Lexus RX500h (2024 year). Manual in english - page 9



The FCTA can be enabled/disabled
through a customize setting.
(



The following settings of the FCTA
can be changed through customize
settings. (



Changing FCTA settings

285

4-5. Using the driving support systems

Driving

: If equipped



When the front camera detects a
sign or information of a sign is avail-
able from the navigation system, the
sign will be displayed on the display.



Multiple signs can be displayed.

Depending on the specifications of the
vehicle, the number of displayed signs may
be limited.

■

Operating conditions of sign display

Signs will be displayed when the following

conditions are met:

●

The system has detected a sign

In the following situations, a displayed sign

may stop being displayed:

●

When a new sign has not been detected

for a certain distance

●

When the system determines that the

road being driven on has changed, such

as after a left or right turn

■

Situations in which the display function

may not operate properly

In the following situations, the RSA system

may not operate properly and may not

detect signs or may display the incorrect

sign. However, this does not indicate a mal-

function.

●

When a sign is dirty, faded, tilted or bent

●

When the contrast of an electronic sign is

low

●

When all or part of a sign is hidden by a

tree, utility pole, etc.

●

When a sign is detected by the front cam-

era for a short amount of time

●

When the driving state (turning, chang-

ing lanes, etc.) is judged incorrectly

●

When a sign is immediately after a free-

way junction or in an adjacent lane just

before merging

●

When stickers are attached to the rear of

a preceding vehicle

●

When a sign similar to a system compati-

ble sign is detected as a system compati-

ble sign

●

When a speed limit sign for a frontage

road is within detection range of the front

camera

●

When driving around a roundabout

●

When a sign intended for trucks, etc. is

detected

RSA (Road Sign Assist)

The RSA system detects specific
road signs using the front camera
and/or navigation system (when
speed limit information is available)
and warns the driver via displays
and buzzers.

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.

●

Do not rely solely upon the RSA. The

RSA assists the driver by providing

road sign information, but it is not a

replacement for the driver’s own vision

and awareness. Driving safely is solely

the responsibility of the driver. Pay

careful attention to the surrounding

conditions in order to ensure safe driv-

ing.

■

Situations in which the RSA should

not be used

●

When it is necessary to disable the sys-

tem:

■

Situations in which the system may

not operate properly

●

Situations in which the sensors may not

operate properly:

P.249

Display Function

286

4-5. Using the driving support systems

●

When the navigation system map data is

out of date

●

When the navigation system cannot be

used

In this case, the speed limit signs displayed

on the multi-information display and navi-

gation system display may differ.

In the following situations, the RSA sys-
tem will output a warning to notify the
driver.



If the vehicle speed exceeds the
speed warning threshold of the
speed limit sign displayed on the
display, the sign display will be
emphasized and a buzzer will
sound.



When the RSA system detects a do
not enter sign and determines that
the vehicle has entered a no-entry
area, the do not enter sign displayed
on the display will flash and a buzzer
will sound.

■

Operating conditions of the notification

functions

●

Excess speed notification function

This function will operate when the follow-

ing condition is met:

• A speed limit road sign is recognized by

the system.

●

No entry notification function

This function will operate when all of the

following conditions are met:

• More than one no entry road signs are

recognized by the system simultaneously.

• The vehicle is passing between no entry

road signs recognized by the system.



The following types of road signs
can be displayed.

However, non-standard or recently intro-
duced traffic signs may not be displayed.



Depending on the specifications of
the vehicle, signs may be displayed
overlapping.

The following settings of the RSA can

Notification function

Types of road signs supported

Speed limit

Do Not Enter

No U-turn

No Turn On Red

Stop

Yield

Warning

Changing RSA settings

287

4-5. Using the driving support systems

Driving

be changed through customize set-
tings. (

Dynamic radar cruise con-
trol

This dynamic radar cruise control
detects the presence of vehicles
ahead, determines the current
vehicle-to-vehicle distance, and
operates to maintain a suitable dis-
tance from the vehicle ahead. The
desired vehicle-to-vehicle distance
can be set by operating the vehi-
cle-to-vehicle distance switch.

Use the dynamic radar cruise con-
trol only on highways and express-
ways.

WARNING

■

For safe use

●

Driving safely is solely the responsibil-

ity of the driver. Do not overly rely on

this system, and pay careful attention

to the surrounding conditions in order

to ensure safe driving.

●

The dynamic radar cruise control pro-

vides driving assistance to reduce the

driver’s burden. However, there are

limitations to the assistance provided.

Read the following items carefully. Do

not overly rely on this system and always

drive carefully.
• Conditions under which the system

may not operate correctly:



P.294

●

Set the speed appropriately according

to the speed limit, traffic flow, road

conditions, weather conditions, etc.

The driver is responsible for confirm-

ing the set speed.

288

4-5. Using the driving support systems

WARNING

●

Even if the system is operating cor-

rectly, the condition of a preceding

vehicle as recognized by the driver

and detected by the system may differ.

Therefore, 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 resulting in death

or serious injury.

