Lexus RX350h (2023 year). Manual in english - page 9



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

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:

●

Situations in which the sensors may not

operate properly:



●

Situations in which some or all of the

functions of the system cannot oper-

ate:



●

When it is necessary to disable the sys-

tem:



Displays and system operation

283

4-5. Using the driving support systems

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

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

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

285

4-5. Using the driving support systems

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.285) 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.287)

●

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:



●

When it is necessary to disable the sys-

tem:



System operating conditions and detectable objects

286

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

287

4-5. Using the driving support systems

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:

• 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:

●

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

288

4-5. Using the driving support systems



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





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

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

●

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

●

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

289

4-5. Using the driving support systems

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

290

4-5. Using the driving support systems

crossing the road or assistance to a

detectable object on the side of the road

is performed and the system determines

the driver is not holding the steering

wheel

If no operations are detected for a certain
amount of time, a buzzer will sound, the
warning will operate. This warning may
also operate if the driver only operates
steering wheel a small amount continu-
ously.

■

Warning operation after preceding

vehicle deceleration assistance has

ended

After preceding vehicle deceleration assis-

tance has ended, if the driver does not

operate the brake pedal or accelerator

pedal and the vehicle approaches the pre-

ceding vehicle, the display will flash and a

buzzer will sound to urge the driver to

decelerate. If the system determines that

the driver is operating the brake pedal or

accelerator pedal, the warning will be can-

celed.

: If equipped



When the system detects a vehicle
approaching from the left or right in
front of your vehicle when
approaching an intersection, a noti-
fication will be displayed.

• Head-up display



When the system determines that
your vehicle may be about to enter
an intersection even though a vehi-
cle is approaching from the left or
right in front of your vehicle, a
buzzer will sound and a message
will be displayed to urge you to
depress the brake pedal.

• Multi-information display

FCTA (Front Cross Traffic
Alert)

When approaching an intersec-
tion, etc., at a low speed, vehicles
approaching from the left and right
of the front of the vehicle can be
detected and the driver informed of
these vehicles.

FCTA system control

291

4-5. Using the driving support systems

Driving

■

FCTA system operating conditions

The system will operate when all of the fol-

lowing conditions are met:

●

A shift position other than P or R is

selected

●

The vehicle speed is approximately 10

mph (15 km/h) or less

●

A vehicle is approaching from the left or

right in front of your vehicle at a speed

between approximately 7 to 37 mph (10

to 60 km/h)

●

There are no vehicles in front of your

vehicle

●

The accelerator pedal is not being

strongly depressed

●

The brake pedal is not being strongly

depressed

■

Situations in which the system may

operate even though no vehicles are

approaching

In certain situations, such as the following,

the system may operate even though no

vehicles are approaching:

●

When approaching objects on the road-

side, such as guardrails, traffic signs, util-

ity poles, street lights, trees, tall grass,

walls, etc.

●

When passing an object on the side of the

road, such as a parked vehicle

●

When a vehicle or pedestrian is

approaching from the left or right in front

of your vehicle in the distance

●

When a vehicle or pedestrian is moving

within a parking spot, etc., next to the lane

your vehicle is in

●

When a pedestrian or bicyclist is

approaching on a sidewalk

●

When a vehicle or pedestrian is moving

away from your vehicle

●

When an approaching vehicle is deceler-

ating or stops

●

When an approaching vehicle makes a

left/right turn immediately in front of your

vehicle

●

When a pedestrian is approaching your

vehicle

●

When an oncoming vehicle makes a

right/left turn

●

When your vehicle enters an intersection

before a vehicle approaching from the

left or right in front of your vehicle

●

When stopped at traffic light and a vehi-

cle approaches from the left or right in

front of your vehicle

●

When making a left/right turn in front of

an approaching vehicle

WARNING

■

For safe use

Driving safely is solely the responsibility

of the driver. Pay careful attention to the

surrounding conditions in order to

ensure safe driving.

The FCTA system is a supplementary

system that informs the driver of vehicles

approaching from the left and right of the

front of the vehicle.

Over-reliance on this system may lead to

an accident resulting in death or serious

injury.

The details of the warning display may

differ from the actual traffic conditions.

Although the warning display will stop

being displayed after a certain amount of

time, this does not necessarily indicate

that there are no longer any vehicles or

pedestrians around your vehicle.

292

4-5. Using the driving support systems

●

When an oncoming vehicle approaches

and passes

●

When being overtaken by another vehi-

cle

●

When driving next to another vehicle or a

pedestrian

●

When a vehicle or pedestrian

approaches the side of your vehicle

■

Situations in which the system may not

operate properly

In situations such as the following, a vehicle

may not be detected by a front side radar

sensor and the system may not operate

properly:

●

If an approaching vehicle moves sud-

denly (sudden steering, acceleration,

deceleration, etc.)

●

If a vehicle is approaching from the left or

right of the front of your vehicle diago-

nally

●

When a vehicle is approaching from the

left or right in front of your vehicle in the

distance

●

When there is an object between your

vehicle and an approaching vehicle

●

When several vehicles are approaching

with little space between them

●

Situations in which the sensors may not

operate properly:



●

Situations in which some or all of the

functions of the system cannot operate:





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

293

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:

Display Function

294

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.

The following settings of the RSA can
be changed through customize set-
tings. (



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

295

4-5. Using the driving support systems

Driving

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.302

●

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.

●

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.

296

4-5. Using the driving support systems

WARNING

●

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.302

●

Situations in which the lane may not be

detected:

297

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

298

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

299

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

300

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

301

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])

302

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.302) 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

303

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

304

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

305

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

306

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

307

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

308

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 0.6 mph (1 km/h) or 1
mph (1.6 km/h) 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

309

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

311

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

312

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: