Lexus RZ (2023 year). Manual in english

281

6-1. Features of the safe driving support functions

Driving support

system

●

When the lens of a headlight is dirty and

illumination is weak

●

When the headlights are misaligned

●

When a headlight is malfunctioning

●

When the headlights of another vehicle,

sunlight, or reflected light shines directly

into the front camera

●

When the brightness of the surrounding

area changes suddenly

●

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 a wiper blade is blocking the front

camera

●

When in a location or near objects which

strongly reflect radio waves, such as the

following:

• Tunnels

• Truss bridges

• Gravel roads

• Rutted, snow-covered roads

• Walls

• Large trucks

• Manhole covers

• Guardrail

• Metal plates

●

When near a step or protrusion

●

When a detectable vehicle is narrow,

such as a small mobility vehicle

●

When a detectable vehicle has a small

front or rear end, such as an unloaded

truck

●

When a detectable vehicle has a low

front or rear end, such as a low bed trailer

●

When a detectable vehicle has extremely

high ground clearance

●

When a detectable vehicle is carrying a

load which protrudes from its cargo area

●

When a detectable vehicle has little

exposed metal, such as a vehicle which is

partially covered with cloth, etc.

●

When a detectable vehicle is irregularly

shaped, such as a tractor, sidecar, etc.

●

When the distance between the vehicle

and a detectable vehicle has become

extremely short

●

When a detectable vehicle is at an angle

●

When snow, mud, etc. is attached to a

detectable vehicle

●

When driving on the following kinds of

roads:

• Roads with sharp curves or winding

roads

• Roads with changes in grade, such as

sudden inclines or declines

• Roads which is sloped to the left or right

• Roads with deep ruts

• Roads which are rough and unmain-

tained

• Roads which frequently undulate or are

bumpy

●

When the steering wheel is being oper-

ated frequently or suddenly

●

When the vehicle is not in a constant

position within a lane

●

When parts related to this system, the

brakes, etc. are cold or extremely hot,

wet, etc.

●

When the wheels are misaligned

●

When driving on slick road surfaces, such

as when it is covered with ice, snow,

gravel, etc.

●

When the course of the vehicle differs

from the shape of a curve

282

6-1. Features of the safe driving support functions

●

When the vehicle speed is excessively

high when entering a curve

●

When entering/exiting a parking lot,

garage, car elevator, etc.

●

When driving in a parking lot

●

When driving through an area where

there are obstructions which may contact

your vehicle, such as tall grass, tree

branches, a curtain, etc.

●

When driving in strong wind

■

Situations in which the lane may not be

detected

●

When the lane is extremely wide or nar-

row

●

Immediately after changing lanes or

passing through an intersection

●

When driving in a temporary lane or lane

regulated by construction

●

When there are structures, patterns,

shadows which are similar to lane lines in

the surrounding

●

When there are multiple white lines for a

lane line

●

When the lane lines are not clear or driv-

ing on a wet road surface

●

When a lane line is on a curb

●

When driving on a bright, reflective road

surface, such as concrete

■

Situations in which some or all of the

functions of the system cannot operate

●

When a malfunction is detected in this

system or a related system, such as the

brakes, steering, etc.

●

When the VSC, TRC, or other safety

related system is operating

●

When the VSC, TRC, or other safety

related system is off

■

Changes in brake operation sound and

pedal response

●

When the brakes have been operated,

brake operation sounds may be heard

and the brake pedal response may

change, but this does not indicate a mal-

function.

●

When the system is operating, the brake

pedal may feel stiffer than expected or

sink. In either situation the brake pedal

can be depressed further. Further

depress the brake pedal as necessary.

■

Situations in which the driver monitor

may not operate properly

In situations such as the following, the driver

monitor camera may not be able to detect

the driver’s face, and the function may not

operate properly.

●

When the inside of the vehicle is hot, such

as after the vehicle has been parked in

the sun

●

When a very bright light, such as the sun

or the headlights of following vehicle,

shines onto the driver monitor camera

●

When the brightness inside the vehicle

changes frequently due to the shadows of

surrounding structures, etc.

●

When a very bright light, such as the sun

or the headlights of an oncoming vehicle,

is shining onto the driver’s face

●

When light, either inside or outside of the

vehicle, is being reflected from the lenses

of eyeglasses or sunglasses

●

When there are multiple faces in the

detection range of the driver monitor

camera, such as when a front or rear pas-

senger is leaning toward the driver’s seat

●

When the driver’s face is outside of the

detection range of the driver monitor

camera, such as when leaned forward or

when their head is outside of the window

●

When the driver monitor camera is being

blocked by the steering wheel, a hand

holding the steering wheel, an arm, etc.