■

Precautions for the driving assist sys-

tems

Observe the following precautions, as

there are limitations to the assistance

provided by the system. Over-reliance

on this system may lead to an accident

resulting in death or serious injury.

●

Details of support provided for the

driver’s vision

The dynamic radar cruise control is only

intended to help the driver in determin-

ing the distance between the driver’s own

vehicle and a designated preceding vehi-

cle. It is not a system which allows for

careless or inattentive driving, and is not

a system which assists in poor visibility

conditions.
The driver must pay attention to their sur-

roundings, even when the vehicle stops.

●

Details of support provided for the

driver’s judgement

The dynamic radar cruise control deter-

mines whether the distance between the

driver’s own vehicle and a designated

preceding vehicle is within a set range. It

is not capable of making any other type

of judgement. Therefore, it is absolutely

necessary for the driver to remain vigi-

lant and to determine whether or not

there is a possibility of danger.

●

Details of support provided for the

driver’s operation

The dynamic radar cruise control does

not include functions which will prevent

or avoid collisions with vehicles ahead of

your vehicle. Therefore, if there is ever

any possibility of danger, the driver must

take immediate and direct control of the

vehicle and act appropriately in order to

ensure safety.

■

Situations in which the dynamic radar

cruise control should not be used

Do not use the dynamic radar cruise

control in the following situations. As the

system will not be able to provide appro-

priate control, using it may lead to an

accident resulting in death or serious

injury.

●

Roads where there are pedestrians,

cyclists, etc.

●

When driving on a highway or

expressway entrance or exit

●

When the approach warning sounds

frequently

●

Situations in which the sensors may not

operate properly:



P.294

●

Situations in which the lane may not be

detected:

289

4-5. Using the driving support systems

Driving

Constant speed cruising:
When there are no vehicles ahead

The vehicle drives at the speed set by the driver.
If the set vehicle speed is exceeded while driving down a hill, the set vehicle speed display
will blink and a buzzer will sound.

Deceleration and follow-up cruising:
When a preceding vehicle driving slower than the set vehicle speed is detected

When a vehicle is detected driving ahead of your vehicle, the vehicle automatically decel-
erates and if a greater reduction in vehicle speed is necessary, the brakes are applied (the
stop lights will come on at this time). The vehicle is controlled to maintain the vehi-
cle-to-vehicle distance set by the driver, in accordance with changes in the speed of the
preceding vehicle. If vehicle deceleration is not sufficient and the vehicle approaches the
vehicle ahead, the approach warning will sound.

Acceleration:
When there are no longer any preceding vehicles driving slower than the set
vehicle speed

The vehicle accelerates until the set vehicle speed is reached and then resumes constant
speed cruising.

Starting off:

If a preceding vehicle stops, the vehicle will also stop (controlled stop). After the preceding
vehicle starts off, pressing the “RES” switch or depressing the accelerator pedal will resume

Basic functions

290

4-5. Using the driving support systems

follow-up cruising (start off operation). If a start off operation is not performed, the con-
trolled stop will continue.
Vehicles with Traffic Jam Assist: While driving on a highway or expressway, if a preceding
vehicle stops, your vehicle will stop accordingly. On some highways and expressways, if the
system determines that the preceding vehicle starts off within approximately 3 minutes of
stopping, a buzzer will sound and a message will be displayed on the multi-information dis-
play to notify the driver, and your vehicle will start off accordingly following the preceding
vehicle. (Extended resume time)

■

Meter display

Multi-information display
Set vehicle speed
Indicators

■

Switches



Vehicles without a head-up display

Driving assist mode select switch
Driving assist switch
“+” switch/“RES” switch
“-” switch

Cancel switch
Vehicle-to-vehicle distance switch



Vehicles with a head-up display

The function of each switch differs
depending on the conditions and
settings.

When a switch is touched, the function of
each switch is displayed on the head-up
display. If the head-up display is off, the
functions will be displayed on the
multi-information display.

Driving assist mode select switch
Driving assist switch
“RES” switch

System components

A
B
C

A
B
C
D

E
F

B
C
D

291

4-5. Using the driving support systems

Driving

“+” switch
“-” switch
Vehicle-to-vehicle distance switch
Cancel switch

Press the driving assist mode select
switch to select dynamic radar
cruise control.

The dynamic radar cruise control indicator

will illuminate.



Vehicles without a head-up display



Vehicles with a head-up display

Using the accelerator pedal, accel-
erate or decelerate to the desired
vehicle speed (approximately 20
mph [30 km/h] or more), and press

the driving assist switch to set the
set vehicle speed.

The set vehicle speed will be displayed on

the multi-information display.
The vehicle speed at the moment the

switch is released will be the set vehicle

speed.



Vehicles without a head-up display



Vehicles with a head-up display



Adjusting the set vehicle speed
using the switches

To change the set vehicle speed, press
the “+” switch or “-” switch until the
desired speed is displayed.

