LEXUS LC 500H (2019 year). Instruction - part 12

186

4-5. Using the driving support systems



For vehicles sold in Canada

WARNING

■

To avoid malfunction of the radar sen-

sor

Observe the following precautions.
Otherwise, the radar sensor may not 

operate properly, possibly leading to an 

accident resulting in death or serious 

injury.

187

4-5. Using the driving support systems

4

Driving

WARNING

●

Keep the radar sensor and front grille 

emblem clean at all times.

Radar sensor

Front grille emblem

If the front of the radar sensor or the front 
or back of the front grille emblem is dirty 
or covered with water droplets, snow, 
etc., clean it. 
Clean the radar sensor and front grille 
emblem with a soft cloth so you do not 
mark or damage them.

●

Do not attach accessories, stickers 

(including transparent stickers) or 

other items to the radar sensor, front 

grille emblem or surrounding area.

●

Do not subject the radar sensor or sur-

rounding area to a strong impact. 

If the radar sensor, front grille, or front 

bumper has been subjected to a 

strong impact, have the vehicle 

inspected by your Lexus dealer.

●

Do not disassemble the radar sensor.

●

Do not modify or paint the radar sen-

sor, front grille emblem or surrounding 

area.

●

If the radar sensor, front grille, or front 

bumper needs to be removed and 

installed, or replaced, contact your 

Lexus dealer.

A

B

■

To avoid malfunction of the camera 

sensor

Observe the following precautions.
Otherwise, the camera sensor may not 

operate properly, possibly leading to an 

accident resulting in death or serious 

injury.

●

Keep the windshield clean at all times.

• If the windshield is dirty or covered 

with an oily film, water droplets, snow, 

etc., clear the windshield.

• If a glass coating agent is applied to the 

windshield, it will still be necessary to 

use the windshield wipers to remove 

water droplets, etc. from the area of 

the windshield in front of the camera 

sensor.

• If the inner side of the windshield 

where the camera sensor is installed is 

dirty, contact your Lexus dealer.

●

Do not attach objects, such as stickers, 

transparent stickers, and so forth, to 

the outer side of the windshield in front 

of the camera sensor (shaded area in 

the illustration).

From the top of the windshield to 
approximately 0.4 in. (1 cm) below 
the bottom of the camera sensor

Approximately 7.9 in. (20 cm) 
(Approximately 4.0 in. (10 cm) to the 
right and left from the center of the 
camera sensor)

A

B

188

4-5. Using the driving support systems

WARNING

●

If the part of the windshield in front of 

the camera sensor is fogged up or 

covered with condensation or ice, use 

the windshield defogger to remove the 

fog, condensation or ice. (

P.249)

●

If water droplets cannot be properly 

removed from the area of the wind-

shield in front of the camera sensor by 

the windshield wipers, replace the 

wiper insert or wiper blade. 

If the wiper inserts or wiper blades 

need to be replaced, contact your 

Lexus dealer.

●

Do not attach window tinting to the 

windshield.

●

Replace the windshield if it is damaged 

or cracked. 

If the windshield needs to be replaced, 

contact your Lexus dealer.

●

Do not get the camera sensor wet.

●

Do not allow bright lights to shine into 

the camera sensor.

●

Do not dirty or damage the camera 

sensor. 

When cleaning the inside of the wind-

shield, do not allow glass cleaner to 

contact the lens. Also, do not touch the 

lens. 

If the lens is dirty or damaged, contact 

your Lexus dealer.

●

Do not subject the camera sensor to a 

strong impact.

●

Do not change the installation position 

or direction of the camera sensor or 

remove it.

●

Do not disassemble the camera sen-

sor.

●

Do not modify any components of the 

vehicle around the camera sensor 

(inside rear view mirror, etc.) or ceiling.

●

Do not attach any accessories that 

may obstruct the camera sensor to the 

hood, front grille or front bumper. 

Contact your Lexus dealer for details.

●

If a surfboard or other long object is to 

be mounted on the roof, make sure 

that it will not obstruct the camera sen-

sor.

●

Do not modify the headlights or other 

lights.

189

4-5. Using the driving support systems

4

Driving

■

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

When the system determines that the 
possibility of a frontal collision is high, 
the system warns the driver. If the sys-
tem determines that the possibility of a 
frontal collision is extremely high, the 
brakes are automatically applied to 
help avoid the collision or reduce the 
collision speed.

