Lexus ES300H (2023 year). Manual in english

182

4-5. Using the driving support systems

The system can detect the following
(The detectable objects differs
depending on the function.):



Vehicles



Bicyclists



Pedestrians

■

Pre-collision warning

When the system determines that the
possibility of a frontal collision is high, a
buzzer will sound and a warning mes-

sage will be displayed on the multi-
information display to urge the driver
to take evasive action.

■

Pre-collision brake assist

When the system determines that the
possibility of a frontal collision is high,
the system applies greater braking
force in relation to how strongly the
brake pedal is depressed.

■

Pre-collision braking

If the system determines that the possi-
bility of a frontal 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 possi-
bility of a frontal collision is high and
that there is sufficient space for the
vehicle to be steered into within its
lane, and the driver has begun evasive
maneuver or steering, emergency
steering assist will assist the steering
movements to help enhance the vehi-
cle stability and for lane departure pre-
vention. During operation, the
indicator will illuminate in green.

PCS (Pre-Collision System)

The pre-collision system uses a
radar sensor and front camera to
detect objects (



P.181) in front of

the vehicle. When the system
determines that the possibility of a
frontal collision with an 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 deter-
mines that the possibility of a frontal
collision with an object 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.184)

Detectable objects

System functions

183

4-5. Using the driving support systems

Driving

■

Intersection right/left turn assis-
tance

If the system determines that there is a
high possibility of a collision in the fol-
lowing situations, it will assist with Pre-
collision warning and, if necessary Pre-
collision braking.
Depending on the configuration of the
intersection, it may not be possible to
support.



When you turn right/left at an inter-
section and cross the path of an
oncoming vehicle



When you turn right/left, pedestrian
is detected in the forward direction
and estimated to enter your vehi-
cle’s path (bicyclists are not
detected.)

■

Suspension control (if equipped)

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



P.252) will control the damp-

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

WARNING

■

Limitations of the pre-collision sys-

tem

●

The driver is solely responsible for safe

driving. Always drive safely, taking

care to observe your surroundings.

Do not use the pre-collision system

instead of normal braking operations

under any circumstances. This system

will not prevent collisions or lessen col-

lision damage or injury in every situa-

tion. Do not overly rely on this system.

Failure to do so may lead to an acci-

dent, resulting in death or serious

injury.

184

4-5. Using the driving support systems

WARNING

●

Although this system is designed to

help avoid a collision or help reduce

the impact of the collision, its effective-

ness may change according to various

conditions, therefore the system may

not always be able to achieve the same

level of performance.

Read the following conditions care-

fully. Do not overly rely on this system

and always drive carefully.

• Conditions under which the system

may operate even if there is no possi-

bility of a collision:



P.187

• Conditions under which the system

may not operate properly:



P.189

●

Do not attempt to test the operation of

the pre-collision system yourself.

Depending on the objects used for

testing (dummies, cardboard objects

imitating detectable objects, etc.), the

system may not operate properly, pos-

sibly leading to an accident.

■

Pre-collision braking

●

When the pre-collision braking func-

tion is operating, a large amount of

braking force will be applied.

●

If the vehicle is stopped by the opera-

tion of the pre-collision braking func-

tion, the pre-collision braking function

operation will be canceled after

approximately 2 seconds.

Depress the brake pedal 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.

●

In some situations, while the pre-colli-

sion braking function is operating,

operation of the function may be can-

celed if the accelerator pedal is

depressed strongly or the steering

wheel is turned and the system deter-

mines that the driver is taking evasive

action.

●

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 braking function.

■

Emergency steering assist

●

As emergency steering assist opera-

tion will be canceled when the system

determines that lane departure pre-

vention function has been completed.

●

Emergency steering assist may not

operate or may be cancel in the fol-

lowing cases as the system may deter-

mine the driver is taking actions.

• If the accelerator pedal is being

depressed strongly, the steering wheel

is being operated sharply, the brake

pedal is being depressed or the turn

signal lever is being operated. In this

case, the system may determine that

the driver is taking evasive action and

the emergency steering assist may not

operate.

• In some situations, while the emer-

gency steering assist is operating,

operation of the function may be can-

celed if the accelerator pedal is

depressed strongly, the steering wheel

is operated sharply or the brake pedal

is being depressed and the system

determines that the driver is taking

evasive action.

• When the emergency steering assist is

operating, if the steering wheel is held

firmly or is operated in the opposite

direction to that which the system is

generating torque, the function may

be canceled.

185

4-5. Using the driving support systems

Driving

■

Enabling/disabling the pre-colli-
sion system

The pre-collision system can be
enabled/disabled on

(



P.85) of

the multi-information display.

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

If the system is disabled, the PCS warn-
ing light will turn on and a message will
be displayed on the multi-information
display.

■

Changing the pre-collision warn-
ing timing

The pre-collision warning timing can
be changed on

(



P.85) of the

multi-information display.

The warning timing setting is retained
when the power switch is turned off. How-
ever, if the pre-collision system is disabled
and re-enabled, the operation timing will
return to the default setting (middle).

WARNING

■

When to disable the pre-collision sys-

tem

In the following situations, disable the

system, as it may not operate properly,

possibly leading to an accident resulting

in death or serious injury:

●

When the vehicle is being towed

●

When your vehicle is towing another

vehicle

●

When transporting the vehicle via

truck, boat, train or similar means of

transportation

●

When the vehicle is raised on a lift with

the hybrid system on and the tires are

allowed to rotate freely

●

When inspecting the vehicle using a

drum tester such as a chassis dyna-

mometer or speedometer tester, or

when using an on vehicle wheel bal-

ancer

●

When a strong impact is applied to the

front bumper or front grille, due to an

accident or other reasons

●

If the vehicle cannot be driven in a sta-

ble manner, such as when the vehicle

has been in an accident or is malfunc-

tioning

●

When the vehicle is driven in a sporty

manner or off-road

●

When the tires are not properly

inflated

●

When the tires are very worn

●

When tires of a size other than speci-

fied are installed

●

When tire chains are installed

●

When a compact spare tire or an

emergency tire puncture repair kit is

used

●

If equipment (snow plow, etc.) that

may obstruct the radar sensor or front

camera is temporarily installed to the

vehicle

Changing settings of the pre-
collision system

186

4-5. Using the driving support systems

If the pre-collision warning timing is
changed, emergency steering assist tim-
ing will also be changed accordingly.
If late is selected, emergency steering
assist would not operate in case of an
emergency.

