LTA system is indicated.

Operation display of steering wheel operation support

Indicator

Lane display Steering icon

Situation

White

Grey/White

Grey

LTA is on standby

Green

Green

Green

LTA is operating

Orange

Flashing

Orange

Flashing

Green

The vehicle is departing the lane toward the 
side which the lane display is flashing

268

4-5. Using the driving support systems

*

: If equipped

This function is linked to the LTA and 
provides assistance in performing lane 
changes through steering wheel oper-
ations.

Use the this function only on highways and 
expressways.
The steering assist operation can be over-
ridden by the steering wheel operation of 
the driver.
The lane change assist function is not 
designed to operate when changing lanes 
at a junction.

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA is operating.

●

The lane change assist function is 

enabled by a customize setting.

●

The vehicle speed is between approxi-

mately 55 and 85 mph (90 and 140 

km/h).

●

The system detects a broken white line on 

the side which the lane change is to be 

performed.

●

A vehicle is not detected in the lane 

toward which the turn signal is operated.

●

The steering wheel is not being turned 

with a large force.

●

The hands off steering wheel warning 

(



P.265) is not operating.

■

Cancelation of functions

In the following situations, operation of the 

LCA may be canceled with the display and 

buzzer:

LCA (Lane Change Assist)

*

LCA functions

WARNING

■

Before using the LCA system

●

Do not overly rely on the LCA system.

The LCA system is not a system which 
provides automated assistance in driving 
and it is not a system which reduces the 
need for checking an adjacent lane for 
other vehicles, approaching vehicles, etc. 
when changing lanes. The driver is solely 
responsible for paying attention to their 
surroundings and operating the steering 
wheel as necessary to ensure safety.
Also, do not use the LCA to change 
lanes into which a lane change should 
not be performed (oncoming lanes, road 
shoulders, etc.).

●

Failure to perform appropriate driving 

operations and pay careful attention 

may lead to an accident.

269

4-5. Using the driving support systems

4

Driving

●

When the operating conditions 

(



P.268) are no longer met

●

When the system can no longer detect 

lane lines

●

When the turn signal lever is operated to 

the second position (



P.269)

●

When the turn signal lever is operated in 

the opposite direction of the lane change

●

When the system detects operation of 

the steering wheel, brake pedal or accel-

erator pedal by the driver.

If the system detects that a vehicle is quickly 

approaching in the lane toward which the 

turn signal is operated a buzzer will sound 

and a message will be displayed to alert the 

driver. At the same time the steering wheel 

may be slightly operated to help keep the 

vehicle away from the approaching vehicle.

■

Hands off steering wheel warning oper-

ation

When the system determines the driver is 

not holding the steering wheel, a message 

urging the driver to grip the steering wheel 

and the icon shown in the illustration will be 

displayed on the multi-information display 

to warn the driver. If the system detects that 

the steering wheel is held, the warning will 

be canceled. When using the system, make 

sure to grip the steering wheel firmly, 

regardless of whether the warning is oper-

ating or not.

■

Situations in which the hands off steer-

ing wheel warning may not operate 

properly

●

Depending on the condition of the vehi-

cle, handle control condition and road 

surface, the warning function may not 

operate.

●

In the following situations, the system may 

not be able to detect when the driver’s 

hands are off the steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the 

steering wheel

• When the driver is gripping the wood 

trim, seam of the leather, spokes, or other 

part of the steering wheel that does not 

have sensors

●

In the following situations, the hands off 

steering wheel warning may not operate 

and the LCA function may continue 

operating even though the driver’s hands 

are off the steering wheel:

• When something other than a hand is 

contacting the steering wheel

• When a wide object or arms are held 

across the steering wheel

If the turn signal lever is held in the first 
position, the lane change direction will 
be displayed and the function will oper-
ate.

To change lanes by holding the turn signal 
lever in the first position without using the 
LCA, turn the customize setting of the 
LCA off.

