Lexus ES (2023 year). Manual in english

230

4-5. Using the driving support systems

■

Changing the pre-collision warn-
ing timing

The pre-collision warning timing can
be changed on

(



P.109) of the

multi-information display.

The warning timing setting is retained
when the power switch is turned off. How-
ever, if the pre-collision system is disabled
and re-enabled, the operation timing will
return to the default setting (middle).
For region A: If the pre-collision warning
timing is changed, emergency steering
assist timing will also be changed accord-

ingly.
If late is selected, emergency steering
assist would not operate in case of an
emergency.

Early

Middle

This is the default setting.

Late

■

Operational conditions for each pre-collision function

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

tal collision with a detected object is high.
The system may not operate in the following situations:
• If a 12-volt battery terminal has been disconnected and reconnected and then the vehicle

has not been driven for a certain amount of time

• If the shift lever is in R
• When the VSC OFF indicator is illuminated (only the pre-collision warning function will

be operational)

The operation speeds and operation cancellation for each function is listed below.

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4-5. Using the driving support systems

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●

Pre-collision warning

While the pre-collision warning function is operating, if the steering wheel is operated heav-

ily or suddenly, the pre-collision warning may be cancelled.

●

Pre-collision brake assist

●

Pre-collision braking

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

canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.

●

Emergency steering assist (for region A)

When the turn signal lights are flashing, emergency steering assist will not operate in case of

an emergency.

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 10 to 180 km/h (7 to

110 mph)

Approx. 10 to 180 km/h (7 to

110 mph)

For region A: Oncoming

vehicles

Approx. 10 to 180 km/h (7 to

110 mph)

Approx. 20 to 180 km/h (13

to 110 mph)

For region A: Bicyclists and

pedestrians

Approx. 10 to 80 km/h (7 to

50 mph)

Approx. 10 to 80 km/h (7 to

50 mph)

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 30 to 180 km/h (20

to 110 mph)

Approx. 30 to 180 km/h (20

to 110 mph)

For region A: Bicyclists and

pedestrians

Approx. 30 to 80 km/h (20

to 50 mph)

Approx. 30 to 80 km/h (20

to 50 mph)

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 10 to 180 km/h (7 to

110 mph)

Approx. 10 to 180 km/h (7 to

110 mph)

For region A: Oncoming

vehicles

Approx. 10 to 180 km/h (7 to

110 mph)

Approx. 20 to 180 km/h (13

to 110 mph)

For region A: Bicyclists and

pedestrians

Approx. 10 to 80 km/h (7 to

50 mph)

Approx. 10 to 80 km/h (7 to

50 mph)

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4-5. Using the driving support systems

If any of the following occur while the emergency steering assist function is operating, it will

be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
• The brake pedal is depressed.

●

Intersection right/left turn assistance (pre-collision warning) (for region A)

When the turn signal lights are not flashing, support for turning left or right at an intersection

which targets oncoming vehicles does not work.

●

Intersection right/left turn assistance (pre-collision braking) (for region A)

When the turn signal lights are not flashing, support for turning left or right at an intersection

which targets oncoming vehicles does not work.

■

Object detection function

The system detects objects based on their

size, profile, motion, etc. However, an

object may not be detected depending on

the surrounding brightness and the motion,

posture, and angle of the detected object,

preventing the system from operating

properly. (



P.234) The illustration shows

an image of detectable objects.

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles, bicyclists and pedestri-

ans

Approx. 40 to 80 km/h (25

to 50 mph)

Approx. 40 to 80 km/h (25

to 50 mph)

Detectable objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your vehi-

cle and object

Oncoming vehicles

Approx. 10 to 25

km/h (7 to 15 mph)

Approx. 30 to 55

km/h (20 to 35 mph)

Approx. 40 to 80

km/h (25 to 50 mph)

Pedestrians

Approx. 10 to 25

km/h (7 to 15 mph)



Approx. 10 to 25

km/h (7 to 15 mph)

Detectable objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your vehi-

cle and object

Oncoming vehicles

Approx. 15 to 25

km/h (10 to 15 mph)

Approx. 30 to 45

km/h (20 to 28 mph)

Approx. 45 to 70

km/h (28 to 43 mph)

Pedestrians

Approx. 10 to 25

km/h (7 to 15 mph)



Approx. 10 to 25

km/h (7 to 15 mph)

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

Region A



Region B

■

Conditions under which the system may

operate even if there is no possibility of a

collision

●

In some situations such as the following,

the system may determine that there is a

possibility of a frontal collision and oper-

ate.