Early

Middle

This is the default setting.

Late

■

Operational conditions for each pre-collision function

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

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

has not been driven for a certain amount of time

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

be operational)

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

●

Pre-collision warning

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

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

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 7 to 110 mph (10 to

180 km/h)

Approx. 7 to 110 mph (10 to

180 km/h)

Oncoming vehicles

Approx. 7 to 110 mph (10 to

180 km/h)

Approx. 13 to 110 mph (20 to

180 km/h)

Bicyclists and pedestrians

Approx. 7 to 50 mph (10 to

80 km/h)

Approx. 7 to 50 mph (10 to

80 km/h)

187

4-5. Using the driving support systems

Driving

●

Pre-collision brake assist

●

Pre-collision braking

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

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

●

Emergency steering assist

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

an emergency.

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

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

●

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

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

which targets oncoming vehicles does not work.

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 20 to 110 mph (30

to 180 km/h)

Approx. 20 to 110 mph (30

to 180 km/h)

Bicyclists and pedestrians

Approx. 20 to 50 mph (30

to 80 km/h)

Approx. 20 to 50 mph (30

to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles

Approx. 7 to 110 mph (10 to

180 km/h)

Approx. 7 to 110 mph (10 to

180 km/h)

Oncoming vehicles

Approx. 7 to 110 mph (10 to

180 km/h)

Approx. 13 to 110 mph (20 to

180 km/h)

Bicyclists and pedestrians

Approx. 7 to 50 mph (10 to

80 km/h)

Approx. 7 to 50 mph (10 to

80 km/h)

Detectable objects

Vehicle speed

Relative speed between your

vehicle and object

Preceding and stopped vehi-

cles, bicyclists and pedestri-

ans

Approx. 25 to 50 mph (40

to 80 km/h)

Approx. 25 to 50 mph (40

to 80 km/h)

188

4-5. Using the driving support systems

●

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

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

which targets oncoming vehicles does not work.

■

Object detection function

The system detects objects based on their

size, profile, motion, etc. However, an

object may not be detected depending on

the surrounding brightness and the motion,

posture, and angle of the detected object,

preventing the system from operating

properly. (



P.189) The illustration shows

an image of detectable objects.

■

Conditions under which the system may

operate even if there is no possibility of a

collision

●

In some situations such as the following,

the system may determine that there is a

possibility of a frontal collision and oper-

ate.

• When passing a detectable object, etc.

• When changing lanes while overtaking a

detectable object, etc.

• When approaching a detectable object

in an adjacent lane or on the roadside,

such as when changing the course of

travel or driving on a winding road

• When rapidly closing on a detectable

object, etc.

• When approaching objects on the road-

side, such as detectable objects, guard-

rails, utility poles, trees, or walls

• When there is a detectable object or

other object by the roadside at the

entrance of a curve

Detectable objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your vehi-

cle and object

Oncoming vehicles

Approx. 7 to 15 mph

(10 to 25 km/h)

Approx. 20 to 35

mph (30 to 55 km/h)

Approx. 25 to 50

mph (40 to 80

km/h)

Pedestrians

Approx. 7 to 15 mph

(10 to 25 km/h)



Approx. 7 to 15 mph

(10 to 25 km/h)

Detectable objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your vehi-

cle and object

Oncoming vehicles

Approx. 10 to 15 mph

(15 to 25 km/h)

Approx. 20 to 28

mph (30 to 45 km/h)

Approx. 28 to 43

mph (45 to 70 km/h)

Pedestrians

Approx. 7 to 15 mph

(10 to 25 km/h)



Approx. 7 to 15 mph

(10 to 25 km/h)

189

4-5. Using the driving support systems

Driving

• When there are patterns or paint in front

of your vehicle that may be mistaken for a

detectable object

• When the front of your vehicle is hit by

water, snow, dust, etc.

• When overtaking a detectable object

that is changing lanes or making a

right/left turn

• When passing a detectable object in an

oncoming lane that is stopped to make a

right/left turn

• When a detectable object approaches

very close and then stops before entering

the path of your vehicle

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

ered, such as when on an uneven or

undulating road surface

• When driving on a road surrounded by a

structure, such as in a tunnel or on an iron

bridge

• When there is a metal object (manhole

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

sion in front of your vehicle

• When passing under an object (road

sign, billboard, etc.)

• When approaching an electric toll gate

barrier, parking area barrier, or other

barrier that opens and closes

• When using an automatic car wash

• When driving through or under objects

that may contact your vehicle, such as

thick grass, tree branches, or a banner

• When driving through steam or smoke

• When driving near an object that reflects

radio waves, such as a large truck or

guardrail

• When driving near a TV tower, broad-

casting station, electric power plant,

radar equipped vehicles, etc., or other

location where strong radio waves or

electrical noise may be present

• When there are many things which can

reflect the radio waves of the radar in the

vicinity (tunnels, truss bridges, gravel

roads, snow covered road that have

tracks, etc.)

• While making a right/left turn, when an

oncoming vehicle or a crossing pedes-

trian has already exited the path of your

vehicle

• While making a right/left turn, closely in

front of an oncoming vehicle or a cross-

ing pedestrian.

• While making a right/left turn, when an

oncoming vehicle or a crossing pedes-

trian stops before entering the path of

your vehicle

• While making a right/left turn, when an

oncoming vehicle turns right/left in front

of your vehicle

190

4-5. Using the driving support systems

• While steering into the direction of

oncoming traffic

■

Situations in which the system may not

operate properly

●

In some situations such as the following,

an object may not be detected by the

radar sensor and front camera, prevent-

ing the system from operating properly:

• When a detectable object is approaching

your vehicle

• When your vehicle or a detectable object

is wobbling

• If a detectable object makes an abrupt

maneuver (such as sudden swerving,

acceleration or deceleration)

• When your vehicle approaches a detect-

able object rapidly

• When a detectable object is not directly

in front of your vehicle

• When a detectable object is near a wall,

fence, guardrail, manhole cover, vehicle,

steel plate on the road, etc.