Operating the LCA

270

4-5. Using the driving support systems

1

First position: LCA is operational

2

Second position: LCA is not opera-
tional

LCA can be enabled/disabled through 
a customize setting. (



P.585)

The operating state of the LCA system is indicated.

WARNING

■

Situations in which the LCA should 

not be used

●

When driving on a one lane road

●

When there is no broken white line 

between the current lane and the lane 

to be changed to

Enabling/disabling the system

Displays and system operation

LCA display

Steering icon

Condition

Blue arrow and white line

Green

LCA is operating

Grey

Approaching vehicle detected while LCA is 
operating

Not displayed

Grey

Lane line no longer detected while LCA is 
operating

271

4-5. Using the driving support systems

4

Driving

The LDA system warns the driver if the 
vehicle may deviate from the current 
lane or course

*

, and also can slightly 

operate the steering wheel to help 
avoid deviation from the lane or 
course

*

.

The front camera is used to detect lane 
lines or a course

*

.

*

: Boundary between the asphalt and 

grass, soil, etc., or structures, such as a 
curb, guardrail, etc.

■

Lane departure alert function

When the system determines that the 
vehicle might depart from its lane or 
course

*

, a warning is displayed on a 

display, and either a warning buzzer 
will sound or the steering wheel will 
vibrate to alert the driver.

Check the area around your vehicle and 
carefully operate the steering wheel to 
move the vehicle back to the center of the 
lane or course*.
If the system determines that the vehicle 
may collide with a vehicle in an adjacent 
lane, the lane departure alert will operate 
even if the turn signals are operating.

*

: Boundary between the asphalt and 

grass, soil, etc., or structures, such as a 
curb, guardrail, etc.

■

Lane departure prevention func-
tion

If the system determines that the vehi-
cle is likely to depart from its lane or 
course

*

, it provides assistance through 

steering wheel operations to help 
avoid deviation from the lane or 
course

*

.

If the system determines that the steering 
wheel has not been operated for a certain 
amount of time or the steering wheel is not 
being firmly gripped, a warning message 
may be displayed and a warning buzzer 
may sound to alert the driver.
If the system determines that the vehicle 
may collide with a vehicle in an adjacent 
lane, the lane departure prevention func-
tion will operate even if the turn signals are 
operating.

*

: Boundary between the asphalt and 

grass, soil, etc., or structures, such as a 
curb, guardrail, etc.

LDA (Lane Departure Alert)

Basic functions

272

4-5. Using the driving support systems

■

Break suggestion function

If the vehicle is swaying, a message will 
be displayed and a buzzer will sound to 
urge the driver to take a break.

■

Operating conditions of each function

●

Lane departure alert/prevention function

This function is operable when all of the fol-

lowing conditions are met:

• The vehicle speed is approximately 30 

mph (50 km/h) or more.

Operation may be possible when the vehi-
cle speed is approximately 25 mph (40 
km/h) or more if vehicles, motorcycles, 
bicycles, or pedestrians are detected near 
the lane.
• The system recognizes a lane or course

*

. 

(When recognized on only one side, the 

system will operate only for the recog-

nized side.)

• The lane width is approximately 9.8 ft. (3 

m) or more.

• The turn signal lever is not being oper-

ated.

(Except when a vehicle is detected in the 
direction that the turn signal lever is oper-
ated.)
• The vehicle is not being driven around a 

sharp curve.

• The vehicle is not accelerating or decel-

erating more than a certain amount.

• The steering wheel is not being turned 

sufficiently to perform a lane change.

WARNING

■

Before using the LDA system

●

Do not overly rely on the LDA system. 

The LDA system is not a system which 

provides automated assistance in driv-

ing. However, as it is not a system 

which reduces the amount of attention 

necessary for safe driving. The driver is 

solely responsible for paying attention 

to their surroundings and operating 

the steering wheel as necessary to 

ensure safety. Also, the driver is 

responsible for taking adequate 

breaks when fatigued, such as when 

driving for a long time.