●

When the driver is wearing a hat

●

When the driver is wearing an eyepatch

●

When the driver is wearing eyeglasses or

sunglasses that do not easily transmit

infrared rays

●

When the driver is wearing contact

lenses

●

When the driver is wearing a face mask

●

When the driver is laughing or their eyes

283

6-1. Features of the safe driving support functions

Driving support

system

are only slightly open

●

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

shape of their face is blocked

●

When the driver is wearing makeup

which makes it difficult to detect their

eyes, nose, mouth, or shape of their face

●

When the driver’s eyes are blocked by

the frame of eyeglasses, sunglasses, hair,

etc.

●

When there is a device inside the vehicle

that radiates near infrared rays, such as a

non-genuine driver monitoring system.

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

■

Warning function

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



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



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

■

Face identification

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

Driver monitor

Driver monitor

Basic functions

284

6-1. Features of the safe driving support functions

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



P.202)

■

Warning function

These functions may not operate when the

vehicle speed is low.

■

Face identification

Face identification starts when the door is

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

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

used for identification in My Settings.

●

Face image or video are not stored. Voice

is not stored either.

●

Digitized face information is not used for

any purpose other than identification in

My Settings. Additionally, face informa-

tion cannot be decoded and will not be

disclosed or provided to a third party.

●

Face information can be deleted by your-

self.

●

For the handling of face information,

please consent to the following before

using it:

• Face identification does not guarantee a

complete identity authentication, colla-

tion, or identification.

• When face information registration fails

frequently or face identification fails fre-

quently, the driver cameras should be

cleaned or face information should be

registered again.

• Face information stored in the vehicle

computer cannot be decoded or moved

to another media. Therefore, it is neces-

sary to register face information again

once it is deleted or relevant parts are

replaced.

• Once deleted, face information cannot

be restored. It is necessary to register

face information again.

■

Situations where face identification may

not be performed correctly

This system is designed for use to identify

facial traits. In the following situations, face

information may not be able to be regis-

tered or identified correctly:

●

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

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

●

When the driver is wearing glasses/sun

glasses, a face mask, muffler, etc.

●

When the driver is not facing front

●

When part of driver’s face is covered with

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

●

When the driver is closing eyes

●

When a non-registered driver is a twin,

etc. with a registered driver, whose face

looks quite alike with each other

■

Situations in which the driver monitor

may not operate properly



P.282

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



P.613)

WARNING

■

For safe use

●

The driver monitor is not designed to

prevent the driver from driving care-

lessly or having a poor driving posture.

Pay careful attention to the surround-

ing conditions in order to ensure safe

driving.

●

The driver monitor cannot reduce

drowsiness. If you feel unable to con-

centrate or drowsy, take a break and

sleep as necessary in order to ensure

safe driving.

Changing Driver monitor set-
tings

285

6-2. Using the safe driving support functions

Driving support

system

6-2.Using the safe driving support functions

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



Vehicles



Bicycles



Pedestrians



Motorcycles



Walls

: Detected as a detectable object only

when being ridden.

■

Pre-collision warning

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

Pre-Collision System

PCS (Pre-Collision System)

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



P.285) in

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

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



P.295)

WARNING

■

For safe use

●

Driving safely is solely the responsibil-

ity of the driver. Pay careful attention to

the surrounding conditions in order to

ensure safe driving.

Never use the pre-collision system in

place of normal braking operations.

This system cannot help avoid or

reduce the impact of a collision in

every situation. Over-reliance on this

system to drive the vehicle safely may

lead to an accident resulting in death

or serious injury.

●

Although the pre-collision system is

designed to help avoid or help reduce

the impact of a collision, its effective-

ness may change according to various

conditions. Therefore, it may not

always be able to achieve the same

level of performance.

Read the following items carefully. Do

not overly rely on this system and

always drive carefully.

●

For safe use:



P.275

■

When to disable the pre-collision sys-

tem

●

When it is necessary to disable the sys-

tem:



P.276

Detectable objects

System functions

286

6-2. Using the safe driving support functions

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

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

■

Pre-collision brake assist

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

■

Pre-collision brake control

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

■

Emergency steering assist

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



The possibility of a collision is high



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



The driver is operating the steering
wheel

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

■

Intersection collision avoidance
support (left/right turn)

In situations such as the following, if the
system determines that the possibility

287

6-2. Using the safe driving support functions

Driving support

system

of a collision is high, the pre-collision
warning and pre-collision braking will
operate.
Depending on the intersection, assis-
tance may not operate correctly.