• When a detectable object is under a

structure

• When part of a detectable object is hid-

den by an object, such as large baggage,

an umbrella, or guardrail

• When there are many things which can

reflect the radio waves of the radar in the

vicinity (tunnels, truss bridges, gravel

roads, snow covered road that have

tracks, etc.)

• When there is an effect on the radio

waves to the radar that is installed on

another vehicle

• When multiple detectable objects are

close together

• If the sun or other light is shining directly

on a detectable object

• When a detectable object is a shade of

white and looks extremely bright

• When a detectable object appears to be

nearly the same color or brightness as its

surroundings

• If a detectable object cuts or suddenly

emerges in front of your vehicle

• When the front of your vehicle is hit by

water, snow, dust, etc.

• When a very bright light ahead, such as

the sun or the headlights of oncoming

traffic, shines directly into the front cam-

era

• When approaching the side or front of a

vehicle ahead

• If a vehicle ahead is a motorcycle

• If a vehicle ahead is narrow, such as a

personal mobility vehicle

• If a preceding vehicle has a small rear

end, such as an unloaded truck

• If a preceding vehicle has a low rear end,

such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

• If a vehicle ahead is carrying a load which

protrudes past its rear bumper

• If a vehicle ahead is irregularly shaped,

such as a tractor or side car

• If a vehicle ahead is a child sized bicycle,

a bicycle that is carrying a large load, a

191

4-5. Using the driving support systems

Driving

bicycle ridden by more than one person,

or a uniquely shaped bicycle (bicycle with

a child seat, tandem bicycle, etc.)

• If a pedestrian/or the riding height of a

bicyclist ahead is shorter than approxi-

mately 3.2 ft. (1 m) or taller than approxi-

mately 6.5 ft. (2 m)

• If a pedestrian/bicyclist is wearing over-

sized clothing (a rain coat, long skirt,

etc.), making their silhouette obscure

• If a pedestrian is bending forward or

squatting or bicyclist is bending forward

• If a pedestrian/bicyclist is moving fast

• If a pedestrian is pushing a stroller,

wheelchair, bicycle or other vehicle

• When driving in inclement weather such

as heavy rain, fog, snow or a sandstorm

• When driving through steam or smoke

• When the surrounding area is dim, such

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

a tunnel, making a detectable object

appear to be nearly the same color as its

surroundings

• When driving in a place where the sur-

rounding brightness changes suddenly,

such as at the entrance or exit of a tunnel

• After the hybrid system has started the

vehicle has not been driven for a certain

amount of time

• While making a left/right turn and for a

few seconds after making a left/right turn

• While driving on a curve and for a few

seconds after driving on a curve

• If your vehicle is skidding

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

ered

• If the wheels are misaligned

• If a wiper blade is blocking the front cam-

era

• The vehicle is being driven at extremely

high speeds

• When driving on a hill

• If the radar sensor or front camera is mis-

aligned

• When driving in a traffic lane separated

by more than one lane where oncoming

vehicles are driving while making a

right/left turn

• When largely out of place with the oppo-

site facing targeted oncoming vehicle

during a right/left turn

• While making a right/left turn, when a

pedestrian approaches from behind or

side of your vehicle

●

In addition to the above, in some situa-

tions, such as the following, the emer-

gency steering assist may not operate.

• When the white (yellow) lane lines are

difficult to see, such as when they are

faint, diverging/merging, or a shadow is

cast upon them

• When the lane is wider or narrower than

normal

• When there is a light and dark pattern on

the road surface, such as due to road

repairs

• When the target is too close

• When there is insufficient safe or unob-

structed space for the vehicle to be

steered into

• If oncoming vehicle is present

• If VSC function is operating

●

In some situations such as the following,

sufficient braking force or steering force

may not be obtained, preventing the sys-

tem from performing properly:

• If the braking functions cannot operate to

their full extent, such as when the brake

192

4-5. Using the driving support systems

parts are extremely cold, extremely hot,

or wet

• If the vehicle is not properly maintained

(brakes or tires are excessively worn,

improper tire inflation pressure, etc.)

• When the vehicle is being driven on a

gravel road or other slippery surface

• When the road surface has deep wheel

tracks

• When driving on a hill road

• When driving on a road that has inclines

to the left or right

■

If VSC is disabled

●

If VSC is disabled (



P.253), the pre-

collision brake assist and pre-collision

braking functions are also disabled.

●

The PCS warning light will turn on and

“VSC Turned off Pre-Collision Brake

System Unavailable” will be displayed on

the multi-information display.

LTA (Lane Tracing Assist)

While driving on a road with clear
white (yellow) lane lines, the LTA
system warns the driver if the vehi-
cle may deviate from the current
lane or course

, and also can

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

. Also, while the

dynamic radar cruise control with
full-speed range (



P.203) is oper-

ating, this system will operate the
steering wheel to maintain the vehi-
cle’s lane position.

The LTA system recognizes white
(yellow) lane lines or a course

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

: Boundary between asphalt and the

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

193

4-5. Using the driving support systems

Driving

WARNING

■

Before using LTA system

●

Do not rely solely upon the LTA sys-

tem. The LTA system does not auto-

matically drive the vehicle or reduce

the amount of attention that must be

paid to the area in front of the vehicle.

The driver must always assume full

responsibility for driving safely by pay-

ing careful attention to the surround-

ing conditions and operating the

steering wheel to correct the path of

the vehicle. Also, the driver must take

adequate breaks when fatigued, such

as from driving for a long period of

time.

●

Failure to perform appropriate driving

operations and pay careful attention

may lead to an accident, resulting in

death or serious injury.

■

Situations unsuitable for LTA system

In the following situations, use the LTA

switch to turn the system off. Failure to do

so may lead to an accident, resulting in

death or serious injury.

●

Vehicle is driven on a road surface

which is slippery due to rainy weather,

fallen snow, freezing, etc.

●

Vehicle is driven on a snow-covered

road.