Using the dynamic radar cruise
control

Setting the vehicle speed

E
F

Adjusting the set vehicle speed

292

4-5. Using the driving support systems



Vehicles without a head-up display

Increase set vehicle speed

Decrease set vehicle speed



Vehicles with a head-up display

Increase set vehicle speed

Decrease set vehicle speed

Short press adjustment: Press the switch
Long press adjustment: Press and hold the
switch until the desired set vehicle speed is
reached.

The set vehicle speed will increase or
decrease as follows:

Short press adjustment: Increases or
decreases by 1 mph (1.6 km/h) each time
the switch is pressed
Long press adjustment: Increases or
decreases in 1 mph (1.6 km/h) increments
continuously while the switch is pressed
and held



Increasing the set vehicle speed
using the accelerator pedal

Depress the accelerator pedal to
accelerate the vehicle to the
desired vehicle speed.

Press the “+” switch.



Vehicles without a head-up display



Vehicles with a head-up display

Press the cancel switch or driving
assist switch to cancel control.

Control will also be canceled if the brake

pedal is depressed.
(If the vehicle has been stopped by system

control, depressing the brake pedal will not

cancel control.)

Press the “RES” switch to resume
control.

Each time the switch is pressed, the

Canceling/resuming control

Changing the vehicle-to-vehicle
distance

293

4-5. Using the driving support systems

Driving

vehicle-to-vehicle distance setting will
change as follows:

If a preceding vehicle is detected, the pre-
ceding vehicle mark will be displayed.



Vehicles without a head-up display



Vehicles with a head-up display

The actual vehicle-to-vehicle distance var-
ies in accordance with the vehicle speed.
Also, when the vehicle is stopped by sys-
tem control, it will be stopped at a certain
distance from the preceding vehicle,
depending on the situation, regardless of
the setting.

■

Operating conditions

●

The shift position is in D.

●

The desired set speed can be set when

the vehicle speed is approximately 20

mph (30 km/h) or more.

• If the vehicle speed is set while driving at

below approximately 20 mph (30 km/h),

the set vehicle speed will be approxi-

mately 20 mph (30 km/h).

• If the vehicle speed is set while driving at

a speed that exceeds the system’s upper

limit, the set vehicle speed will be the sys-

tem’s upper limit.

■

Accelerating after setting the vehicle

speed

As with normal driving, acceleration can be

performed by depressing the accelerator

pedal. After accelerating, the vehicle will

return to the set vehicle speed. However,

while in vehicle-to-vehicle distance control

mode, the vehicle speed may decrease to

below the set vehicle speed in order to

maintain the distance from the preceding

vehicle.

■

When the vehicle is stopped by system

control during follow-up cruising

●

When the “RES” switch is pressed while

the vehicle is stopped by system control,

if the preceding vehicle starts off within

approximately 3 seconds, follow-up

Illus-

tration

Num-

ber

Vehi-

cle-to-vehicle

distance

Approximate Dis-

tance (Vehicle

Speed: 60 mph

[100 km/h])

Short

Approximately 85

ft. (25 m)

Medium

Approximately

100 ft. (30 m)

Long

Approximately

145 ft. (45 m)

Extra long

Approximately

200 ft. (60 m)

Illus-

tration

Num-

ber

Vehi-

cle-to-vehicle

distance

Approximate Dis-

tance (Vehicle

Speed: 60 mph

[100 km/h])

294

4-5. Using the driving support systems

cruising will resume.

●

If the preceding vehicle starts off within

approximately 3 seconds of the vehicle

being stopped by system control, fol-

low-up cruising will resume.

■

Automatic cancellation of vehi-

cle-to-vehicle distance control mode

In the following situations, vehicle-to-vehi-

cle distance control mode will be canceled

automatically:

●

When the brake control or output restric-

tion control of a driving support system

operates

(For example: Pre-Collision System,

drive-start control)

●

When the parking brake has been oper-

ated

●

When the vehicle is stopped by system

control on a steep incline

●

When any of the following are detected

while the vehicle is stopped by system

control:

• The driver’s seat belt is unfastened

• The driver’s door is opened

• Approximately 3 minutes have elapsed

since the vehicle was stopped

The parking brake may be actived automat-

ically.

●

Situations in which some or all of the

functions of the system cannot operate:

■

Dynamic radar cruise control system

warning messages and buzzers

For safe use:

■

Preceding vehicles that the sensor may

not detect correctly

In the following situations, depending on the

conditions, if the system cannot provide suf-

ficient deceleration or acceleration is nec-

essary, operate the brake pedal or

accelerator pedal.
As the sensor may not be able to correctly

detect these types of vehicles, the approach

warning (

P.294) may not operate.

●

When a vehicle cuts in front of your vehi-

cle or changes lanes away from your

vehicle extremely slowly or quickly

●

When changing lanes

●

When a preceding vehicle is driving at a

low speed

●

When a vehicle is stopped in the same

lane as the vehicle

●

When a motorcycle is traveling in the

same lane as the vehicle

■

Conditions under which the system may

not operate correctly

In the following situations, operate the

brake pedal (or accelerator pedal, depend-

ing on the situation) as necessary.
As the sensor may not be able to correctly

detect a vehicle, the system may not oper-

ate properly.