• When passing a detectable object, etc.

• When changing lanes while overtaking a

detectable object, etc.

• When approaching a detectable object

in an adjacent lane or on the roadside,

such as when changing the course of

travel or driving on a winding road

• When rapidly closing on a detectable

object, etc.

• When approaching objects on the road-

side, such as detectable objects, guard-

rails, utility poles, trees, or walls

• When there is a detectable object or

other object by the roadside at the

entrance of a curve

• When there are patterns or paint in front

of your vehicle that may be mistaken for a

detectable object

• When the front of your vehicle is hit by

water, snow, dust, etc.

• When overtaking a detectable object

that is changing lanes or making a

right/left turn

• When passing a detectable object in an

oncoming lane that is stopped to make a

right/left turn

• When a detectable object approaches

very close and then stops before entering

the path of your vehicle

• If the front of your vehicle is raised or low-

ered, such as when on an uneven or

undulating road surface

• When driving on a road surrounded by a

structure, such as in a tunnel or on an iron

bridge

• When there is a metal object (manhole

cover, steel plate, etc.), steps, or a protru-

sion in front of your vehicle

234

4-5. Using the driving support systems

• When passing under an object (road

sign, billboard, etc.)

• When approaching an electric toll gate

barrier, parking area barrier, or other

barrier that opens and closes

• When using an automatic car wash

• When driving through or under objects

that may contact your vehicle, such as

thick grass, tree branches, or a banner

• When driving through steam or smoke

• When driving near an object that reflects

radio waves, such as a large truck or

guardrail

• When driving near a TV tower, broad-

casting station, electric power plant,

radar equipped vehicles, etc., or other

location where strong radio waves or

electrical noise may be present

• When there are many things which can

reflect the radio waves of the radar in the

vicinity (tunnels, truss bridges, gravel

roads, snow covered road that have

tracks, etc.)

• For region A: While making a right/left

turn, when an oncoming vehicle or a

crossing pedestrian has already exited

the path of your vehicle

• For region A: While making a right/left

turn, closely in front of an oncoming vehi-

cle or a crossing pedestrian.

• For region A: While making a right/left

turn, when an oncoming vehicle or a

crossing pedestrian stops before enter-

ing the path of your vehicle

• For region A: While making a right/left

turn, when an oncoming vehicle turns

right/left in front of your vehicle

• For region A: While steering into the

direction of oncoming traffic

■

Situations in which the system may not

operate properly

●

In some situations such as the following,

an object may not be detected by the

radar sensor and front camera, prevent-

ing the system from operating properly:

• When a detectable object is approaching

your vehicle

• When your vehicle or a detectable object

is wobbling

• If a detectable object makes an abrupt

maneuver (such as sudden swerving,

acceleration or deceleration)

• When your vehicle approaches a detect-

able object rapidly

• When a detectable object is not directly

in front of your vehicle

• When a detectable object is near a wall,

fence, guardrail, manhole cover, vehicle,

steel plate on the road, etc.

• When a detectable object is under a

structure

• When part of a detectable object is hid-

den by an object, such as large baggage,

an umbrella, or guardrail

• When there are many things which can

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4-5. Using the driving support systems

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reflect the radio waves of the radar in the

vicinity (tunnels, truss bridges, gravel

roads, snow covered road that have

tracks, etc.)

• When there is an effect on the radio

waves to the radar that is installed on

another vehicle

• When multiple detectable objects are

close together

• If the sun or other light is shining directly

on a detectable object

• When a detectable object is a shade of

white and looks extremely bright

• When a detectable object appears to be

nearly the same color or brightness as its

surroundings

• If a detectable object cuts or suddenly

emerges in front of your vehicle

• When the front of your vehicle is hit by

water, snow, dust, etc.