●

White (yellow) lines are difficult to see

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

●

Vehicle is driven in a temporary lane

or restricted lane due to construction

work.

●

Vehicle is driven in a construction

zone.

●

A spare tire, tire chains, etc. are

equipped.

●

When the tires have been excessively

worn, or when the tire inflation pres-

sure is low.

●

During emergency towing

■

Preventing LTA system malfunctions

and operations performed by mistake

●

Do not modify the headlights or place

stickers, etc. on the surface of the

lights.

●

Do not modify the suspension etc. If

the suspension etc. needs to be

replaced, contact your Lexus dealer.

●

Do not install or place anything on the

hood or grille. Also, do not install a

grille guard (bull bars, kangaroo bar,

etc.).

●

If your windshield needs repairs, con-

tact your Lexus dealer.

■

Conditions in which functions may

not operate properly

In the following situations, the functions

may not operate properly and the vehi-

cle may depart from its lane. Drive safely

by always paying careful attention to

your surroundings and operate the

steering wheel to correct the path of the

vehicle without relying solely on the func-

tions.

●

When the follow-up cruising display is

displayed (



P.196) and the preced-

ing vehicle changes lanes. (Your vehi-

cle may follow the preceding vehicle

and also change lanes.)

●

When the follow-up cruising display is

displayed (



P.196) and the preced-

ing vehicle is swaying. (Your vehicle

may sway accordingly and depart from

the lane.)

194

4-5. Using the driving support systems

WARNING

●

When the follow-up cruising display is

displayed (



P.196) and the preced-

ing vehicle departs from its lane. (Your

vehicle may follow the preceding vehi-

cle and depart from the lane.)

●

When the follow-up cruising display is

displayed (



P.196) and the preced-

ing vehicle is being driven extremely

close to the left/right lane line. (Your

vehicle may follow the preceding vehi-

cle and depart from the lane.)

●

Vehicle is being driven around a sharp

curve.

●

Objects or patterns that could be mis-

taken for white (yellow) lines are pres-

ent on the side of the road (guardrails,

reflective poles, etc.).

●

Vehicle is driven where the road

diverges, merges, etc.

●

Repair marks of asphalt, white (yellow)

lines, etc. are present due to road

repair.

●

There are shadows on the road that

run parallel with, or cover, the white

(yellow) lines.

●

The vehicle is driven in an area without

white (yellow) lines, such as in front of

a tollgate or checkpoint, or at an inter-

section, etc.

●

The white (yellow) lines are cracked,

“Botts’ dots”, “Raised pavement

marker” or stones are present.

●

The white (yellow) lines cannot be

seen or are difficult to see due to sand,

etc.

●

The vehicle is driven on a road surface

that is wet due to rain, puddles, etc.

●

The traffic lines are yellow (which may

be more difficult to recognize than

lines that are white).

●

The white (yellow) lines cross over a

curb, etc.

●

The vehicle is driven on a bright sur-

face, such as concrete.

●

If the edge of the road is not clear or

straight.

●

The vehicle is driven on a surface that

is bright due to reflected light, etc.

●

The vehicle is driven in an area where

the brightness changes suddenly, such

as at the entrances and exits of tunnels,

etc.

195

4-5. Using the driving support systems

Driving

■

Lane departure alert function

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

, a warning is displayed on the

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

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

: Boundary between asphalt and the side

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

WARNING

●

Light from the headlights of an oncom-

ing vehicle, the sun, etc. enters the

camera.

●

The vehicle is driven on a slope.

●

The vehicle is driven on a road which

tilts left or right, or a winding road.

●

The vehicle is driven on an unpaved or

rough road.

●

The traffic lane is excessively narrow

or wide.

●

The vehicle is extremely tilted due to

carrying heavy luggage or having

improper tire pressure.

●

The distance to the preceding vehicle

is extremely short.

●

The vehicle is moving up and down a

large amount due to road conditions

during driving (poor roads or road

seams).

●

When driving in a tunnel or at night

with the headlights off or when a head-

light is dim due to its lens being dirty or

it being misaligned.

●

The vehicle is struck by a crosswind.

●

The vehicle is affected by wind from a

vehicle driven in a nearby lane.

●

The vehicle has just changed lanes or

crossed an intersection.

●

Tires which differ by structure, manu-

facturer, brand or tread pattern are

used.

●

When tires of a size other than speci-

fied are installed.

●

Snow tires, etc. are equipped.

●

The vehicle is being driven at

extremely high speeds.

Functions included in LTA sys-
tem

196

4-5. Using the driving support systems

■

Steering assist function

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

, the system provides assis-

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

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

: Boundary between asphalt and the side

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

■

Vehicle sway warning function

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

■

Lane centering function

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

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

197

4-5. Using the driving support systems

Driving

Press the LTA switch to turn the LTA
system on.

The LTA indicator illuminates and a mes-
sage is displayed on the multi-information
display.

Press the LTA switch again to turn the
LTA system off.

When the LTA system is turned on or off,
operation of the LTA system continues in
the same condition the next time the hybrid
system is started.

LTA indicator

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

Operation display of steering
wheel operation support

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

Turning LTA system on

Indications on multi-information
display

198

4-5. Using the driving support systems

centering function).

Lane departure alert function dis-
play

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



Inside of displayed lines is white

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

. When the

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



Inside of displayed lines is black

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

is temporarily canceled.

Follow-up cruising display

Displayed when the multi-information dis-
play is switched to the driving support sys-
tem information display.
Indicates that steering assist of the lane
centering function is operating by monitor-

ing the position of a preceding vehicle.
When the follow-up cruising display is dis-
played, if the preceding vehicle moves,
your vehicle may move in the same way.
Always pay careful attention to your sur-
roundings and operate the steering wheel
as necessary to correct the path of the
vehicle and ensure safety.

: Boundary between asphalt and the side

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

■

Operation conditions of each function

●

Lane departure alert function

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

• Vehicle speed is approximately 32 mph

(50 km/h) or more.

• System recognizes white (yellow) lane

lines or a course

. (When a white [yel-

low] line or course

is recognized on

only one side, the system will operate

only for the recognized side.)

• Width of traffic lane is approximately 9.8

ft. (3 m) or more.