●

When a preceding vehicle brakes sud-

denly

●

When changing lanes at low speeds, such

as in a traffic jam

■

Conditions for extended resume time

(vehicles with Traffic Jam Assist)

Extended resume time is activated when all

of the following conditions are satisfied:

●

Vehicles with a display audio: The con-

nected service that Lexus provides is

subscribed to. Contact your Lexus dealer

for details.

●

The vehicle is driving on a vehicle-only

road, such as an expressway.

●

There is a preceding vehicle and the sys-

tem is able to detect it.

●

No vehicle interruptions occur.

●

The preceding vehicle has not been

replaced.

●

Clearance sonar and FCTA are not

detecting the object in front of you.

●

The driver monitor judges that the driver

is looking forward.

●

The steering wheel has not been oper-

ated.

●

The brake pedal has not been operated.

In situations where the vehicle

Approach warning

295

4-5. Using the driving support systems

Driving

approaches a preceding vehicle and
the system cannot provide sufficient
deceleration, such as if a vehicle cuts in
front of the vehicle, a warning display
will flash and a buzzer will sound to
alert the driver. Depress the brake
pedal to ensure appropriate vehi-
cle-to-vehicle distance.

■

Warnings may not occur when

In the following situations, the warning
may not operate even though the vehi-
cle-to-vehicle distance is short.



When the preceding vehicle is trav-
eling at the same speed or faster
than your vehicle



When the preceding vehicle is trav-
eling at an extremely low speed



Immediately after the vehicle speed
has been set



When the accelerator pedal is
depressed

When a curve is detected, the vehicle
speed will begin being reduced. When
the curve ends, the vehicle speed
reduction will end.

Depending on the situation, the vehicle
speed will then return to the set vehicle
speed.
In situations where vehicle-to-vehicle dis-
tance control needs to operate, such as
when a preceding vehicle cuts in front of
your vehicle, the curve speed reduction
function will be canceled.

■

Situations in which the curve speed

reduction function may not operate

In situations such as the following, the curve

speed reduction function may not operate:

●

When the vehicle is being driven around

a gentle curve

●

When the accelerator pedal is being

depressed

●

When the vehicle is being driven around

an extremely short curve

While a warning of the driver monitor
is being displayed, the vehicle acceler-
ation will be restrained.
When the warning of the driver moni-
tor disappears, the restrained acceler-
ation control will end.

If your vehicle is being driven at
approximately 50 mph (80 km/h) or
more and a lane change to the passing
lane is performed, when the turn signal
lever is operated and the lane is
changed, the vehicle will accelerate up
to the set speed to assist in overtaking.

The system’s recognition of which lane is
the passing lane may be based solely on

Curve speed reduction function

Driver Monitor support function
(if equipped)

Support for lane change

296

4-5. Using the driving support systems

the location of the steering wheel in the
vehicle (left-hand drive/right-hand drive). If
the vehicle is driven in a location where the
passing lane is on the opposite side of that
where the vehicle was originally sold, the
vehicle may accelerate when the turn sig-
nal lever is operated away from the passing
lane. (e.g. The vehicle was manufactured
for a right-hand traffic location, but is being
driven in a left-hand traffic location. The
vehicle may accelerate when the turn sig-
nal lever is operated to the right.)

If your vehicle is being driven at
approximately 50 mph (80 km/h) or

more and the lane is changed to that
with a vehicle traveling slower than
your vehicle, when the turn signal lever
is operated the vehicle will gradually
decelerate to assist in changing lanes.



The settings of Dynamic radar
cruise control can be changed
through customize settings.
(

The operating state of Dynamic radar cruise control is indicated.

Changing Dynamic radar cruise
control settings

Display and system operation state

Indicator

Multi-information display

Situation

White

Vehi-

cle-to-vehicle

distance set-

ting: Grey

Dynamic radar

cruise control

being OFF

Green

Vehi-

cle-to-vehicle

distance set-

ting: Blue

Set vehicle

speed: Green

Constant

speed cruising

297

4-5. Using the driving support systems

Driving

Green

Vehi-

cle-to-vehicle

distance set-

ting: Blue

Set vehicle

speed: Green

Preceding

vehicle: White

Follow-up

cruising

Green

Vehi-

cle-to-vehicle

distance set-

ting: Orange

flashing

Set vehicle

speed: Green

Preceding

vehicle:

Orange flash-

ing

Approach

warning

Green

Vehi-

cle-to-vehicle

distance set-

ting: Grey

Set vehicle

speed: White

Preceding

vehicle: Grey

Accelerating

with the accel-

erator pedal

Green

Set vehicle

speed: Green
in reverse dis-

play

Set vehicle

speed being

exceeded

Indicator

Multi-information display

Situation

298

4-5. Using the driving support systems

■

Meter display

Set vehicle speed
Cruise control indicator

■

Switches



Vehicles without a head-up display

Driving assist mode select switch
Driving assist switch
“+” switch/“RES” switch
“-” switch
Cancel switch

Cruise control

The vehicle can be driven at a set
speed even if the accelerator pedal
is not depressed.