• When a very bright light ahead, such as

the sun or the headlights of oncoming

traffic, shines directly into the front cam-

era

• When approaching the side or front of a

vehicle ahead

• If a vehicle ahead is a motorcycle or bicy-

cle (for region B)

• If a vehicle ahead is narrow, such as a

personal mobility vehicle

• If a preceding vehicle has a small rear

end, such as an unloaded truck

• If a preceding vehicle has a low rear end,

such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

• If a vehicle ahead is carrying a load which

protrudes past its rear bumper

• If a vehicle ahead is irregularly shaped,

such as a tractor or side car

• For region A: If a vehicle ahead is a child

sized bicycle, a bicycle that is carrying a

large load, a bicycle ridden by more than

one person, or a uniquely shaped bicycle

(bicycle with a child seat, tandem bicycle,

etc.)

• For region A: If a pedestrian/or the riding

height of a bicyclist ahead is shorter than

approximately 1 m (3.2 ft.) or taller than

approximately 2 m (6.5 ft.)

• For region A: If a pedestrian/bicyclist is

wearing oversized clothing (a rain coat,

long skirt, etc.), making their silhouette

obscure

• For region A: If a pedestrian is bending

forward or squatting or bicyclist is bend-

ing forward

• For region A: If a pedestrian/bicyclist is

moving fast

• For region A: If a pedestrian is pushing a

stroller, wheelchair, bicycle or other vehi-

cle

• When driving in inclement weather such

as heavy rain, fog, snow or a sandstorm

• When driving through steam or smoke

• When the surrounding area is dim, such

as at dawn or dusk, or while at night or in

a tunnel, making a detectable object

appear to be nearly the same color as its

surroundings

• When driving in a place where the sur-

rounding brightness changes suddenly,

such as at the entrance or exit of a tunnel

• After the hybrid system has started the

vehicle has not been driven for a certain

amount of time

• While making a left/right turn and for a

few seconds after making a left/right turn

• While driving on a curve and for a few

236

4-5. Using the driving support systems

seconds after driving on a curve

• If your vehicle is skidding

• If the front of the vehicle is raised or low-

ered

• If the wheels are misaligned

• If a wiper blade is blocking the front cam-

era

• The vehicle is being driven at extremely

high speeds

• When driving on a hill

• If the radar sensor or front camera is mis-

aligned

• For region A: When driving in a traffic

lane separated by more than one lane

where oncoming vehicles are driving

while making a right/left turn

• For region A: When largely out of place

with the opposite facing targeted oncom-

ing vehicle during a right/left turn

• For region A: While making a right/left

turn, when a pedestrian approaches from

behind or side of your vehicle

●

For region A: In addition to the above, in

some situations, such as the following, the

emergency steering assist may not oper-

ate.

• For region A: When the white (yellow)

lane lines are difficult to see, such as

when they are faint, diverging/merging,

or a shadow is cast upon them

• For region A: When the lane is wider or

narrower than normal

• For region A: When there is a light and

dark pattern on the road surface, such as

due to road repairs

• For region A: When the target is too

• For region A: When there is insufficient

safe or unobstructed space for the vehi-

cle to be steered into

• For region A: If oncoming vehicle is pres-

ent

• For region A: If VSC function is operating

●

In some situations such as the following,

sufficient braking force or steering force

(for region A) may not be obtained, pre-

venting the system from performing

properly:

• If the braking functions cannot operate to

their full extent, such as when the brake

parts are extremely cold, extremely hot,

or wet

• If the vehicle is not properly maintained

(brakes or tires are excessively worn,

improper tire inflation pressure, etc.)

• When the vehicle is being driven on a

gravel road or other slippery surface

• When the road surface has deep wheel

tracks

• When driving on a hill road

• When driving on a road that has inclines

to the left or right

■

If VSC is disabled

●

If VSC is disabled (



P.306), the pre-

collision brake assist and pre-collision

braking functions are also disabled.

●

The PCS warning light will turn on and

“VSC Turned Off Pre-Collision Brake

System Unavailable” will be displayed on

the multi-information display.