• Turn signal lever is not operated. (Except

when another vehicle is in the lane on the

side where the turn signal was operated)

• Vehicle is not being driven around a

sharp curve.

• No system malfunctions are detected.

(



P.199)

: The function operates even if the vehicle

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

: Boundary between asphalt and the side

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

●

Steering assist function

This function operates when all of the fol-
lowing conditions are met in addition to the
operation conditions for the lane departure
alert function.
• Vehicle is not accelerated or decelerated

by a fixed amount or more.

199

4-5. Using the driving support systems

Driving

• Steering wheel is not operated with a

steering force level suitable for changing

lanes.

• ABS, VSC, TRAC and PCS are not

operating.

• TRAC or VSC is not turned off.

●

Vehicle sway warning function

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

of the multi-

information display is set to “On”.
(



P.85)

• Vehicle speed is approximately 32 mph

(50 km/h) or more.

• Width of traffic lane is approximately 9.8

ft. (3 m) or more.

• No system malfunctions are detected.

(



P.199)

●

Lane centering function

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

of the

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



P.85)

• This function recognizes white (yellow)

lane lines or the position of a preceding

vehicle (except when the preceding vehi-

cle is small, such as a motorcycle).

• The dynamic radar cruise control with

full-speed range is operating in vehicle-

to-vehicle distance control mode.

• Width of traffic lane is approximately 10

to 13 ft. (3 to 4 m).

• Turn signal lever is not operated.

• Vehicle is not being driven around a

sharp curve.

• No system malfunctions are detected.

(



P.199)

• Vehicle does not accelerate or deceler-

ate by a fixed amount or more.

• Steering wheel is not operated with a

steering force level suitable for changing

lanes.

• ABS, VSC, TRAC and PCS are not

operating.

• TRAC or VSC is not turned off.

• Hands off steering wheel warning is not

displayed. (



P.199)

• The vehicle is being driven in the center

of a lane.

• Steering assist function is not operating.

■

Temporary cancelation of functions

●

When operation conditions are no lon-

ger met, a function may be temporarily

canceled. However, when the operation

conditions are met again, operation of

the function is automatically restored.

(



P.197)

●

If the operation conditions (



P.197) are

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

, the

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

■

Steering assist function/lane centering

function

●

Depending on the vehicle speed, lane

departure situation, road conditions, etc.,

the driver may not feel the function is

operating or the function may not oper-

ate at all.

●

The steering control of the function is

overridden by the driver’s steering wheel

operation.

●

Do not attempt to test the operation of

the steering assist function.

■

Lane departure alert function

●

The warning buzzer may be difficult to

hear due to external noise, audio play-

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

steering wheel vibrations due to the road

conditions, etc.

●

If the edge of the course

is not clear or

straight, the lane departure alert function

may not operate.

●

It may not be possible for the system to

determine if there is a danger of a colli-

sion with a vehicle in an adjacent lane.

●

Do not attempt to test the operation of

the lane departure alert function.

200

4-5. Using the driving support systems

: Boundary between asphalt and the side

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

■

Hands off steering wheel warning

In the following situations, a warning mes-

sage urging the driver to hold the steering

wheel and the symbol shown in the illustra-

tion are displayed on the multi-information

display to warn the driver. The warning

stops when the system determines that the

driver holds the steering wheel. Always

keep your hands on the steering wheel

when using this system, regardless of warn-

ings.

●

When the system determines the driver is

not holding the steering wheel while the

lane centering function is operating.

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

●

When the system determines that the

vehicle may deviate from the lane while

driving around a curve while the lane

centering function is operating.

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

●

When the system determines that the

driver is driving without holding the steer-

ing wheel while the steering wheel assist

of the steering assist function is operat-

ing.

If the driver continues to keep their hands

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

■

Vehicle sway warning function

When the system determines that the vehi-

cle is swaying while the vehicle sway warn-

ing function is operating, a buzzer sounds

and a warning message urging the driver to

rest and the symbol shown in the illustration

are simultaneously displayed on the multi-

information display.

Depending on the vehicle and road condi-

tions, the warning may not operate.

■

Warning message

If the following warning message is dis-

played on the multi-information display and

the LTA indicator illuminates in orange, fol-

low the appropriate troubleshooting proce-

dure. Also, if a different warning message is

displayed, follow the instructions displayed

on the screen.

●

“LTA Malfunction Visit Your Dealer”

The system may not be operating properly.
Have the vehicle inspected by your Lexus
dealer.

●

“LTA Unavailable”

The system is temporarily canceled due to a
malfunction in a sensor other than the front
camera. Turn the LTA system off, wait for a
little while, and then turn the LTA system
back on.

●

“LTA Unavailable at Current Speed”

201

4-5. Using the driving support systems

Driving

The function cannot be used as the vehicle
speed exceeds the LTA operation range.
Drive slower.

■

Customization

Function settings can be changed.
(Customizable features:



P.417)

: If equipped

When the front camera recognizes a
sign and/or information of a sign is

RSA (Road Sign Assist)

The RSA system recognizes spe-
cific road signs using the front cam-
era and/or navigation system
(when speed limit information is
available) to provide information to
the driver via the display.

If the system judges that the vehicle
is being driven over the speed limit,
performing prohibited actions, etc.
according to the recognized road
signs, it notifies the driver through a
visual notification and notification
buzzer.

WARNING

■

Before using the RSA

Do not rely solely upon the RSA system.

RSA is a system which supports the

driver by providing information, but it is

not a replacement for a driver’s own

vision and awareness. Drive safely by

always paying careful attention to the

traffic rules.

Indication on the multi-informa-
tion display

202

4-5. Using the driving support systems

available from the navigation system,
the sign will be displayed on the multi-
information display.



When the driving support system
information is selected, a maximum
of 3 signs can be displayed.
(



P.85)



When a tab other than the driving
support system information is
selected, the following types of road
signs will be displayed. (



P.85)

• Speed limit sign
• Do Not Enter sign (when notification is

necessary)

If signs other than speed limit signs are rec-
ognized, they will be displayed in an over-
lapping stack under the current speed limit
sign.

The following types of road signs,

including electronic signs and blinking
signs, are recognized.