Use the cruise control only on high-
ways and expressways.

WARNING

■

For safe use

●

Driving safely is solely the responsibil-

ity of the driver. Therefore, do not

overly rely on this system. The driver is

solely responsible for paying attention

to the vehicle’s surroundings and driv-

ing safely.

●

Set the speed appropriately according

to the speed limit, traffic flow, road

conditions, weather conditions, etc.

The driver is responsible for confirm-

ing the set speed.

■

Situations in which cruise control

should not be used

Do not use the cruise control in the fol-

lowing situations. As the system will not

be able to provide appropriate control,

using it may lead to an accident resulting

in death or serious injury.

●

On roads with sharp bends

●

On winding roads

●

On slippery roads, such as those cov-

ered with rain, ice or snow

●

On steep downhills, or where there

are sudden changes between sharp up

and down gradients

Vehicle speed may exceed the set speed

when driving down a steep hill.

●

When it is necessary to disable the sys-

tem:

System Components

A
B

A
B
C
D

299

4-5. Using the driving support systems

Driving



Vehicles with a head-up display

The function of each switch differs
depending on the conditions and
settings.

When a switch is touched, the function of
each switch is displayed on the head-up
display. If the head-up display is off, the
functions will be displayed on the
multi-information display.

Driving assist mode select switch
Driving assist switch
“RES” switch
“+” switch
“-” switch
Cancel switch

Press the driving assist mode select
switch to select cruise control.

The cruise control indicator will illuminate.



Vehicles without a head-up display



Vehicles with a head-up display

Using the accelerator pedal, accel-
erate to the desired vehicle speed
(approximately 20 mph [30 km/h]
or more), and press the driving
assist switch to set the set vehicle
speed.

The vehicle speed at the moment the

switch is released will be the set vehicle

speed.

B
C
D

E
F

Using the cruise control

Setting the vehicle speed

300

4-5. Using the driving support systems



Vehicles without a head-up display



Vehicles with a head-up display



Adjusting the set vehicle speed
using the switches

To change the set vehicle speed, press
the “+” switch or “-” switch until the
desired speed is displayed.



Vehicles without a head-up display

Increase set vehicle speed

Decrease set vehicle speed



Vehicles with a head-up display

Increase set vehicle speed

Decrease set vehicle speed

The set vehicle speed will increase or
decrease as follows:

Fine adjustment: By 1 mph (1.6 km/h) or 1
km/h (0.6 mph) each time the switch is
pressed
Large adjustment: Increases continuously
while the switch is pressed and held



Increasing the set vehicle speed
using the accelerator pedal

Depress the accelerator pedal to
accelerate the vehicle to the
desired vehicle speed.

Press the “+” switch.



Vehicles without a head-up display

Adjusting the set vehicle speed

Canceling/resuming control

301

4-5. Using the driving support systems

Driving



Vehicles with a head-up display

Press the cancel switch or driving
assist switch to cancel control.

Control will also be canceled if the brake

pedal is depressed.

Press the “RES” switch to resume
control.

■

Automatic cancellation of the cruise

control

In the following situations, the cruise control

will be canceled automatically:

●

When the vehicle speed drops approxi-

mately 10 mph (16 km/h) or more below

the set vehicle speed

●

When the vehicle speed drops below

approximately 20 mph (30 km/h)

●

When the brake control or output restric-

tion control of a driving support system

operates

(For example: PCS, drive-start control)

●

When the parking brake has been oper-

ated

●

Situations in which some or all of the

functions of the system cannot operate:



The operating state of cruise control is indicated.

Display and system operation state

Indicator

Multi-information display

Situation

White

Blank

Cruise control

being OFF

303

4-5. Using the driving support systems

Driving

Operation of this system is separated
into 4 control states. Through control
state “Warning phase 1” and “Warning
phase 2”, the system determines if the
driver is aware and responsive while
outputting a warning and controlling

Emergency Driving Stop
System

The emergency driving stop system
is a system which automatically
decelerates and stops the vehicle
within its lane if the driver becomes
unable to continue driving the vehi-
cle, such as if they have suffered a
medical emergency, etc.

During LTA (Lane Tracing Assist)
control, if the system does not
detect driving operations, such as if
the driver is not holding the steer-
ing wheel, and determines the
driver is not responsive, the vehicle
will be decelerated and stopped
within its current lane to help avoid
a collision or reduce the impact of a
collision.

The vehicle will also deceler-
ate/stop during the Traffic Jam
Assist (if equipped) controls, when
no driver’s response to the vehicle’s
warning to hold the steering wheel
is detected.

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. The emergency

driving stop system is designed to pro-

vide support in an emergency where it

is difficult for the driver to continue

driving, such as if they have had a med-

ical emergency. It is not designed to

support driving while drowsy or in

poor physical health, or inattentive

driving.