■

Suspension control

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

P.232) will control the damp-

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

■

Steering control (if equipped)

When the system determines that the 
possibility of a frontal collision is high 
and the driver is operating the steering 
wheel, the LDH system (

P.232) will 

control the turning angle of the front 

PCS (Pre-Collision System)

The pre-collision system uses a 
radar sensor and camera sensor to 
detect vehicles and pedestrians in 
front of your vehicle. When the sys-
tem determines that the possibility 
of a frontal collision with a vehicle 
or pedestrian 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 frontal collision with a 
vehicle or pedestrian 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.191)

System functions

190

4-5. Using the driving support systems

and rear wheels and effort necessary 
to turn the steering wheel to help 
enhance steering responsiveness.

WARNING

■

Limitations of the pre-collision system

●

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.

●

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.192

• Conditions under which the system 

may not operate properly: 

P.194

●

Do not attempt to test the operation of 

the pre-collision system yourself, as 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.

■

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 engine running <hybrid system on> 

and the tires are allowed to rotate 

freely

191

4-5. Using the driving support systems

4

Driving

■

Enabling/disabling the pre-colli-
sion system

The pre-collision system can be 
enabled/disabled on 

 (

P.84) of 

the multi-information display.

The system is automatically enabled each 
time the engine switch <power switch> is 
turned to IGNITION ON mode <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.84) of the 

multi-information display.

The operation timing setting is retained 
when the engine switch <power switch> is 
turned off.

1

Far

The warning will begin to operate earlier 
than with the default timing.

2

Middle

This is the default setting.

WARNING

●

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 camera 

sensor is temporarily installed to the 

vehicle

Changing settings of the pre-col-
lision system

192

4-5. Using the driving support systems

3

Near

The warning will begin to operate later 
than with the default timing.

■

Operational conditions

The pre-collision system is enabled and the 

system determines that the possibility of a 

frontal collision with a vehicle or pedestrian 

is high.
Each function is operational at the following 

speeds:

●

Pre-collision warning:

• Vehicle speed is between approximately 

7 and 110 mph (10 and 180 km/h). (For 

detecting a pedestrian, vehicle speed is 

between approximately 7 and 50 mph 

[10 and 80 km/h].)

• The relative speed between your vehicle 

and the vehicle or pedestrian ahead is 

approximately 7 mph (10 km/h) or more.

●

Pre-collision brake assist:

• Vehicle speed is between approximately 

20 and 110 mph (30 and 180 km/h). (For 

detecting a pedestrian, vehicle speed is 

between approximately 20 and 50 mph 

[30 and 80 km/h].)

• The relative speed between your vehicle 

and the vehicle or pedestrian ahead is 

approximately 20 mph (30 km/h) or 

more.

●

Pre-collision braking:

• Vehicle speed is between approximately 

7 and 110 mph (10 and 180 km/h). (For 

detecting a pedestrian, vehicle speed is 

between approximately 7 and 50 mph 

[10 and 80 km/h].)

• The relative speed between your vehicle 

and the vehicle or pedestrian ahead is 

approximately 7 mph (10 km/h) or more.

The system may not operate in the following 

situations:

●

If a 12-volt battery terminal has been dis-

connected and reconnected and then the 

vehicle has not been driven for a certain 

amount of time

●

If the shift position is in R

●

If VSC is disabled (only the pre-collision 

warning function will be operational)

■

Pedestrian detection function

The pre-collision system detects pedestri-

ans based on the size, profile, and motion of 

a detected object. However, a pedestrian 

may not be detected depending on the sur-

rounding brightness and the motion, pos-

ture, and angle of the detected object, 

preventing the system from operating prop-

erly. (

P.194)

■

Cancelation of the 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.

■

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 vehicle or pedestrian

• When changing lanes while overtaking a 

preceding vehicle

• When overtaking a preceding vehicle 

that is changing lanes

• When overtaking a preceding vehicle 

that is making a left/right turn

• When passing a vehicle in an oncoming 

193

4-5. Using the driving support systems

4

Driving

lane that is stopped to make a right/left 

turn

• When driving on a road where relative 

location to vehicle ahead in an adjacent 

lane may change, such as on a winding 

road

• When rapidly closing on a vehicle ahead

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

ered, such as when the road surface is 

uneven or undulating

• When approaching objects on the road-

side, such as guardrails, utility poles, 

trees, or walls

• When there is a vehicle, pedestrian, or 

object by the roadside at the entrance of 

a curve

• When driving on a narrow path sur-

rounded by a structure, such as in a tun-

nel or on an iron bridge

• When there is a metal object (manhole 

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

sion on the road surface or roadside

• When a crossing pedestrian approaches 

very close to the vehicle

• When passing through a place with a low 

structure above the road (low ceiling, 

traffic sign, etc.)