A non-official or a recently introduced traf-
fic sign may not be recognized.

: Speed limit

: Do Not Enter

: Stop

: Yield

In the following situations, the RSA sys-
tem will notify the driver.



When the vehicle speed exceeds
the speed notification threshold of
the speed limit sign displayed, the
sign display will be emphasized and
a buzzer will sound.



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

Depending on the situation, a notifica-
tion function may not operate properly.

■

Setting procedure

Press

of the meter control

switches and select

Supported types of road signs

Notification function

203

4-5. Using the driving support systems

Driving

Press

of the meter control

switches and select “Vehicle Settings”,
then press “OK”

Press

of the meter control

switches and select

, then press

“OK”

Press

of the meter control

switches and select “RSA”, then press
“OK”

■

Automatic turn-off of RSA sign display

In the following situations, a displayed

speed limit sign and/or do not enter sign

will stop being displayed automatically:

●

No sign has been recognized for a cer-

tain distance.

●

The road changes due to a left or right

turn, etc.

In the following situations, stop and yield

signs will stop being displayed automati-

cally:

●

The system determines that your vehicle

has passed the sign.

●

The road changes due to a left or right

turn, etc.

■

Conditions in which the function may

not operate or detect correctly

In the following situations, RSA does not

operate normally and may not recognize

signs, display the incorrect sign, etc. How-

ever, this does not indicate a malfunction.

●

The front camera is misaligned due to a

strong impact being applied to the sen-

sor, etc.

●

Dirt, snow, stickers, etc. are on the wind-

shield near the front camera.

●

In inclement weather such as heavy rain,

fog, snow or sand storms.

●

Light from an oncoming vehicle, the sun,

etc. enters the front camera.

●

The sign is dirty, faded, tilted or bent.

●

The contrast of electronic sign is low.

●

All or part of the sign is hidden by the

leaves of a tree, a pole, etc.

●

The sign is only visible to the front camera

for a short amount of time.

●

The driving scene (turning, lane change,

etc.) is judged incorrectly.

●

If a sign not appropriate for the currently

traveled lane, but the sign exists directly

after a freeway branches, or in an adja-

cent lane just before merging.

●

Stickers are attached to the rear of the

preceding vehicle.

●

A sign resembling a system compatible

sign is recognized.

●

Side road speed signs may be detected

and displayed (if positioned in sight of the

front camera) while the vehicle is travel-

ing on the main road.

●

Roundabout exit road speed signs may

be detected and displayed (if positioned

in sight of the front camera) while travel-

ing on a roundabout.

●

The front of the vehicle is raised or low-

ered due to the carried load.

●

The surrounding brightness is not suffi-

cient or changes suddenly.

●

When a sign intended for trucks, etc. is

recognized.

●

The navigation system map data is out-

dated.

●

The navigation system is not operating.

●

The speed information displayed on the

meter and on the navigation system may

be different due to the navigation system

using map data.

■

Speed limit sign display

If the power switch was last turned off while

a speed limit sign was displayed on the

multi-information display, the same sign dis-

plays again when the power switch is turned

to ON.

■

If “RSA Malfunction Visit Your Dealer”

is shown

The system may be malfunctioning. Have

the vehicle inspected by your Lexus dealer.

■

Customization

Some functions can be customized. (Cus-

tomizable features:



P.417)

204

4-5. Using the driving support systems

■

Meter display

Multi-information display

Set speed

Indicators

■

Operation switches

Vehicle-to-vehicle distance switch

“+RES” switch

Cruise control main switch

Cancel switch

“-SET” switch

Dynamic radar cruise con-
trol with full-speed range

In vehicle-to-vehicle distance con-
trol mode, the vehicle automati-
cally accelerates, decelerates and
stops to match the speed changes
of the preceding vehicle even if the
accelerator pedal is not depressed.
In constant speed control mode,
the vehicle runs at a fixed speed.

Use the dynamic radar cruise con-
trol with full-speed range on free-
ways and highways.



Vehicle-to-vehicle distance con-
trol mode (



P.205)



Constant speed control mode
(



P.210)

System Components

WARNING

■

Before using dynamic radar cruise

control with full-speed range

●

Driving safely is the sole responsibility

of the driver. Do not rely solely on the

system, and drive safely by always pay-

ing careful attention to your surround-

ings.

●

The dynamic radar cruise control with

full-speed range provides driving

assistance to reduce the driver’s bur-

den. However, there are limitations to

the assistance provided.

Read the following conditions care-

fully. Do not overly rely on this system

and always drive carefully.

• When the sensor may not be correctly

detecting the vehicle ahead:



P.212

• Conditions under which the vehicle-

to-vehicle distance control mode may

not function correctly:



P.212

●

Set the speed appropriately depend-

ing on the speed limit, traffic flow, road

conditions, weather conditions, etc.

The driver is responsible for checking

the set speed.

205

4-5. Using the driving support systems

Driving

WARNING

●

Even when the system is functioning

normally, the condition of the preced-

ing vehicle as detected by the system

may differ from the condition

observed by the driver. Therefore, the

driver must always remain alert, assess

the danger of each situation and drive

safely. Relying solely on this system or

assuming the system ensures safety

while driving can lead to an accident,

resulting in death or serious injury.

●

Switch the dynamic radar cruise con-

trol with full-speed range setting to off,

using the cruise control main switch

when not in use.

■

Cautions regarding the driving assist

systems

Observe the following precautions, as

there are limitations to the assistance

provided by the system.

Failure to do so may cause an accident

resulting in death or serious injury.

●

Assisting the driver to measure follow-

ing distance

The dynamic radar cruise control with

full-speed range is only intended to

help the driver in determining the fol-

lowing distance between the driver’s

own vehicle and a designated vehicle

traveling ahead. It is not a mechanism

that allows careless or inattentive driv-

ing, and it is not a system that can assist

the driver in low-visibility conditions.

It is still necessary for driver to pay

close attention to the vehicle’s sur-

roundings.

●

Assisting the driver to judge proper

following distance

The dynamic radar cruise control with

full-speed range determines whether

the following distance between the

driver’s own vehicle and a designated

vehicle traveling ahead 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 vigilant and to determine

whether or not there is a possibility of

danger in any given situation.