●

Although the emergency driving stop

system is designed to decelerate the

vehicle within its lane to help avoid or

help reduce the impact of a collision if

the system determines that it is difficult

for the driver to continue driving, its

effectiveness may change according

to various conditions. Therefore, it may

not always be able to achieve the same

level of performance. Also, if the oper-

ating conditions are not met, this func-

tion will not operate.

●

After the emergency driving stop sys-

tem operates, if driving becomes pos-

sible again, immediately begin driving

again or, if necessary, park the vehicle

on the shoulder of the road and set a

warning reflector and flare to warn

other drivers of your stopped vehicle.

●

After this system operates, passengers

should attend to the driver as neces-

sary and take appropriate hazard pre-

vention measures, such as moving to a

place where safety can be ensured,

such as the shoulder of the road or

behind a guardrail.

●

This system detects the condition of

the driver through the operation of the

steering wheel. This system may oper-

ate if the driver is aware but intention-

ally and continuously does not operate

the vehicle. Also, the system may not

operate if it cannot determine that the

driver is not responsive, such as if they

are leaning on the steering wheel.

●

Situations in which the driver monitor

may not operate properly (vehicles

with a driver monitor):

Summary of the system

304

4-5. Using the driving support systems

the vehicle speed. If the system deter-
mines the driver is not responsive, it will
operate in control state “Deceleration
stop phase” and “Stop hold phase” and
decelerate and stop the vehicle. It will
then operate continuously in “Stop
hold phase”.

■

Operating conditions

This system operates when all of the follow-

ing conditions are met:

●

When the LTA is on

Or during the Traffic Jam Assist controls (if
equipped)

●

When the vehicle speed is approximately

30 mph (50 km/h) or more

During the Traffic Jam Assist (if equipped)
controls, the system may operate at below
30 mph (50 km/h).

■

Operation cancelation conditions

In the following situations, system operation

will be canceled:

●

When LTA control has been canceled

(the LTA switch has been pressed, etc.)

●

When the dynamic radar cruise control

has been canceled

●

When driver operations are detected

(the steering wheel is held, the brake

pedal, accelerator pedal, parking brake,

hazard light switch, or turn signal lever is

operated)

●

When the driving assist switch is pressed

while in the stop and hold phase

●

When the power switch has been turned

from ON to off

●

Situations in which some or all of the

functions of the system cannot operate:

■

LTA control when operation is canceled

When emergency driving stop system

operation is canceled, LTA control may also

be canceled.

If driving operations are not detected
after the hands off steering wheel
warning operates, a buzzer will sound
intermittently and a message will be
displayed to warn the driver, and the
system will judge if the driver is respon-
sive or not. If driving operations, such
as holding the steering wheel, are not
performed within a certain amount of
time, the system will enter warning
phase 2.
Vehicles with a driver monitor camera:
Depending on the type of detection of
the driver’s unresponsiveness, the sys-
tem may skip warning phase 1 and start
the control of warning phase 2.

After entering warning phase 2, a
buzzer will sound in short intervals and
a message will be displayed to warn the
driver, and the vehicle will slowly decel-
erate. If driving operations, such as
holding the steering wheel, are not
performed within a certain amount of
time, the system will determine that the
driver is not responsive and enter the
deceleration stop phase.

The audio system will be muted until the
driver becomes responsive.
When the vehicle is decelerating, the
brake lights may illuminate, depending on
the road conditions, etc.

After entering the deceleration stop

Warning phase 1

Warning phase 2

Deceleration stop phase

305

4-5. Using the driving support systems

Driving

phase, a buzzer will sound continu-
ously and a message will be displayed
to warn the driver, and the vehicle will
slowly decelerate and stop. After the
vehicle stops, the system will enter the
stop and hold phase.

After the vehicle is stopped, the park-
ing brake will be applied automatically.
After entering the stop and hold phase,
the buzzer will continue sounding con-
tinuously and the emergency flashers
(hazard lights) will flash to warn other
drivers of the emergency.

■

Restricted functions after the operation

is canceled

After shifting to the deceleration stop

phase, the following functions will not be

available until the hybrid system is

re-started even though the emergency driv-

ing stop system is canceled:

●

LTA

●

LCA (if equipped)

●

Traffic Jam Assist (if equipped)

: If equipped

Traffic Jam Assist is a system which,
through confirmation of the conditions
by the driver, provides lane keeping,
accelerating/decelerating, stopping,
and starting off support on some high-
ways and expressways. Also, in an
emergency, the system can decelerate
and stop, to help avoid a collision or
help reduce the impact of a collision.