●

Failure to perform appropriate driving 

operations and pay careful attention 

may lead to an accident.

273

4-5. Using the driving support systems

4

Driving

• When the VSC or TRAC system is not 

turned off.

*

: Boundary between the asphalt and 

grass, soil, etc., or structures, such as a 
curb, guardrail, etc.

■

Temporary cancellation of functions

When the operating conditions are no lon-

ger met, a function may be temporarily can-

celed. However, when the operation 

conditions are met again, operation of the 

function will automatically be restored. 

(



P.272)

■

Operation of the lane departure alert 

function/lane departure prevention 

function

●

Depending on the vehicle speed, road 

conditions, lane departure angle, etc., 

operation of the lane departure preven-

tion function may not be felt or the func-

tion may not operate.

●

Depending on the conditions, the warn-

ing buzzer may operate even if vibration 

is selected through a customize setting.

●

If a course

*

 is not clear or straight, the 

lane departure alert function or lane 

departure prevention function may not 

operate.

●

The lane departure alert function or lane 

departure prevention function may not 

operate if the system judges that the vehi-

cle is intentionally being steered to avoid 

a pedestrian or parked vehicle.

●

It may not be possible for the system to 

judge if there is danger of a collision with 

a vehicle in an adjacent lane.

●

Vehicles with a driver monitor camera: 

Depending on the driver condition, the 

lane departure alert function or lane 

departure prevention function changes 

the timing of operation.

●

The steering assist operation of the lane 

departure prevention function can be 

overridden by the steering wheel opera-

tion of the driver.

*

: Boundary between the asphalt and 

grass, soil, etc., or structures, such as a 
curb, guardrail, etc.

■

Hands off steering wheel warning oper-

ation

In the following situations, a message urging 

the driver to operate the steering wheel and 

an icon will be displayed and a buzzer will 

sound to warn the driver. When using the 

system, make sure to grip the steering 

wheel firmly, regardless of whether the 

warning is operating or not.

●

When the system determines that the 

driver is not securely holding the steering 

wheel, or the steering wheel is not being 

operated when the steering assist opera-

tion of the lane departure prevention 

function is operating

Except for Puerto Rico: The length of time 
that the warning buzzer operates will 
become longer as the frequency of the 
steering assist operating increases. If the 
system judges that the steering wheel has 
been operated, the warning buzzer will 
stop.
For Puerto Rico: The length of time that the 
warning buzzer operates will become lon-
ger as the frequency of the steering assist 
operating increases. Even if the system 
judges that the steering wheel has been 
operated, the warning buzzer will sound 
for a certain amount of time.

■

Break suggestion function

This function is operable when all of the fol-

lowing conditions are met:

●

The vehicle speed is approximately 40 
mph (65 km/h) or more.

*1

●

The vehicle speed is approximately 32 
mph (50 km/h) or more.

*2

●

The lane width is approximately 9.8 ft. (3 

m) or more.

274

4-5. Using the driving support systems

Depending on the condition of the vehicle 

and road surface, the break suggestion 

function may not operate.

Vehicles without a head-up display: Press 
the 

 meter control switch to turn off the 

message.

*1

Vehicles with a head-up display: Press the 

 steering switch to turn off the mes-

sage.

*1

Unless 

 or 

 is pressed, the message 

of the break suggestion function will remain 
displayed.

*1

*1

: For Puerto Rico

*3

*2

: Except for Puerto Rico

*3

*3

: The countries and areas for each region 

listed in the table are current as of July 
2023. However, depending on when 
the vehicle was sold, the countries and 
areas of each region may be different. 
Contact your Lexus dealer for details.



The LDA system can be 

enabled/disabled through a custom-
ize setting. (



P.585)



The settings of the LDA can be 
changed on the customize settings. 
(



P.585)

The operating state of the lane departure alert function and steering assist opera-
tion of the lane departure prevention function are indicated.