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



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

■

Intersection collision avoidance
support (crossing vehicles)

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

■

Acceleration Suppression at Low
Speed

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

WARNING

■

Pre-collision braking

●

When the pre-collision braking func-

tion is operating, a large amount of

braking force will be applied.

288

6-2. Using the safe driving support functions

WARNING

●

The pre-collision braking function is

not designed to hold the vehicle

stopped. If the vehicle is stopped by

pre-collision brake control, the driver

should operate the brakes immedi-

ately as necessary.

●

The pre-collision braking function may

not operate if certain operations are

performed by the driver. If the acceler-

ator pedal is being depressed strongly

or the steering wheel is being turned,

the system may determine that the

driver is taking evasive action and pos-

sibly prevent the pre-collision braking

function from operating.

●

If the brake pedal is being depressed,

the system may determine that the

driver is taking evasive action and pos-

sibly delay the operation timing of the

pre-collision brake control.

■

Acceleration Suppression at Low

Speed

●

If the steering wheel is being turned,

the system may determine that the

driver is taking evasive action and pos-

sibly prevent the Acceleration Sup-

pression at Low Speed function from

operating or possibly causing its oper-

ation to be canceled.

■

Emergency steering assist

●

The emergency steering assist will be

canceled when the system determines

that lane departure prevention control

has completed.

●

Depending on operations performed

by the driver, emergency steering

assist may not operate or operation

may be canceled.

• If the accelerator pedal is depressed

strongly, the steering wheel is turned

heavily, the brake pedal is depressed,

or the turn signal lever is operated, the

system may determine that the driver

is taking evasive action and the emer-

gency steering assist may not operate.

• While the emergency steering assist is

operating, if the accelerator pedal is

depressed strongly, the steering wheel

is turned heavily, or the brake pedal is

depressed, the system may determine

that the driver is taking evasive action

and emergency steering assist opera-

tion may be canceled.

• While the emergency steering assist is

operating, if the steering wheel is held

or turned in the opposite direction of

system operation, emergency steer-

ing assist operation will be canceled.

289

6-2. Using the safe driving support functions

Driving support

system

■

Operating conditions of each function of the pre-collision system

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

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

●

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

tery has been disconnected and reconnected

●

When the shift position is in R

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

●

Pre-collision warning

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

denly, the pre-collision warning may be cancelled.

●

Pre-collision brake assist

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding vehicles, stopped
vehicles

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

Oncoming vehicles

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

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

Bicycles

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

Pedestrians

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

Preceding motorcycles,
stopped motorcycles

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

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

Oncoming motorcycles

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

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding vehicles, stopped
vehicles

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

Approximately 10 to 180
km/h (7 to 110 mph)

Bicycles

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

290

6-2. Using the safe driving support functions

●

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 strongly depressed
• The steering wheel is operated heavily or suddenly

●

Emergency steering assist

The emergency steering assist will not operate when the turn signal lights are flashing.
The emergency steering assist will not operate when the VSC OFF indicator is illuminated.

Pedestrians

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

Preceding motorcycles,
stopped motorcycles

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

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

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding vehicles, stopped
vehicles

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

Oncoming vehicles

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

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

Bicycles

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

Pedestrians

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

Preceding motorcycles,
stopped motorcycles

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

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

Oncoming motorcycles

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

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

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

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

Active steering function:

80 km/h (

to 50 mph)

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

Active steering function:

80 km/h (

to 50 mph)

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

291

6-2. Using the safe driving support functions

Driving support

system

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

trol is difficult

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

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

●

Intersection collision avoidance support (left/right turn)

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

when the turn signal lights are not flashing.

●

Intersection collision avoidance support (crossing vehicles)



Vehicles without front side radars

Detectable objects

Vehicle speed

Oncoming vehicle
speed

Relative speed
between your vehi-
cle and object

Oncoming vehicles

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

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

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

Pedestrians

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



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

Bicycles

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



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

Oncoming motorcy-
cles

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

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

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

Detectable objects

Vehicle speed

Crossing vehicle
speed

Relative speed
between your vehi-
cle and object

Vehicles, Motorcy-
cles (side)

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



Your vehicle speed
or less



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

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

292

6-2. Using the safe driving support functions



Vehicles with front side radars

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

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

cle speed.

●

Acceleration Suppression at Low Speed

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

lights are flashing.

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

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

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

■

Detection of detectable objects

Objects are detected based on their size,

shape, and movement. Depending on the

ambient brightness, movement, posture

and direction of a detectable object, it may

not be detected and the system may not

operate properly.

The system detects shapes, such as the fol-

lowing, as detectable objects.