• When passing under an object (billboard, 

etc.) at the top of an uphill road

• When rapidly closing on 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 the vehicle, such as thick 

grass, tree branches, or a banner

• When the vehicle is hit by water, snow, 

dust, etc. from a vehicle ahead

• When driving through steam or smoke

• When there are patterns or paint on the 

194

4-5. Using the driving support systems

road or a wall that may be mistaken for a 

vehicle or pedestrian

• 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, or 

other location where strong radio waves 

or electrical noise may be present

■

Situations in which the system may not 

operate properly

●

In some situations such as the following, a 

vehicle may not be detected by the radar 

sensor and camera sensor, preventing 

the system from operating properly:

• If an oncoming vehicle is approaching 

your vehicle

• If a vehicle ahead is a motorcycle or bicy-

cle

• When approaching the side or front of a 

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 is carrying a load which 

protrudes past its rear bumper

• If a vehicle ahead has extremely high 

ground clearance

• If a vehicle ahead is irregularly shaped, 

such as a tractor or side car

• If the sun or other light is shining directly 

on a vehicle ahead

• If a vehicle cuts in front of your vehicle or 

emerges from beside a vehicle

• If a vehicle ahead makes an abrupt 

maneuver (such as sudden swerving, 

acceleration or deceleration)

• When suddenly cutting behind a preced-

ing vehicle

• When a vehicle ahead is not directly in 

front of your vehicle

• When driving in inclement weather such 

as heavy rain, fog, snow or a sandstorm

• When the vehicle is hit by water, snow, 

dust, etc. from a vehicle ahead

• When driving through steam or smoke

• When driving in a place where the sur-

rounding brightness changes suddenly, 

such as at the entrance or exit of a tunnel

• When a very bright light, such as the sun 

or the headlights of oncoming traffic, 

shines directly into the camera sensor

• When the surrounding area is dim, such 

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

a tunnel

• After the engine <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 camera 

sensor

195

4-5. Using the driving support systems

4

Driving

• The vehicle is wobbling.

• The vehicle is being driven at extremely 

high speeds.

• When driving on a hill

• If the radar sensor or camera sensor is 

misaligned

●

In some situations such as the following, 

sufficient braking force may not be 

obtained, preventing the system from 

performing properly:

• If the braking functions cannot operate to 

their full extent, such as when the brake 

parts are extremely cold, extremely hot, 

or wet

• If the vehicle is not properly maintained 

(brakes or tires are excessively worn, 

improper tire inflation pressure, etc.)

• When the vehicle is being driven on a 

gravel road or other slippery surface

●

Some pedestrians such as the following 

may not be detected by the radar sensor 

and camera sensor, preventing the sys-

tem from operating properly:

• Pedestrians shorter than approximately 

3.2 ft. (1 m) or taller than approximately 

6.5 ft. (2 m)

• Pedestrians wearing oversized clothing 

(a rain coat, long skirt, etc.), making their 

silhouette obscure

• Pedestrians who are carrying large bag-

gage, holding an umbrella, etc., hiding 

part of their body

• Pedestrians who are bending forward or 

squatting

• Pedestrians who are pushing a stroller, 

wheelchair, bicycle or other vehicle

• Groups of pedestrians which are close 

together

• Pedestrians who are wearing white and 

look extremely bright

• Pedestrians in the dark, such as at night 

or while in a tunnel

• Pedestrians whose clothing appears to 

be nearly the same color or brightness as 

their surroundings

• Pedestrians near walls, fences, guardrails, 

or large objects

• Pedestrians who are on a metal object 

(manhole cover, steel plate, etc.) on the 

road

• Pedestrians who are walking fast

• Pedestrians who are changing speed 

abruptly

• Pedestrians running out from behind a 

vehicle or a large object

• Pedestrians who are extremely close to 

the side of the vehicle (outside rear view 

mirror, etc.)

■

If the PCS warning light flashes or illumi-

nates and a warning message is dis-

played on the multi-information display

The pre-collision system may be temporar-

ily unavailable or there may be a malfunc-

tion in the system.