Changing LDA settings

WARNING

■

Situations in which the system may 

not operate properly

In the following situations, the system 

may not operate properly and the vehicle 

may depart from its lane. Do not overly 

rely on these functions. The driver is 

solely responsible for paying attention to 

their surroundings and operating the 

steering wheel as necessary to ensure 

safety.

●

When the boundary between the 

asphalt and grass, soil, etc., or struc-

tures, such as a curb, guardrail, etc. is 

not clear or straight

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby 

vehicles

●

Situations in which the lane may not be 

detected: 



P.250

●

Situations in which the sensors may not 

operate properly: 



P.249

●

Situations in which some or all of the 

functions of the system cannot oper-

ate: 



P.250

●

When it is necessary to disable the sys-

tem: 



P.244

Displays and system operation

275

4-5. Using the driving support systems

4

Driving



Except for Puerto Rico



For Puerto Rico

Indicator

Lane display Steering icon

Situation

Not illumi-

nated

Not illumi-

nated

Not illumi-

nated

System disabled

White

Grey

Not illumi-

nated

Lane lines are not detected by the system

White

White

Not illumi-

nated

Lane lines are detected by the system

Orange

Flashing

Orange

Flashing

Not illumi-

nated

Lane departure alert function is operating 
for the side which the lane display is flashing

Green

Green

Green

Lane departure prevention function is oper-
ating for the side which the lane display is 
illuminated

Orange

Flashing

Orange

Flashing

Green

Lane departure alert function/lane depar-
ture prevention function is operating for the 
side which the lane display is flashing

Indicator

Lane display Steering icon

Situation

Orange

Illuminated

Not illumi-

nated

Not illumi-

nated

System disabled

Not illumi-

nated

Grey

Not illumi-

nated

Lane lines are not detected by the system

Not illumi-

nated

White

Not illumi-

nated

Lane lines are detected by the system

276

4-5. Using the driving support systems

Orange

Flashing

Orange

Flashing

Not illumi-

nated

Lane departure alert function is operating 
for the side which the lane display is flashing

Green

Green

Green

Lane departure prevention function is oper-
ating for the side which the lane display is 
illuminated

Orange

Flashing

Orange

Flashing

Green

Lane departure alert function/lane depar-
ture prevention function is operating for the 
side which the lane display is flashing

Indicator

Lane display Steering icon

Situation

277

4-5. Using the driving support systems

4

Driving

According to the driving conditions, the operation and detectable objects of the 
proactive driving assist will change as follows.

PDA (Proactive driving 
assist)

When a detectable object 
(



P.277) is detected, the proac-

tive driving assist operates the 
brakes and steering wheel to help 
prevent the vehicle from approach-
ing too close to the object.

WARNING

■

For safe use

Driving safely is solely the responsibility 

of the driver.

●

The proactive driving assist is designed 

to provide some assistance for regular 

braking and steering operations, as 

well as helping to prevent the vehicle 

from approaching too close to a 

detectable object. However, the scope 

of this assistance is limited.

The driver should perform brake and 

steering operations as necessary. Read 

the following items carefully. Do not 

overly rely on the proactive driving assist 

and always drive carefully. (



P.279)

●

The proactive driving assist is not a sys-

tem which reduces the amount of 

attention necessary for safe driving. 

Even if the system is operating cor-

rectly, the surrounding conditions as 

recognized by the driver and detected 

by the system may differ. It is necessary 

for the driver to pay attention, assess 

risks, and ensure safety. Over-reliance 

on this system to drive the vehicle 

safely may lead to an accident result-

ing in death or serious injury.

●

Proactive driving assist is not a system 

which allows for inattentive driving and 

is not a system which assists in poor 

visibility conditions. The driver is solely 

responsible for paying attention to 

their surroundings and driving safely.