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: If equipped

LTA (Lane Tracing Assist)

While driving on a road with clear
white (yellow) lane lines, the LTA
system warns the driver if the vehi-
cle 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

. Also, while the

dynamic radar cruise control with
full-speed range (



P.250) is oper-

ating, this system will operate the
steering wheel to maintain the vehi-
cle’s lane position.
The LTA system recognizes white
(yellow) lane lines or a course

using the front camera. Addition-
ally, it detects preceding vehicles
using the front camera and radar.

: Boundary between asphalt and the

side of the road, such as grass, soil, or
a curb

WARNING

■

Before using LTA system

●

Do not rely solely upon the LTA sys-

tem. The LTA system does not auto-

matically drive the vehicle or reduce

the amount of attention that must be

paid to the area in front of the vehicle.

The driver must always assume full

responsibility for driving safely by pay-

ing careful attention to the surround-

ing conditions and operating the

steering wheel to correct the path of

the vehicle. Also, the driver must take

adequate breaks when fatigued, such

as from driving for a long period of

time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident, resulting in

death or serious injury.

■

Situations unsuitable for LTA system

In the following situations, use the LTA

switch to turn the system off. Failure to do

so may lead to an accident, resulting in

death or serious injury.

●

Vehicle is driven on a road surface

which is slippery due to rainy weather,

fallen snow, freezing, etc.

●

Vehicle is driven on a snow-covered

road.

●

White (yellow) lines are difficult to see

due to rain, snow, fog, dust, etc.

●

Vehicle is driven in a temporary lane

or restricted lane due to construction

work.

●

Vehicle is driven in a construction

zone.

●

A spare tire, tire chains, etc. are

equipped.

●

When the tires have been excessively

worn, or when the tire inflation pres-

sure is low.

238

4-5. Using the driving support systems

WARNING

●

During emergency towing

■

Preventing LTA system malfunctions

and operations performed by mistake

●

Do not modify the headlights or place

stickers, etc. on the surface of the

lights.

●

Do not modify the suspension etc. If

the suspension etc. needs to be

replaced, contact any authorized

Lexus retailer or Lexus authorized

repairer, or any reliable repairer.

●

Do not install or place anything on the

hood or grille. Also, do not install a

grille guard (bull bars, kangaroo bar,

etc.).

●

If your windshield needs repairs, con-

tact any authorized Lexus retailer or

Lexus authorized repairer, or any reli-

able repairer.

■

Conditions in which functions may

not operate properly

In the following situations, the functions

may not operate properly and the vehi-

cle may depart from its lane. Drive safely

by always paying careful attention to

your surroundings and operate the

steering wheel to correct the path of the

vehicle without relying solely on the func-

tions.

●

When the follow-up cruising display is

displayed (



P.242) and the preced-

ing vehicle changes lanes. (Your vehi-

cle may follow the preceding vehicle

and also change lanes.)

●

When the follow-up cruising display is

displayed (



P.242) and the preced-

ing vehicle is swaying. (Your vehicle

may sway accordingly and depart from

the lane.)

●

When the follow-up cruising display is

displayed (



P.242) and the preced-

ing vehicle departs from its lane. (Your

vehicle may follow the preceding vehi-

cle and depart from the lane.)

●

When the follow-up cruising display is

displayed (



P.242) and the preced-

ing vehicle is being driven extremely

close to the left/right lane line. (Your

vehicle may follow the preceding vehi-

cle and depart from the lane.)

●

Vehicle is being driven around a sharp

curve.

●

Objects or patterns that could be mis-

taken for white (yellow) lines are pres-

ent on the side of the road (guardrails,

reflective poles, etc.).

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4-5. Using the driving support systems

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WARNING

●

Vehicle is driven where the road

diverges, merges, etc.

●

Repair marks of asphalt, white (yellow)

lines, etc. are present due to road

repair.

●

There are shadows on the road that

run parallel with, or cover, the white

(yellow) lines.

●

The vehicle is driven in an area without

white (yellow) lines, such as in front of

a tollgate or checkpoint, or at an inter-

section, etc.

●

The white (yellow) lines are cracked,

“Raised pavement marker” or stones

are present.