●

In the following situations, the warning 

light will turn off, the message will disap-

pear and the system will become opera-

tional when normal operating conditions 

return:

• When the radar sensor or camera sensor 

or the area around either sensor is hot, 

such as in the sun

• When the radar sensor or camera sensor 

or the area around either sensor is cold, 

such as in an extremely cold environment

• When a front sensor is dirty or covered 

with snow, etc.

• When the part of the windshield in front 

of the camera sensor is fogged up or cov-

ered with condensation or ice (Defog-

ging the windshield: 

P.249)

• If the camera sensor is obstructed, such 

as when the hood is open or a sticker is 

attached to the windshield near the cam-

era sensor

●

If the PCS warning light continues to flash 

or remains illuminated or the warning 

message does not disappear even 

though the vehicle has returned to nor-

mal, the system may be malfunctioning. 

Have the vehicle inspected by your Lexus 

dealer immediately.

■

If VSC is disabled

●

If VSC is disabled (

P.233), the pre-col-

lision brake assist and pre-collision brak-

ing 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.

196

4-5. Using the driving support systems

■

Lane departure alert function

When the system determines that the 
vehicle might depart from its lane, a 
warning is displayed on the multi-infor-
mation display, and either the warning 
buzzer sounds to alert the driver.

When the warning buzzer sounds, check 
the surrounding road situation and care-

fully operate the steering wheel to move 
the vehicle back to the center of the lane.

■

Steering assist function

When the system determines that the 
vehicle might depart from its lane, the 
system provides assistance as neces-
sary by operating the steering wheel in 
small amounts for a short period of 
time to keep the vehicle in its lane.

If the system detects that the steering 
wheel has not been operated for a fixed 
amount of time or the steering wheel is not 
being firmly gripped, a warning is displayed 
on the multi-information display and the 
warning buzzer sounds.

LKA (Lane-Keeping Assist)

When driving on highways and 
freeways with white or yellow lines, 
this function alerts the driver when 
the vehicle might depart from its 
lane and provides assistance by 
operating the steering wheel to 
keep the vehicle in its lane. Further-
more, the system also provides 
steering assistance when dynamic 
radar cruise control with full-speed 
range is operating to keep the vehi-
cle in its lane.
The LKA system recognizes visible 
white or yellow lines with the cam-
era sensor on the upper portion of 
the front windshield.

Functions included in LKA sys-
tem

197

4-5. Using the driving support systems

4

Driving

■

Vehicle sway warning function

When the vehicle is swaying or 
appears as if it may depart from its lane 
multiple times, the warning buzzer 
sounds and a message is displayed on 
the multi-information display to alert 
the driver.

■

Lane centering function

This function is linked with radar cruise 
control and provides the required 
assistance by operating the steering 
wheel to keep the vehicle in its current 
lane.

When radar cruise control is not operating, 
the lane centering function does not oper-
ate.
If the system detects that the steering 
wheel has not been operated for a fixed 
amount of time or the steering wheel is not 
being firmly gripped, a warning is displayed 
on the multi-information display and the 
warning buzzer sounds.

198

4-5. Using the driving support systems

Press the LKA switch to turn the LKA 
system on.

The LKA indicator illuminates and a mes-
sage is displayed on the multi-information 
display.
Press the LKA switch again to turn the 
LKA system off.
When the LKA system is turned on or off, 
operation of the LKA system continues in 
the same condition the next time the 
engine <hybrid system> is started.

WARNING

■

Before using LKA system

Do not rely solely upon the LKA system. 

The LKA system does not automatically 

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 driv-

ing safely by paying careful attention to 

the surrounding conditions and operat-

ing 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.

■

To avoid operating LKA system by 

mistake

When not using the LKA system, use the 

LKA switch to turn the system off.

■

Situations unsuitable for LKA system

Do not use the LKA system in the follow-

ing situations. 

The system may not operate properly 

and lead to an accident, resulting in 

death or serious injury.

●

A spare tire, tire chains, etc. are 

equipped.

●

When the tires have been excessively 

worn, or when the tire inflation pres-

sure is low.

●

Tires which differ by structure, manu-

facturer, brand or tread pattern are 

used.

●

Objects or patterns that could be mis-

taken for white (yellow) lines are pres-

ent on the side of the road (guardrails, 

curbs, reflective poles, etc.).

●

Vehicle is driven on a snow-covered 

road.

●

White (yellow) lines are difficult to see 

due to rain, snow, fog, dust, etc.

●

Asphalt repair marks, white (yellow) 

line marks, etc. are present due to road 

repair.

●

Vehicle is driven in a temporary lane or 

restricted lane due to construction 

work.