●

Assisting the driver to operate the

vehicle

The dynamic radar cruise control with

full-speed range 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 the safety of all

involved.

■

Situations unsuitable for dynamic

radar cruise control with full-speed

range

Do not use dynamic radar cruise control

with full-speed range in any of the follow-

ing situations.

Doing so may result in inappropriate

speed control and could cause an acci-

dent resulting in death or serious injury.

●

Roads where there are pedestrians,

cyclists, etc.

●

In heavy traffic

●

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.

206

4-5. Using the driving support systems

This mode employs a radar to detect the presence of vehicles up to approximately
328 ft. (100 m) ahead, determines the current vehicle-to-vehicle following dis-
tance, and operates to maintain a suitable following distance from the vehicle
ahead. The desired vehicle-to-vehicle distance can also be set by operating the
vehicle-to-vehicle distance switch.

When driving on downhill slopes, the vehicle-to-vehicle distance may become shorter.

Example of constant speed cruising
When there are no vehicles ahead

WARNING

●

At entrances to freeways and high-

ways

●

When weather conditions are bad

enough that they may prevent the sen-

sors from detecting correctly (fog,

snow, sandstorm, heavy rain, etc.)

●

When there is rain, snow, etc. on the

front surface of the radar or front cam-

era

●

In traffic conditions that require fre-

quent repeated acceleration and

deceleration

●

During emergency towing

●

When an approach warning buzzer is

heard often

Driving in vehicle-to-vehicle distance control mode

207

4-5. Using the driving support systems

Driving

The vehicle travels at the speed set by the driver.

Example of deceleration cruising and follow-up cruising
When a preceding vehicle driving slower than the set speed appears

When a vehicle is detected running ahead of you, the system automatically decelerates
your vehicle. When a greater reduction in vehicle speed is necessary, the system applies
the brakes (the stop lights will come on at this time). The system will respond to changes in
the speed of the vehicle ahead in order to maintain the vehicle-to-vehicle distance set by
the driver. Approach warning warns you when the system cannot decelerate sufficiently to
prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also stop (vehicle is stopped by sys-
tem control). After the vehicle ahead starts off, pressing the “+RES” switch or depressing
the accelerator pedal (start-off operation) will resume follow-up cruising. If the start-off
operation is not performed, system control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an overtaking lane while
driving at 50 mph (80 km/h) or more, the vehicle will accelerate to help to overtake a
passing vehicle.
The system’s identification of what is an overtaking lane may be determined solely based on
the location of the steering wheel in the vehicle (left side driver position versus right side
driver position.) If the vehicle is driven to a region where the overtaking lane is on a differ-
ent side from where the vehicle is normally driven, the vehicle may accelerate when the
turn signal lever is operated in the opposite direction to the overtaking lane (e.g., if the
driver normally operates the vehicle in a region where the overtaking lane is to the right but
then drives to a region where the overtaking lane is to the left, the vehicle may accelerate
when the right turn signal is activated).

Example of acceleration
When there are no longer any preceding vehicles driving slower than the set
speed

The system accelerates until the set speed is reached. The system then returns to constant
speed cruising.

Press the cruise control main
switch to activate the cruise con-
trol.

Dynamic radar cruise control indicator will

come on and a message will be displayed

on the multi-information display. Press the

switch again to deactivate the cruise con-

trol.

If the cruise control main switch is pressed

and held for 1.5 seconds or more, the sys-

tem turns on in constant speed control

mode. (



P.210)

Setting the vehicle speed (vehi-
cle-to-vehicle distance control
mode)

208

4-5. Using the driving support systems

Accelerate or decelerate, with
accelerator pedal operation, to the
desired vehicle speed (at or above
approximately 20 mph [30 km/h])
and press the “-SET” switch to set
the speed.

Cruise control “SET” indicator will come

on.
The vehicle speed at the moment the

switch is released becomes the set speed.



Adjusting the set speed by the
switch

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

Increases the speed

(Except when the vehicle has been
stopped by system control in vehicle-to-
vehicle distance control mode)

Decreases the speed

Fine adjustment: Press the switch.
Large adjustment: Press and hold the
switch to change the speed, and
release when the desired speed is
reached.
In the vehicle-to-vehicle distance con-
trol mode, the set speed will be
increased or decreased as follows:



For the U.S. mainland and Hawaii

Fine adjustment: By 1 mph (1.6 km/h)

or 1

km/h (0.6 mph)

each time the switch is

pressed
Large adjustment: Increases or decreases
in 1mph (1.6 km/h)

or 1 km/h (0.6 mph)

increments for as long as the switch is held



Except for the U.S. mainland and
Hawaii

Fine adjustment: By 1 mph (1.6 km/h)

or 1

km/h (0.6 mph)

each time the switch is

pressed
Large adjustment: Increases or decreases
in 5 mph (8 km/h)

or 5 km/h (3.1 mph)

increments for as long as the switch is held

In the constant speed control mode
(



P.210), the set speed will be

increased or decreased as follows:

Fine adjustment: By 1 mph (1.6 km/h)

or 1

km/h (0.6 mph)

each time the switch is

pressed
Large adjustment: The speed will continue
to change while the switch is held.

: When the set speed is shown in “MPH”

: When the set speed is shown in “km/h”



Increasing the set speed by the
accelerator pedal

Adjusting the set speed

209

4-5. Using the driving support systems

Driving

Accelerate with accelerator pedal
operation to the desired vehicle
speed

Press the “-SET” switch

Pressing the switch changes the vehi-
cle-to-vehicle distance as follows:

Long

Medium

Short

If a vehicle is running ahead of you, the pre-
ceding vehicle mark

will also be dis-

played.

Select a distance from the table below.
Note that the distances shown corre-
spond to a vehicle speed of 50 mph
(80 km/h). Vehicle-to-vehicle dis-
tance increases/decreases in accor-
dance with vehicle speed. When the
vehicle is stopped by system control,
the vehicle stops at a certain vehicle-

to-vehicle distance depending on the
situation.