■

Situations in which the system may

operate even though the possibility of a

collision is not high

●

In certain situations, such as the following,

the system may determine that the possi-

bility of a collision is high and operate:

• When passing a detectable object

• When changing lanes while overtaking a

detectable object

• When suddenly approaching a detecta-

ble object

• When approaching a detectable object

or other object on the roadside, such as

guardrails, utility poles, trees, walls, etc.

• When there is a detectable object or

other object by the roadside at the

entrance of a curve

Detectable objects

Vehicle speed

Crossing vehicle
speed

Relative speed
between your vehi-
cle and object

Vehicles, Motorcy-
cles (side)

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

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

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

Detectable objects

Vehicle speed

Relative speed between your
vehicle and object

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

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

293

6-2. Using the safe driving support functions

Driving support

system

• When there are patterns or a painting

ahead of the vehicle that may be mistaken

for a detectable object

• When passing a detectable object that is

changing lanes or turning left/right

• When passing a detectable object which

is stopped to make a left/right turn

• When a detectable object stops immedi-

ately before entering the path of the vehi-

cle

• When passing through a location with a

structure above the road (traffic sign, bill-

board, etc.)

• When approaching an electric toll gate

barrier, parking lot barrier, or other bar-

rier that opens and closes

• When turning left/right and an oncoming

vehicle, oncoming motorcycle, pedes-

trian or bicycle crosses in front of the

vehicle

• When attempting to turn left/right in front

of an oncoming vehicle, oncoming

motorcycle, pedestrian or bicycle

• When turning left/right and an oncoming

vehicle, oncoming motorcycle, pedes-

trian or bicycle stops or changes course

immediately before entering the path of

the vehicle

• When turning left/right and an oncoming

vehicle turns left/right in front of the vehi-

cle

• When the steering wheel is operated

toward the path of an oncoming vehicle

• When there is an object moving above or

under the road

■

Situations in which the system may not

operate properly

●

In certain situations, such as the following,

a detectable object may not be detected

by the front sensors, and the system may

not operate properly:

• When a detectable object is approaching

your vehicle

• When your vehicle or a detectable object

is wandering

• When a detectable object makes an

abrupt maneuver (such as sudden swerv-

294

6-2. Using the safe driving support functions

ing, acceleration or deceleration)

• When suddenly approaching a detecta-

ble object

• When the detectable object is near a

wall, fence, guardrail, manhole cover,

steel plate on the road surface, or

another vehicle

• When there is a structure above a detect-

able object

• When part of a detectable object is hid-

den by another object (large luggage,

umbrella, guardrail, etc.)

• When multiple detectable objects are

overlapping

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

reflecting off of a detectable object

• When a detectable object is white and

looks extremely bright

• When the color or brightness of a detect-

able object causes it to blend in with its

surroundings

• When a detectable object cuts in front of

or suddenly emerges in front of your

vehicle

• When approaching a vehicle which is

diagonal

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

rying a large load, is carrying an extra

passenger, is carrying a forward leaning

rider, or has an unusual shape (bicycles

equipped with a child seat, tandem bicy-

cles, etc.)

• If a pedestrian or bicycle is shorter than

approximately 1 m (3.2 ft.) or taller than

approximately 2 m (6.5 ft.).

• When the silhouette of a pedestrian or

bicycle is unclear (such as when they are

wearing a raincoat, long skirt, etc.)

• When a pedestrian is bending forward or

squatting

• When a pedestrian or bicycle is moving

at high speed

• When a pedestrian is pushing a stroller,

wheelchair, bicycle or other vehicle

• When a detectable object blends in with

the surrounding area, such as when it is

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

in a tunnel)

• When the vehicle has not been driven for

a certain amount of time after the EV sys-

tem was started

• While turning left/right or a few seconds

after turning left/right

• While driving around a curve and a few

seconds after driving around a curve

• When turning left/right and an oncoming

vehicle is driving in a lane 3 or more lanes

from the vehicle

• When driving in a traffic lane separated

by more than one lane where oncoming

vehicles are driving while making a

right/left turn

• When turning left/right and the direction

of the vehicle differs greatly from the

direction traffic flows in the oncoming

lane

• When largely out of place with the oppo-

site facing targeted oncoming vehicle

during a right/left turn

• When turning left/right, a pedestrian or

bicycle behind the vehicle comes in front

of it as if it overtakes the vehicle

• When at an intersection, the approaching

crossing vehicle is long in overall length,

such as a large truck, towing trailer, etc.