■

When turning proactive driving assist 

off

●

Situations in which the sensors may not 

operate properly: 



P.249

●

When it is necessary to disable the sys-

tem: 



P.244

System operating conditions and detectable objects

278

4-5. Using the driving support systems

■

Vehicle speeds at which the system can 

operate

●

Detectable object crossing the road 

assistance

Approximately 20 to 35 mph (30 to 60 

km/h)

●

Detectable object on the side of the road 

assistance

Approximately 20 to 35 mph (30 to 60 
km/h)

●

Preceding vehicle deceleration assis-

Function

Conditions

Operation

Detectable objects

Obstacle Antici-
pation Assist

A detectable object is 
detected crossing the 
road

Assistance with some 
brake operations is pro-
vided in order to reduce 
the possibility of a colli-
sion.



Pedestrians



Bicyclists

A detectable object is 
detected on the side 
of the road

Assistance with some 
brake and steering wheel 
operations are provided 
according to the sur-
rounding conditions to 
help prevent the vehicle 
from approaching too 
close to a detected 
object.
Assistance with steering 
wheel operations is pro-
vided within a range that 
the vehicle will not devi-
ate from its current lane.



Pedestrians



Bicyclists



Parked vehicles

Deceleration 
Assist

A preceding vehicle 
or an adjacent vehicle 
cutting in front of the 
vehicle is detected

The vehicle is gently 
decelerated so that the 
vehicle-to-vehicle dis-
tance will not be exces-
sively short.



Preceding vehicles



Motorcycles

A curve is detected 
ahead of the vehicle

The vehicle is gently 
decelerated if the vehicle 
speed is determined to 
be too high for the curve 
ahead.

None

Steering Assist

Lane is detected

The system anticipates 
the driver’s operation 
and supports the opera-
tion of the steering 
wheel.

None

279

4-5. Using the driving support systems

4

Driving

tance

Approximately 15 mph (20 km/h) or more

●

Curve deceleration assistance

Approximately 15 mph (20 km/h) or more

●

Steering assist within a lane

Approximately 5 to 80 mph (10 to 140 
km/h)

■

System operation will be canceled when

●

In the following situations, system opera-

tion will be canceled:

• When the dynamic radar cruise control 

or cruise control is operating

• When the PCS is off

• Situations in which some or all of the 

functions of the system cannot operate: 



P.250

• When the P, R or N shift position is 

selected

●

In the following situations, the brake 

operation assist will be canceled:

• Approximately 9 mph (15 km/h) or less

• When a certain vehicle speed has been 

reached, as judged by the system, 

according to the surrounding conditions

●

In the following situations, system opera-

tion may be canceled:

• When the brake control or output restric-

tion control of a driving support system 

operates

(For example: PCS, drive-start control)
• When the system determines that a 

detected object has moved away from 

the vehicle

• When lane lines can no longer be 

detected

• When the brake pedal has been 

depressed

• When the accelerator pedal has been 

depressed

• When the steering wheel has been oper-

ated with more than a certain amount of 

force

• When the turn signal lever is operated to 

the left/right turn position

WARNING

■

Situations in which the system may 

not operate properly

●

Situations in which the lane may not be 

detected: 



P.250

●

When a detectable object stops 

immediately before entering the path 

of the vehicle

●

When passing extremely close to a 

detectable object behind a guardrail, 

fence, etc.

●

When changing lanes while overtaking 

a detectable object

●

When passing a detectable object that 

is changing lanes or turning left/right

●

When there are objects (guardrails, 

power poles, trees, walls, fences, poles, 

traffic cones, mailboxes, etc.) in the 

surrounding area

●

When there are patterns or a painting 

ahead of the vehicle that may be mis-

taken for a detectable object

●

When passing through a place with a 

low structure above the road (tunnel 

with a low ceiling, traffic sign, sign-

board, etc.)