●

The white (yellow) lines cannot be

seen or are difficult to see due to sand,

etc.

●

The vehicle is driven on a road surface

that is wet due to rain, puddles, etc.

●

The traffic lines are yellow (which may

be more difficult to recognize than

lines that are white).

●

The white (yellow) lines cross over a

curb, etc.

●

The vehicle is driven on a bright sur-

face, such as concrete.

●

If the edge of the road is not clear or

straight.

●

The vehicle is driven on a surface that

is bright due to reflected light, etc.

●

The vehicle is driven in an area where

the brightness changes suddenly, such

as at the entrances and exits of tunnels,

etc.

●

Light from the headlights of an oncom-

ing vehicle, the sun, etc. enters the

camera.

●

The vehicle is driven on a slope.

●

The vehicle is driven on a road which

tilts left or right, or a winding road.

●

The vehicle is driven on an unpaved or

rough road.

●

The traffic lane is excessively narrow

or wide.

●

The vehicle is extremely tilted due to

carrying heavy luggage or having

improper tire pressure.

●

The distance to the preceding vehicle

is extremely short.

●

The vehicle is moving up and down a

large amount due to road conditions

during driving (poor roads or road

seams).

●

When driving in a tunnel or at night

with the headlights off or when a head-

light is dim due to its lens being dirty or

it being misaligned.

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4-5. Using the driving support systems

■

Lane departure alert function

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

, a warning is displayed on the

multi-information display, and either a
warning buzzer will sound or the steer-
ing wheel will vibrate to alert the driver.

When the warning buzzer sounds or the
steering wheel vibrates, check the area
around your vehicle and carefully operate
the steering wheel to move the vehicle
back to the center of the lane.
When the system determines that the vehi-
cle might depart from its lane and that the
possibility of a collision with an overtaking
vehicle in the adjacent lane is high, the lane
departure alert will operate even if the turn
signals are operating.

: Boundary between asphalt and the side

of the road, such as grass, soil, or a curb

■

Steering assist function

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

, the system provides assis-

tance as necessary by operating the
steering wheel in small amounts for a
short period of time to keep the vehicle
in its lane.

When the system determines that the vehi-
cle might depart from its lane and that the
possibility of a collision with an overtaking
vehicle in the adjacent lane is high, the
steering assist function will operate even if
the turn signals are operating.

: Boundary between asphalt and the side

of the road, such as grass, soil, or a curb

WARNING

●

The vehicle is struck by a crosswind.

●

The vehicle is affected by wind from a

vehicle driven in a nearby lane.

●

The vehicle has just changed lanes or

crossed an intersection.

●

Tires which differ by structure, manu-

facturer, brand or tread pattern are

used.

●

When tires of a size other than speci-

fied are installed.

●

Snow tires, etc. are equipped.

●

The vehicle is being driven at

extremely high speeds.

Functions included in LTA sys-
tem

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4-5. Using the driving support systems

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■

Vehicle sway warning function

When the vehicle is swaying within a
lane, the warning buzzer will sound
and a message will be displayed on the
multi-information display to alert the
driver.

■

Lane centering function

This function is linked with dynamic
radar cruise control with full-speed
range and provides the required assis-
tance by operating the steering wheel
to keep the vehicle in its current lane.

When dynamic radar cruise control with
full-speed range is not operating, the lane
centering function does not operate.
In situations where the white (yellow) lane
lines are difficult to see or are not visible,
such as when in a traffic jam, this function
will operate to help follow a preceding
vehicle by monitoring the position of the
preceding vehicle.

■

Turning the lane centering func-
tion ON/OFF

Press the LTA switch.

The lane centering function will change
between ON/OFF each time the switch is

LTA system setting

242

4-5. Using the driving support systems

pressed.
Lane centering function on: “LTA Steering
Assist Active Lane Centring Active” is dis-
played.
When the LTA system is turned on, opera-
tion of the LTA system continues in the
same condition the next time the hybrid
system is started.