■

Precautions for use



P.248



Sensors which detect the surround-
ing conditions (

P.245)



Sensors which detect the driver
condition (

P.246)

■

Situations in which some or all of the

functions of the system cannot operate



■

Changes in brake operation sound and

pedal response



■

Situations in which the driver monitor

may not operate properly



P.303

Stop hold phase

Traffic Jam Assist

Function Outline

Sensors that support the Traffic
Jam Assist

Emergency Driving Stop System

306

4-5. Using the driving support systems



P.287

The Traffic Jam Assist function, through
confirmation of the conditions by the
driver, provides lane keeping, acceler-
ating/decelerating and stopping sup-
port on some highways and
expressways.
This function is operable when all of the
operation conditions are met.
When this function is operating, it is
possible to take your hands off of the
steering wheel. (

P.308)

Before using the Traffic Jam Assist function,
familiarize yourself with the content of the
dynamic radar cruise control and the LTA
(Lane Tracing Assist).
Make sure that the driver steers the vehicle
when entering a service area/parking area
or toll gate, or when changing lanes.

When the operation of Traffic Jam
Assist is started, the following message
will be displayed:



“Allow Driver Monitor Camera
Recording?”

When recording is approved, the system
records images of the area around the
driver in certain crash or near crash-like
situations, such as an SRS airbag being
deployed or the vehicle hitting an object on
the road. (



P.9)

Extended resume time of
Dynamic radar cruise control

Traffic Jam Assist Function

Driver monitor camera record-
ing

WARNING

■

For safe use

●

Driving safely is solely the responsibil-

ity of the driver. Do not overly rely on

this system, and pay careful attention

to the surrounding conditions in order

to ensure safe driving.

●

The Traffic Jam Assist function is not an

automated driving system.

This function provides the driver with

information and driving assistance

according to the road shape and con-

ditions, traffic conditions, and the con-

dition of the driver themself. Always

pay careful attention to the surround-

ing conditions as use of the system is

the responsibility of the driver.

●

Depending on the condition of the sur-

rounding area, the road, or the driver,

the Traffic Jam Assist function may not

operate or operation may be sus-

pended. Also, it may not always be

able to achieve the same level of per-

formance. Read the operating condi-

tions of the function carefully. Do not

overly rely on this function and always

drive carefully.

●

As the recognition performance and

control performance of the Traffic Jam

Assist function are limited, driver oper-

ation is necessary to ensure safety

while the system is operating. Also, the

steering assist of this system is

designed to operate only for slow

steering operations during a traffic

jam. While this function is operating,

the lane deviation control function of

the LDA will not operate. If, for some

reason, the vehicle is about to deviate

the lane, it is the driver’s responsibility

to drive properly.

307

4-5. Using the driving support systems

Driving

WARNING

●

Even if Traffic Jam Assist is operating

properly, the surrounding conditions

as recognized by the driver and

detected by the system may differ.

Therefore, 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 resulting in death

or serious injury.

●

While the Traffic Jam Assist function is

operating, as driver operation may

become necessary, the driver must

ensure they have clear visibility of their

surroundings.

●

In certain situations, a message urging

the driver to hold the steering wheel

may be displayed by the Traffic Jam

Assist function. In this case, hold the

steering wheel and drive the vehicle

manually to ensure safety.

●

The Traffic Jam Assist function cannot

detect the following objects. Operate

the steering wheel, accelerator pedal,

or brake pedal as necessary to avoid a

collision. As the function will not be

able to provide appropriate control,

using it may lead to an accident result-

ing in death or serious injury.

• Objects on the road surface

• Vehicles outside of a lane (such as on

the shoulder of the road)

• Potholes, cracks, ruts, or other road

damage

• Road construction zones

• Vehicles running in parallel with your

vehicle or nearby walls

• Animals

■

Situations in which Traffic Jam Assist

Function should not be used

Do not use Traffic Jam Assist Function in

situations such as the following. As the

system will not be able to provide appro-

priate control, using it may lead to an

accident resulting in death or serious

injury.

●

When it is necessary to disable the sys-

tem

●

Situations in which the sensors may not

operate properly

P.249

●

Situations in which the lane may not be

detected

■

Situations in which the function may

not operate properly

In situations such as the following, the

Traffic Jam Assist function may not oper-

ate properly. Manually operate the vehi-

cle as necessary.

●

When a sensor is splashed by water

●

When the ambient temperature is high

or low

●

When a vehicle cuts in front of your

vehicle

●

When another lane merges into the

lane in the same traveling direction as

your vehicle

●

When driving in low visibility condition

●

When the vehicle posture is changing

●

When the traction on the road surface

differs greatly between the left and

right side tires

●

When driving on an expressway with

no median strips or when driving on an

expressway equipped with temporary

median markers, such as poles.

308

4-5. Using the driving support systems

■

Operating conditions of the function

This function is operable when all of the fol-

lowing conditions are met:

●

The system detects lane lines and the

path of preceding or surrounding vehi-

cles.

●

The dynamic radar cruise control and the

lane tracing assist are operating.

●

The turn signal lever is not being oper-

ated.

●

The vehicle is not being driven around a

sharp curve.

●

The vehicle is being driven in the center

of a lane.

●

The driver monitor camera is detecting

that the driver is facing front of the vehi-

cle.

●

The vehicle is driving in traffic jam on a

highway or expressway at approximately

25 mph (40 km/h) or less. (In some situ-

ations, such as when a traffic jam starts,

this function may be operational at

approximately 20 mph [30 km/h] or

less.)