After the vehicle ahead of you starts
off, press the “+RES” switch.
Your vehicle will also resume follow-
up cruising if the accelerator pedal is
depressed after the vehicle ahead of
you starts off.

Changing the vehicle-to-vehicle
distance (vehicle-to-vehicle dis-
tance control mode)

Vehicle-to-vehicle distance set-
tings (vehicle-to-vehicle dis-
tance control mode)

Distance options

Vehicle-to-vehicle

distance

Long

Approximately 160

ft. (50 m)

Medium

Approximately 130

ft. (40 m)

Short

Approximately 100

ft. (30 m)

Resuming follow-up cruising
when the vehicle has been
stopped by system control (vehi-
cle-to-vehicle distance control
mode)

210

4-5. Using the driving support systems

Pressing the cancel switch cancels
the speed control.

The speed control is also canceled when
the brake pedal is depressed.
(When the vehicle has been stopped by
system control, depressing the brake pedal
does not cancel the setting.)

Pressing the “+RES” switch
resumes the cruise control and
returns vehicle speed to the set
speed.

When your vehicle is too close to a
vehicle ahead, and sufficient automatic
deceleration via the cruise control is
not possible, the display will flash and
the buzzer will sound to alert the
driver. An example of this would be if
another driver cuts in front of you while
you are following a vehicle. Depress
the brake pedal to ensure an appropri-
ate vehicle-to-vehicle distance.

■

Warnings may not occur when

In the following instances, warnings
may not occur even when the vehicle-
to-vehicle distance is small.



When the speed of the preceding
vehicle matches or exceeds your
vehicle speed



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



Immediately after the cruise control
speed was set



When depressing the accelerator
pedal

While driving in vehicle-to-vehicle dis-
tance control mode, this function will
reduce the vehicle speed, if it is deter-
mined to be necessary.

■

Function operation

When the steering wheel begins to be
turned, the vehicle speed will begin
being reduced. When the steering
wheel is returned to the center posi-
tion, the vehicle speed reduction will
end.
Depending on the situation, the vehicle
speed will then return to the vehicle-to-

Canceling and resuming the
speed control

Approach warning (vehicle-to-
vehicle distance control mode)

Curve speed reduction function

211

4-5. Using the driving support systems

Driving

vehicle distance control mode set
speed.
In situations where vehicle-to-vehicle
distance control needs to operate,
such as when a preceding vehicle cuts
in front of your vehicle, the curve
speed reduction function will be can-
celed.

■

Operation display

Displayed when the vehicle speed is
being reduced.

When the vehicle speed reduction ends,
the display will disappear.

■

Changing the settings of the curve
speed reduction function

The curve speed reduction function
can be enabled/disabled and the vehi-
cle speed reduction strength can be
adjusted on

(



P.85) of the multi-

information display.

The setting will change each time the “OK”
meter control switch is pressed.

When constant speed control mode is
selected, your vehicle will maintain a
set speed without controlling the vehi-
cle-to-vehicle distance. Select this

mode only when vehicle-to-vehicle
distance control mode does not func-
tion correctly due to a dirty radar, etc.

With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.

Immediately after the switch is pressed, the

dynamic radar cruise control indicator will

come on. Afterwards, it switches to the

cruise control indicator.
Switching to constant speed control mode

is only possible when operating the switch

with the cruise control off.

Accelerate or decelerate, with
accelerator pedal operation, to the
desired vehicle speed (at or above
approximately 20 mph [30 km/h])
and press the “-SET” switch to set
the speed.

Cruise control “SET” indicator will come

on.
The vehicle speed at the moment the

switch is released becomes the set speed.
Adjusting the speed setting:



P.207

Canceling and resuming the speed setting:

Selecting constant speed con-
trol mode

212

4-5. Using the driving support systems



P.209

■

Dynamic radar cruise control with full-

speed range can be set when

●

The shift lever is in D.

●

The desired set speed can be set when

the vehicle speed is approximately 20

mph (30 km/h) or more. (However,

when the vehicle speed is set while driv-

ing at below approximately 20 mph [30

km/h], the set speed will be set to

approximately 20 mph [30 km/h].)

■

Accelerating after setting the vehicle

speed

The vehicle can accelerate by operating the

accelerator pedal. After accelerating, the

set speed resumes. However, during vehi-

cle-to-vehicle distance control mode, the

vehicle speed may decrease below the set

speed in order to maintain the distance to

the preceding vehicle.

■

When the vehicle stops while follow-up

cruising

●

Pressing the “+RES” switch while the

vehicle ahead stops will resume follow-

up cruising if the vehicle ahead starts off

within approximately 3 seconds after the

switch is pressed.

●

If the vehicle ahead starts off within 3 sec-

onds after your vehicle stops, follow-up

cruising will be resumed.

■

Automatic cancelation of vehicle-to-

vehicle distance control mode

Vehicle-to-vehicle distance control mode is

automatically canceled in the following situ-

ations.

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is

turned off.

●

The sensor cannot detect correctly

because it is covered in some way.

●

When the brake control or output

restriction control of a driving support

system operates. (For example: Pre-Col-

lision System, Drive-Start Control)

●

The parking brake is operated.

●

The vehicle is stopped by system control

on a steep incline.

●

The following are detected when the

vehicle has been stopped by system con-

trol:

• The driver is not wearing a seat belt.

• The driver’s door is opened.

• The vehicle has been stopped for about 3

minutes

If vehicle-to-vehicle distance control mode

is automatically canceled for any reasons

other than the above, there may be a mal-

function in the system. Contact your Lexus

dealer.

■

Automatic cancelation of constant

speed control mode

Constant speed control mode is automati-

cally canceled in the following situations:

●

Actual vehicle speed is more than

approximately 10 mph (16 km/h) below

the set vehicle speed.

●

Actual vehicle speed falls below approxi-

mately 20 mph (30 km/h).

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is

turned off.

●

When the brake control or output

restriction control of a driving support

system operates. (For example: Pre-Col-

lision System, Drive-Start Control)

●

The parking brake is operated.

If constant speed control mode is automati-

cally canceled for any reasons other than

the above, there may be a malfunction in

the system. Contact your Lexus dealer.

Lexus ES300H (2023 year). Manual in english - page 6