■

Turning the LTA system OFF

Press and hold the LTA switch

The LTA indicator light turns off when the
LTA is turned OFF.
Press the switch again to turn the system
on.
The LTA is turned ON each time the
power switch is turned to ON.
However, the lane centering function
keeps either the ON/OFF state prior to
the power switch being turned OFF.

LTA indicator

The illumination condition of the indicator
informs the driver of the system operation
status.
Illuminated in white:
LTA system is operating.
Illuminated in green:
Steering wheel assistance of the steering
assist function or lane centering function is
operating.
Flashing in orange:
Lane departure alert function is operating.

Operation display of steering
wheel operation support

Displayed when the multi-information dis-
play is switched to the driving support sys-
tem information display.
Indicates that steering wheel assistance of
the steering assist function or lane center-
ing function is operating.
Both outer sides of the lane are displayed:
Indicates that steering wheel assist of the
lane centering function is operating.
One outer side of the lane is displayed:
Indicates that steering wheel assist of the
steering assist function is operating.
Both outer sides of the lane are flashing:

Indications on multi-information
display

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4-5. Using the driving support systems

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Alerts the driver that their input is neces-
sary to stay in the center of the lane (lane
centering function).

Lane departure alert function dis-
play

Displayed when the multi-information dis-
play is switched to the driving support sys-
tem information display.



Inside of displayed lines is white

Indicates that the system is recognizing
white (yellow) lines or a course

. When the

vehicle departs from its lane, the white line
displayed on the side the vehicle departs
from flashes orange.



Inside of displayed lines is black

Indicates that the system is not able to rec-
ognize white (yellow) lines or a course

is temporarily canceled.

Follow-up cruising display

Displayed when the multi-information dis-
play is switched to the driving support sys-

tem information display.
Indicates that steering assist of the lane
centering function is operating by monitor-
ing the position of a preceding vehicle.
When the follow-up cruising display is dis-
played, if the preceding vehicle moves,
your vehicle may move in the same way.
Always pay careful attention to your sur-
roundings and operate the steering wheel
as necessary to correct the path of the
vehicle and ensure safety.

: Boundary between asphalt and the side

of the road, such as grass, soil, or a curb

■

Operation conditions of each function

●

Lane departure alert function

This function operates when all of the fol-
lowing conditions are met.
• LTA is turned on.

• Vehicle speed is approximately 50 km/h

(32 mph) or more.

• System recognizes white (yellow) lane

lines or a course

. (When a white [yel-

low] line or a course

is recognized on

only one side, the system will operate

only for the recognized side.)

• Width of traffic lane is approximately 3 m

(9.8 ft.) or more.

• Turn signal lever is not operated. (Except

when another vehicle is in the lane on the

side where the turn signal was operated)

• Vehicle is not being driven around a

sharp curve.

• No system malfunctions are detected.

(



P.245)

: The function operates even if the vehicle

speed is less than approximately 50
km/h (32 mph) when the lane centering
function is operating.

: Boundary between asphalt and the side

of the road, such as grass, soil, or a curb

●

Steering assist function

This function operates when all of the fol-
lowing conditions are met in addition to the

244

4-5. Using the driving support systems

operation conditions for the lane departure
alert function.
• Vehicle is not accelerated or decelerated

by a fixed amount or more.

• Steering wheel is not operated with a

steering force level suitable for changing

lanes.

• ABS, VSC, TRC and PCS are not oper-

ating.

• TRC or VSC is not turned off.

●

Vehicle sway warning function

This function operates when all of the fol-
lowing conditions are met.
• Setting for “Warning” in

of the multi-

information display is set to “On”.
(



P.109)

• Vehicle speed is approximately 50 km/h

(32 mph) or more.

• Width of traffic lane is approximately 3 m

(9.8 ft.) or more.

• No system malfunctions are detected.

(



P.245)

●

Lane centering function

This function operates when all of the fol-
lowing conditions are met.
• LTA is turned on.
• Setting for “Lane Centre” in

of the

multi-information display is set to “On”.
(



P.109)

• This function recognizes white (yellow)

lane lines or the position of a preceding

vehicle (except when the preceding vehi-

cle is small, such as a motorcycle).

• The dynamic radar cruise control with

full-speed range is operating in vehicle-

to-vehicle distance control mode.