●

Vehicles with a connected navigation

(display audio): Safety Connect is being

subscribed to.

●

The driver’s door is closed.

●

The driver’s seat belt is fastened.

●

Customized setting of the Traffic Jam

Assist is not set to off.

●

Functions and components composing

the system are in proper condition.

●

Customized setting of the PCS (Pre-Col-

lision System) is not set to off.

●

Customized setting of the dynamic radar

cruise control (re-start time extension) is

not set to off.

■

Temporary cancelation of the function

●

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.

●

If the operating conditions of a function

are no longer met while the function is

operating, a buzzer may sound with a dis-

play to indicate that the function has been

temporarily canceled. If no driver’s

responses to the indication are detected,

the driver emergency stop assist function

may operate. For types of display and

action to be taken, see the page men-

tioned below. (

P.309)

■

Driving operations during controlled

driving

●

Accelerator pedal

As with normal driving, acceleration can
be performed by depressing the accelera-
tor pedal. In some situations, such as when
driving at approximately 6 mph (10 km/h)
or more and the accelerator pedal is
depressed, this function will be canceled.

●

Brake pedal

As with normal driving, deceleration can
be performed by depressing the brake
pedal. However, controlled driving will be
cancelled.

●

Steering wheel

As with normal driving, the steering wheel

WARNING

●

When there is a significant difference

in speed between your vehicle and the

other vehicle

●

The map data has not been updated

properly.

■

To prevent malfunction of the radar

sensors



P.246

■

To prevent malfunction of the front

camera



P.247

■

Front camera installation area on the

windshield



P.248

309

4-5. Using the driving support systems

Driving

can be operated. If the steering wheel is
operated more than a certain amount, con-
trolled driving will be cancelled.

■

When a warning message is displayed

●

“Traffic Jam Asst System Malfunction

Visit Your Dealer”

The Traffic Jam Assist function may not be
operating properly.

●

“Traffic Jam Asst Unavailable Stop Assist

Activated”

The system temporarily cannot be used as
the driver emergency stop assist function
has operated.



The setting of Traffic Jam Assist can
be enabled/disabled through a cus-
tomize setting. (





The setting of driver monitor cam-
era recording can be enabled/dis-
abled through a customize setting.
(

The following displays indicate the operating status of the Traffic Jam Assist func-
tion:

Changing Traffic Jam Assist set-
tings

Displays and system operation

Display

Status

Action to be taken

Traffic Jam Assist function is
operating



(Grey)

Traffic Jam Assist function is
about to end

Hold the steering wheel.

(Orange)

Traffic Jam Assist function has
ended

Hold the steering wheel.

(Red)

Operation of either or both of
dynamic radar cruise control
/LTA (Lane Tracing Assist)
ended

Manually operate the steering
wheel immediately.

311

4-5. Using the driving support systems

Driving

Center display

Turning the Blind Spot Monitor on/off.

Outside rear view mirror indicators

When a vehicle is detected in a blind spot
of the outside rear view mirrors or
approaching rapidly from behind into a
blind spot, the outside rear view mirror
indicator (

P.80) on the detected side

will illuminate. If the turn signal lever is
operated toward the detected side, the
outside rear view mirror indicator will flash
and a buzzer will sound.

Driving assist information indicator

Illuminates when the Blind Spot Monitor is
turned off. At this time, a message will be
displayed on the multi-information display.

■

Outside rear view mirror indicator visi-

bility

In strong sunlight, the outside rear view mir-

ror indicator may be difficult to see.

■

Buzzer

If the volume setting of the audio system is

high or the surrounding area is loud, it may

be difficult to hear the buzzer.

■

Customization

Some functions can be customized.

(

BSM (Blind Spot Monitor)

The Blind Spot Monitor is a system
that uses rear side radar sensors
installed on the inner side of the
rear bumper on the left and right
side to assist the driver in confirm-
ing safety when changing lanes.

WARNING

■

Cautions regarding the use of the sys-

tem

●

The driver is solely responsible for safe

driving. Always drive safely, taking

care to observe your surroundings.

●

The Blind Spot Monitor is a supple-

mentary function which alerts the

driver that a vehicle is in a blind spot of

the outside rear view mirrors or is

approaching rapidly from behind into a

blind spot. Do not overly rely on the

Blind Spot Monitor. As the function

cannot judge if it is safe to change

lanes, over reliance could lead to an

accident resulting in death or serious

injury.

As the system may not function cor-

rectly under certain conditions, the

driver’s own visual confirmation of

safety is necessary.

System components

WARNING

■

To ensure the system can operate

properly

Blind Spot Monitor sensors are installed

behind the left and right sides of the rear

bumper respectively. Observe the fol-

lowing to ensure the Blind Spot Monitor

can operate correctly.

312

4-5. Using the driving support systems

The Blind Spot Monitor can be
enabled/disabled through a customize
setting. (



When the Blind Spot Monitor is off, the
driving assist information indicator
(