●

In addition to the preceding, in certain sit-

uations, such as the following, the emer-

gency steering assist may not operate

properly:

• When a detectable object is too close to

the vehicle

• When there is insufficient space to per-

form evasive steering maneuvers or an

obstruction exists in the evasion direction

• When there is an oncoming vehicle

295

6-2. Using the safe driving support functions

Driving support

system

●

In addition to the preceding, in certain sit-

uations, such as the following, walls may

not be detected as a target object and the

Acceleration Suppression at Low Speed

function may not operate properly:

• When scenery behind the wall is visible,

such as a glass door, grid fence, etc.

• When the wall is slanted or low

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

etc.

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

hedge, etc.

• When the road, etc. is reflected on the

wall

• When the vehicle is approaching the wall

at an angle



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



P.610)

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



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



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



P.610)



Vehicles without active steering
function: When the pre-collision
warning timing is changed, the
emergency steering assist timing
will also be changed.
When “Later” is selected, the emer-
gency steering assist (excluding the
active steering function) will not
operate in most cases.



Vehicles with active steering func-

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



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



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

Changing the pre-collision set-
ting

297

6-2. Using the safe driving support functions

Driving support

system

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA system detects lane lines or the

path of preceding or surrounding vehi-

cles.

●

The dynamic radar cruise control is oper-

ating.

●

The lane width is approximately 3 to 4 m

(10 to 13 ft.).

●

The turn signal lever is not being oper-

ated.

●

The vehicle is not being driven around a

sharp curve.

●

The vehicle is not accelerating or decel-

erating more than a certain amount.

●

The steering wheel is not being turned

with a large force.

●

The hands off steering wheel warning

(



P.298) is not operating.

●

The vehicle is being driven in the center

of a lane.

■

Temporary cancelation of functions

●

When the operating conditions are no

longer met, a function may be temporar-

ily canceled. However, when the opera-

tion conditions are met again, operation

of the function will automatically be

restored. (



P.297)

●

If the operating conditions of a function

are no longer met while the function is

operating, a buzzer may sound to indi-

cate that the function has been temporar-

ily canceled.

●

The steering assist operation of the func-

tion can be overridden by the steering

wheel operation of the driver.

■

Lane departure warning function when

the LTA is operating

●

Even if the LDA warning method is

changed to vibration of the steering

wheel, if the vehicle deviates from the

lane while the LTA is operating, the warn-

ing buzzer will sound to alert the driver.

●

If steering wheel operation equivalent to

that necessary for a lane change is

detected, the system will determine the

vehicle is not deviating from the lane and

the warning will not operate.

WARNING

■

Before using the LTA system

●

Do not overly rely on the LTA system.

The LTA system is not a system which

provides automated assistance in driv-

ing and it is not a system which reduces

the amount of attention necessary for

safe driving. The driver is solely

responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety. Also, the driver is responsible

for taking adequate breaks when

fatigued, such as when driving for a

long time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

●

When not using the LTA system, turn it

off using the LTA switch.

298

6-2. Using the safe driving support functions

■

Hands off steering wheel warning oper-

ation

●

When the system determines the driver is

not holding the steering wheel, a mes-

sage urging the driver to grip the steering

wheel and the icon shown in the illustra-

tion will be displayed on the multi-infor-

mation display to warn the driver. If the

system detects that the steering wheel is

held, the warning will be canceled. When

using the system, make sure to grip the

steering wheel firmly, regardless of

whether the warning is operating or not.

●

If no operations are detected for a certain

amount of time, the warning will operate

and the function will be temporarily

canceled. This warning may also operate

if the driver only operates steering wheel

a small amount continuously.

■

Situations in which the hands off steer-

ing wheel warning may not operate

properly

●

Depending on the condition of the vehi-

cle, handle control condition and road

surface, the warning function may not

operate.

●

Vehicles with LCA: In the following situa-

tions, the system may not be able to

detect when the driver’s hands are off the

steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the

steering wheel

• When the driver is gripping the wood

trim, seam of the leather, spokes, or other

part of the steering wheel that does not

have sensors

●

Vehicles with LCA: In the following situa-

tions, the hands off steering wheel warn-

ing may not operate and the LTA function

may continue operating even though the

driver’s hands are off the steering wheel:

• When something other than a hand is

contacting the steering wheel

• When a wide object or arms are held

across the steering wheel

The LTA will change between ON/OFF each time the LTA switch is pressed.
When the LTA is ON, the LTA indicator will illuminate.



Vehicles without a head-up display

Enabling/disabling the system

299

6-2. Using the safe driving support functions

Driving support

system



Vehicles with a head-up display

WARNING

■

Situations in which the functions may

not operate properly

In the following situations, the functions

may not operate properly and the vehicle

may depart from its lane. Do not overly

rely on these functions. The driver is

solely responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety.