• Width of traffic lane is approximately 3 to

4 m (10 to 13 ft.).

• Turn signal lever is not operated.

• Vehicle is not being driven around a

sharp curve.

• No system malfunctions are detected.

(



P.245)

• Vehicle does not accelerate or deceler-

ate by a fixed amount or more.

• Steering wheel is not operated with a

steering force level suitable for changing

lanes.

• ABS, VSC, TRC and PCS are not oper-

ating.

• TRC or VSC is not turned off.

• Hands off steering wheel warning is not

displayed. (



P.245)

• The vehicle is being driven in the center

of a lane.

• Steering assist function is not operating.

■

Temporary cancelation of functions

●

When operation conditions are no lon-

ger met, a function may be temporarily

canceled. However, when the operation

conditions are met again, operation of

the function is automatically restored.

(



P.243)

●

If the operation conditions (



P.243) are

no longer met while the lane centering
function is operating, the steering wheel
may vibrate and the buzzer may sound to
indicate that the function has been tem-
porarily canceled. However, if the “Alert”
customization setting is set to

, the

system will notify the driver by vibrating
the steering wheel instead of sounding
the buzzer.

■

Steering assist function/lane centering

function

●

Depending on the vehicle speed, lane

departure situation, road conditions, etc.,

the driver may not feel the function is

operating or the function may not oper-

ate at all.

●

The steering control of the function is

overridden by the driver’s steering wheel

operation.

●

Do not attempt to test the operation of

the steering assist function.

■

Lane departure alert function

●

The warning buzzer may be difficult to

hear due to external noise, audio play-

back, etc. Also, it may be difficult to feel

steering wheel vibrations due to the road

conditions, etc.

●

If the edge of the course

is not clear or

245

4-5. Using the driving support systems

ivin
g

straight, the lane departure alert function

may not operate.

●

It may not be possible for the system to

determine if there is a danger of a colli-

sion with a vehicle in an adjacent lane.

●

Do not attempt to test the operation of

the lane departure alert function.

: Boundary between asphalt and the side

of the road, such as grass, soil, or a curb

■

Hands off steering wheel warning

In the following situations, a warning mes-

sage urging the driver to hold the steering

wheel and the symbol shown in the illustra-

tion are displayed on the multi-information

display to warn the driver. The warning

stops when the system determines that the

driver holds the steering wheel. Always

keep your hands on the steering wheel

when using this system, regardless of warn-

ings.

●

When the system determines the driver is

not holding the steering wheel while the

lane centering function is operating.

If the driver continues to keep their hands
off of the steering wheel, the buzzer sounds,
the driver is warned and the function is tem-
porarily canceled. This warning also oper-
ates in the same way when the driver
continuously operates the steering wheel
only a small amount.
The buzzer also sounds even if the alert
type is set to

●

When the system determines that the

vehicle may deviate from the lane while

driving around a curve while the lane

centering function is operating.

Depending on the vehicle condition and
road conditions, the warning may not oper-
ate.

●

When the system determines that the

driver is driving without holding the steer-

ing wheel while the steering wheel assist

of the steering assist function is operat-

ing.

If the driver continues to keep their hands
off of the steering wheel and the steering
wheel assist is operating, the buzzer sounds
and the driver is warned. Each time the
buzzer sounds, the continuing time of the
buzzer becomes longer.
The buzzer also sounds even if the alert
type is set to

■

Vehicle sway warning function

When the system determines that the vehi-

cle is swaying while the vehicle sway warn-

ing function is operating, a buzzer sounds

and a warning message urging the driver to

rest and the symbol shown in the illustration

are simultaneously displayed on the multi-

information display.

Depending on the vehicle and road condi-

tions, the warning may not operate.

■

Warning message

If the following warning message is dis-

played on the multi-information display and

the LTA indicator illuminates in orange, fol-

low the appropriate troubleshooting proce-

dure. Also, if a different warning message is

displayed, follow the instructions displayed

on the screen.

●

“LTA Malfunction Visit Your Dealer”

The system may not be operating properly.

Lexus ES (2023 year). Manual in english - page 15