●

When driving on snowy, icy, or rutted 

roads

●

When a detectable object is 

approaching your vehicle

●

When your vehicle or a detectable 

object is wandering

●

When the movement of a detectable 

object changes (change in direction, 

sudden acceleration or deceleration, 

etc.)

●

When suddenly approaching a detect-

able object

●

When a preceding vehicle or motor-

cycle is not directly in front of your 

vehicle

280

4-5. Using the driving support systems



The proactive driving assist can be 
enabled/disabled through a custom-
ize setting. (



P.585)



The following settings of the proac-
tive driving assist can be changed 
through customize settings. 
(



P.585)

WARNING

●

When there is a structure above a 

detectable object

●

When part of a detectable object is 

hidden by another object (large lug-

gage, umbrella, guardrail, etc.)

●

When multiple detectable objects are 

overlapping

●

When a bright light, such as the sun or 

headlights of another vehicle, is 

reflecting off of the detectable object

●

When the detectable object is white 

and looks extremely bright

●

When the color or brightness of the 

detectable object causes it to blend in 

with its surroundings

●

When a detectable object cuts in front 

of or emerges from beside a vehicle

●

When approaching a vehicle ahead 

which is perpendicular or at an angle 

to the vehicle, or is facing the vehicle

●

If a parked vehicle is perpendicular or 

at an angle to the vehicle

●

When a bicycle is a child sized bicycle, 

is carrying a large load, is carrying an 

extra passenger, or has an unusual 

shape (bicycles equipped with a child 

seat, tandem bicycles, etc.)

●

When a pedestrian or bicyclist is 

shorter than approximately 3.2 ft. (1 m) 

or taller than approximately 6.5 ft. (2 

m)

●

When the silhouette of a pedestrian or 

bicyclist is unclear (such as when they 

are wearing a raincoat, long skirt, etc.)

●

When a pedestrian or bicyclist is 

bending forward or squatting

●

When a pedestrian or bicyclist is mov-

ing at high speed

●

When a pedestrian is pushing a 

stroller, wheelchair, bicycle or other 

vehicle

●

When a detectable object blends in 

with the surrounding area, such as 

when it is dim (at dawn or dusk) or 

dark (at night, in a tunnel, etc.)

●

When the lane width is 13.1 ft. (4 m) or 

more

●

When the lane width is 8.2 ft. (2.5 m) 

m or less

●

When the vehicle has not been driven 

for a certain amount of time after the 

hybrid system was started

●

While turning left or right or a few sec-

onds after turning left or right

●

While changing lanes or a few seconds 

after changing lanes

●

When entering a curve, driving around 

a curve and a few seconds after driving 

around a curve

Changing proactive driving 
assist settings

281

4-5. Using the driving support systems

4

Driving

Depending on the situation, the following indicators or icons will be displayed.
Some icons cannot be displayed unless the display is changed to the driving safety 
support function information screen.

■

Hands off steering wheel warning oper-

ation

In the following situations, a message urging 

the driver to grip the steering wheel and the 

icon shown in the illustration will be dis-

played on the display to warn the driver. If 

the system detects that the steering wheel is 

held, the warning will be canceled. When 

using the system, make sure to grip the 

steering wheel firmly, regardless of whether 

the warning is operating or not.

●

When assistance to a detectable object 

System operation display

Icon

Meaning



White: Monitoring for detectable objects



Green: Detectable object crossing the road or detectable object on 
the side of the road assistance operating

A pedestrian has been detected as crossing the road or on the side of 
the road and brake or steering assistance is operating

A vehicle has been detected on the side of the road and brake or steer-
ing operation assistance is being performed



Steering operation assistance is being performed to prevent the 
vehicle from approaching too close to a detectable object on the 
side of the road



When the steering assist is operating

Preceding vehicle deceleration assistance is being performed

Warning to maintain appropriate vehicle-to-vehicle distance

Curve deceleration assistance is being performed