●

When a preceding or surrounding

vehicle changes lanes (Your vehicle

may follow the preceding or surround-

ing vehicle and also change lanes)

●

When a preceding or surrounding

vehicle is swaying (Your vehicle may

sway accordingly and depart from the

lane)

●

When a preceding or surrounding

vehicle departs from a lane (Your vehi-

cle may follow the preceding or sur-

rounding vehicle and also depart from

the lane)

●

When a preceding or surrounding

vehicle is being driven extremely close

to the left/right lane line (Your vehicle

may follow the preceding or surround-

ing vehicle accordingly and depart

from the lane)

●

When there are moving objects or

structures in the surrounding area

(Depending on the position of the

moving object or structure relative to

your vehicle, your vehicle may sway)

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby

vehicles

●

Situations in which the sensors may not

operate properly:



P.280

●

Situations in which the lane may not be

detected:



P.282

●

When it is necessary to disable the sys-

tem:



P.276

301

6-2. Using the safe driving support functions

Driving support

system

: If equipped

This function is linked to the LTA and
provides assistance in performing lane
changes through steering wheel oper-
ations.
Use the this function only on highways
and expressways.
The steering assist operation can be
overridden by the steering wheel oper-
ation of the driver.
The lane change assist function is not
designed to operate when changing
lanes at a junction.

■

Operating conditions of function

This function is operable when all of the fol-

lowing conditions are met:

●

The LTA is operating.

●

The lane change assist function is ena-

bled by a customize setting.

●

The vehicle speed is between approxi-

mately 80 and 140 km/h (50 and 85

mph).

●

The system recognizes the current road

as a highway or expressway.

●

The system detects a broken white line on

the side which the lane change is to be

performed.

●

A vehicle is not detected in the lane

toward which the turn signal is operated.

●

The navigation system map data is cor-

rect.

●

The steering wheel is not being turned

with a large force.

●

The hands off steering wheel warning

(



P.298) is not operating.

●

The system has detected a moving object

Lane Change Assist

LCA (Lane Change Assist)

LCA functions

WARNING

■

Before using the LCA system

●

Do not overly rely on the LCA system.

The LCA system is not a system which

provides automated assistance in driving

and it is not a system which reduces the

need for checking an adjacent lane for

other vehicles, approaching vehicles, etc.

when changing lanes. The driver is solely

responsible for paying attention to their

surroundings and operating the steering

wheel as necessary to ensure safety.
Also, do not use the LCA to change

lanes into which a lane change should

not be performed (oncoming lanes, road

shoulders, etc.).

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

302

6-2. Using the safe driving support functions

behind the vehicle at least once since the

EV system was started

■

Cancelation of functions

In the following situations, operation of the

LCA may be canceled with the display and

buzzer:

●

When the operating conditions

(



P.301) are no longer met

●

When the system can no longer detect

lane lines

●

When the turn signal lever is operated to

the second position (



P.302).

●

When the turn signal lever is operated in

the opposite direction of the lane change

●

When the system detects operation of

the steering wheel, brake pedal or accel-

erator pedal by the driver.

●

The hands off steering wheel warning

(



P.302) is operating.

If the system detects that a vehicle is quickly

approaching in the lane toward which the

turn signal is operated a buzzer will sound

and a message will be displayed to alert the

driver. At the same time the steering wheel

may be slightly operated to help keep the

vehicle away from the approaching vehicle.

■

Hands off steering wheel warning oper-

ation

When the system determines the driver is

not holding the steering wheel, a message

urging the driver to grip the steering wheel

and the icon shown in the illustration will be

displayed on the multi-information display

to warn the driver. If the system detects that

the steering wheel is held, the warning will

be canceled. When using the system, make

sure to grip the steering wheel firmly,

regardless of whether the warning is oper-

ating or not.

■

Situations in which the hands off steer-

ing wheel warning may not operate

properly

●

Depending on the condition of the vehi-

cle, handle control condition and road

surface, the warning function may not

operate.

●

In the following situations, the system may

not be able to detect when the driver’s

hands are off the steering wheel.

• When a steering wheel cover is installed

• When the driver is wearing gloves

• When foreign matter is attached to the

steering wheel

• When the driver is gripping the wood

trim, seam of the leather, spokes, or other

part of the steering wheel that does not

have sensors

●

In the following situations, the hands off

steering wheel warning may not operate

and the LCA function may continue

operating even though the driver’s hands

are off the steering wheel:

• When something other than a hand is

contacting the steering wheel

• When a wide object or arms are held

across the steering wheel

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

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

Operating the LCA

303

6-2. Using the safe driving support functions

Driving support

system

LCA off.

First position: LCA is operational

Second position: LCA is not opera-
tional

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



P.611)

WARNING

■

Situations in which the LCA should

not be used

●

When driving on a one lane road

●

When there is no broken white line

between the current lane and the lane

to be changed to

Enabling/disabling the system

Displays and system operation

The operating state of the LCA system is indicated.

LCA display

Steering icon

Condition

Grey arrow and green line

Green

LCA on standby

Blue arrow and white line

Green

LCA is operating

305

6-2. Using the safe driving support functions

Driving support

system

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

, and also can slightly

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

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

: Boundary between the asphalt and

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

■

Lane departure alert function

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

, a warning is displayed on a

display, and either a warning buzzer
will sound or the steering wheel will
vibrate to alert the driver.
Check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to the
center of the lane or course

If the system determines that the vehi-
cle may collide with a vehicle in an
adjacent lane, the lane departure alert
will operate even if the turn signals are
operating.

: Boundary between the asphalt and

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

■

Lane departure prevention func-
tion

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

, it provides assistance through

steering wheel operations to help
avoid deviation from the lane or
course.
If the system determines that the steer-
ing wheel has not been operated for a
certain amount of time or the steering
wheel is not being firmly gripped, a
warning message may be displayed
and a warning buzzer may sound to
alert the driver.
If the system determines that the vehi-
cle may collide with a vehicle in an
adjacent lane, the lane departure pre-
vention function will operate even if the
turn signals are operating.

: Boundary between the asphalt and

Lane Departure Alert

LDA (Lane Departure Alert)

Basic functions

306

6-2. Using the safe driving support functions

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

■

Break suggestion function

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

■

Operating conditions of each function

●

Lane departure alert/prevention function

This function is operable when all of the fol-

lowing conditions are met:

• The vehicle speed is approximately 50

km/h (30 mph) or more.

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

(When recognized on only one side, the

system will operate only for the recog-

nized side.)

• The lane width is approximately 3 m (9.8

ft.) or more.

• The turn signal lever is not being oper-

ated.

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

sharp curve.

• The vehicle is not accelerating or decel-

erating more than a certain amount.

WARNING

■

Before using the LDA system

●

Do not overly rely on the LDA system.

The LDA system is not a system which

provides automated assistance in driv-

ing. However, as it is not a system

which reduces the amount of attention

necessary for safe driving. The driver is

solely responsible for paying attention

to their surroundings and operating

the steering wheel as necessary to

ensure safety. Also, the driver is

responsible for taking adequate

breaks when fatigued, such as when

driving for a long time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident.

307

6-2. Using the safe driving support functions

Driving support

system

• The steering wheel is not being turned

sufficiently to perform a lane change.

• When the VSC or TRC system is not

turned off.

: Boundary between the asphalt and

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

■

Temporary cancellation of functions

When the operating conditions are no

longer met, a function may be temporarily

canceled. However, when the operation

conditions are met again, operation of the

function will automatically be restored.

(



P.306)

■

Operation of the lane departure alert

function/lane departure prevention

function

●

Depending on the vehicle speed, road

conditions, lane departure angle, etc.,

operation of the lane departure preven-

tion function may not be felt or the func-

tion may not operate.

●

Depending on the conditions, the warn-

ing buzzer may operate even if vibration

is selected through a customize setting.

●

If a course

is not clear or straight, the

lane departure alert function or lane

departure prevention function may not

operate.

●

The lane departure alert function or lane

departure prevention function may not

operate if the system judges that the vehi-

cle is intentionally being steered to avoid

a pedestrian or parked vehicle.

●

It may not be possible for the system to

judge if there is danger of a collision with

a vehicle in an adjacent lane.

●

Depending on the driver condition, the

lane departure alert function or lane

departure prevention function changes

the timing of operation.

●

The steering assist operation of the lane

departure prevention function can be

overridden by the steering wheel opera-

tion of the driver.

: Boundary between the asphalt and

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

■

Hands off steering wheel warning oper-

ation

In the following situations, a message urging

the driver to operate the steering wheel and

an icon will be displayed and a buzzer will

sound to warn the driver. When using the

system, make sure to grip the steering

wheel firmly, regardless of whether the

warning is operating or not.

When the system determines that the driver

is not securely holding the steering wheel,

or the steering wheel is not being operated

when the steering assist operation of the

lane departure prevention function is oper-

ating
The length of time that the warning buzzer

operates will become longer as the fre-

quency of the steering assist operating

increases. Even if the system judges that the

steering wheel has been operated, the

warning buzzer will sound for a certain

amount of time.

■

Break suggestion function

This function is operable when all of the fol-

lowing conditions are met:

●

The vehicle speed is approximately

65km/h (40mph) or more.

●

The lane width is approximately 3 m (9.8

ft.) or more.

308

6-2. Using the safe driving support functions

Depending on the condition of the vehicle

and road surface, the break suggestion

function may not operate.
Vehicles without a head-up display: Press
the

meter control switch to turn off the

message.
Vehicles with a head-up display: Press the

steering switch to turn off the message.

Unless

is pressed, the message

of the break suggestion function will remain

displayed.



The LDA system can be ena-
bled/disabled through a customize
setting. (



P.611)



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



P.611)



When the system determines that
the driver is tired, the lane departure
warning function will operate at the

“Earlier” timing, regardless of the
customized setting. Also, this setting
will be kept until the power switch is
turned off.

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

Changing LDA settings

WARNING

■

Situations in which the system may

not operate properly

In the following situations, the system

may not operate properly and the vehicle

may depart from its lane. Do not overly

rely on these functions. The driver is

solely responsible for paying attention to

their surroundings and operating the

steering wheel as necessary to ensure

safety.

●

When the boundary between the

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

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

not clear or straight

●

When the vehicle is struck by a cross-

wind or the turbulence of other nearby

vehicles

●

Situations in which the lane may not be

detected :



P.282

●

Situations in which the sensors may not

operate properly:



P.280

●

Situations in which some or all of the

functions of the system cannot oper-

ate:



P.282

●

When it is necessary to disable the sys-

tem:



P.276

Displays and system operation

309

6-2. Using the safe driving support functions

Driving support

system

Indicator

Lane display Steering icon

Situation

Yellow

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

Yellow

Flashing

Yellow

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

Yellow

Flashing

Yellow

Flashing

Green

Lane departure alert function/lane depar-

ture prevention function is operating for the

side which the lane display is flashing

310

6-2. Using the safe driving support functions

According to the driving conditions, the operation and detectable objects of the

Proactive driving assist

PDA (Proactive Driving Assist)

When a detectable object
(



P.310) is detected, the proactive

driving assist operates the brakes
and steering wheel to help prevent
the vehicle from approaching 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.312)

●

The proactive driving assist is not a sys-

tem which reduces the amount of

attention necessary for safe driving.

Even if the system is operating cor-

rectly, the surrounding conditions as

recognized by the driver and detected

by the system may differ. It is necessary

for the driver to pay attention, assess

risks, and ensure safety. Over-reliance

on this system to drive the vehicle

safely may lead to an accident result-

ing in death or serious injury.

●

Proactive driving assist is not a system

which allows for inattentive driving and

is not a system which assists in poor

visibility conditions. The driver is solely

responsible for paying attention to

their surroundings and driving safely.

■

When turning proactive driving assist

off

●

Situations in which the sensors may not

operate properly:



P.280

●

When it is necessary to disable the sys-

tem:



P.276

System operating conditions and detectable objects

311

6-2. Using the safe driving support functions

Driving support

system

proactive driving assist will change as follows.

■

Vehicle speeds at which the system can

operate

●

Detectable object crossing the road

assistance

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

Function

Conditions

Operation

Detectable objects

Obstacle Antici-
pation Assist
(OAA)

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 (DA)

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
(SA)

Lane is detected

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

None

312

6-2. Using the safe driving support functions

●

Detectable object on the side of the road

assistance

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

●

Preceding vehicle deceleration assis-

tance

Approximately 20 km/h (15 mph) or more

●

Curve deceleration assistance

Approximately 20 km/h (15 mph) or more

●

Steering assist within a lane

Approximately 10 to 140 km/h (5 to 80

mph)

■

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 oper-

ate:



P.282

• When the P, R or N shift position is

selected

●

In the following situations, the brake

operation assist will be canceled:

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

• When a certain vehicle speed has been

reached, as judged by the system,

according to the surrounding conditions

●

In the following situations, system opera-

tion may be canceled:

• When the brake control or output restric-

tion control of a driving support system

operates

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

detected object has moved away from

the vehicle

• When lane lines can no longer be

detected

• When the brake pedal has been

depressed

• When the accelerator pedal has been

depressed

• When the steering wheel has been oper-

ated with more than a certain amount of

force

• When the turn signal lever is operated to

the left/right turn position

WARNING

■

Situations in which the system may

not operate properly

●

Situations in which the lane may not be

detected:



P.282

●

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.)

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