●

Vehicle is driven on a road surface 

which is slippery due to rainy weather, 

fallen snow, freezing, etc.

●

Vehicle is driven in traffic lanes other 

than on highways and freeways.

●

Vehicle is driven in a construction 

zone.

■

Preventing LKA 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.

Turning LKA system on

199

4-5. Using the driving support systems

4

Driving

LKA indicator

The illumination condition of the indicator 
informs the driver of the system operation 
status.
Illuminated in white: 
LKA 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

Indicates that steering wheel assistance of 
the steering assist function or lane center-
ing function is operating.

Lane departure alert function dis-
play

Displayed when the multi-information dis-
play is switched to the driving assist system 
information screen.



Inside of displayed white lines is 
white

Indicates that the system is recognizing 
white (yellow) lines. When the vehicle 
departs from its lane, the white line dis-
played on the side the vehicle departs from 
flashes orange.



Inside of displayed white lines is 
black

Indicates that the system is not able to rec-
ognize white (yellow) lines or is temporar-
ily canceled.

Indications on multi-information 
display

A

B

C

200

4-5. Using the driving support systems

■

Operation conditions of each function

●

Lane departure alert function

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

• Vehicle speed is approximately 32 mph 

(50 km/h) or more.

• System recognizes white (yellow) lines.

• Width of traffic lane is approximately 9.8 

ft. (3 m) or more.

• Turn signal lever is not operated.

• Vehicle is driven on a straight road or 

around a gentle curve with a radius of 

more than approximately 492 ft. (150 m).

• No system malfunctions are detected. 

(

P.202)

●

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.
• Setting  for  “Steering  Assist” in 

 of the 

multi-information display is set to “On”. 

(

P.84)

• Vehicle is not accelerated or decelerated 

by a certain amount or more.

• Steering wheel is not operated with a 

steering force level suitable for changing 

lanes.

• ABS, VSC, TRAC and PCS are not oper-

ating.

• 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 “Sway Warning” in 

 of the 

multi-information display is set to “On”. 

(

P.84)

• 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.202)

●

Lane centering function

This function operates when all of the fol-
lowing conditions are met.

• LKA is turned on.

• Setting for “Steering Assist” and “Lane 

Center” in 

 of the multi-information 

display are set to “On”. (

P.84)

• System recognizes white (yellow) lines.

• Dynamic radar cruise control with full-

speed range is operating.

• Width of traffic lane is approximately 8.2 

to 13.5 ft. (2.5 to 4.1 m).

• Turn signal lever is not operated.

• Vehicle is driven on a straight road or 

around a gentle curve with a radius of 

more than approximately 656 ft. (200 

m).

• No system malfunctions are detected. 

(

P.202)

• Vehicle does not accelerate or deceler-

ate by a certain amount or more.

• Steering wheel is not operated with a 

steering force level suitable for changing 

lanes.

• ABS, VSC, TRAC and PCS are not oper-

ating.

• TRAC or VSC is not turned off.

• Steering assist function is not operating.

■

Temporary cancellation of functions

When the operation conditions are no lon-

ger met, a function may be temporarily can-

celed. However, when the operation 

conditions are met again, operation of the 

function is automatically 

restored.(

P.200)

■

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 oper-

ating or the function may not operate at all.

■

Lane departure alert function

The warning buzzer may be difficult to hear 

due to external noise, audio playback, etc.

■

Hands off steering wheel warning

When the system determines that the driver 

has removed their hands from the steering 

wheel while the steering assist function or 

lane centering function is operating, a warn-

ing message urging the driver to hold the 

steering wheel and the symbol shown in the 

illustration are displayed on the multi-infor-

mation display.

201

4-5. Using the driving support systems

4

Driving

If the driver continues to keep their hands 

off of the steering wheel, a buzzer sounds 

and a warning message and the symbol 

shown in the illustration are displayed on 

the multi-information display. This warning 

also operates in the same way when the 

driver continuously operates the steering 

wheel only a small amount. Always keep 

your hands on the steering wheel when 

using this system, regardless of warnings.

Depending on the vehicle and road condi-

tions, the warning may not operate.

■

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.

■

White (yellow) lines are only on one side 

of road

The LKA system will not operate for the 

side on which white (yellow) lines could not 

be recognized.

■

Conditions in which functions may not 

operate properly

In the following situations, the camera sen-

sor may not detect white (yellow) lines and 

various functions may not operate normally.

●

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 intersec-

tion, 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 surface, 

such as concrete.

●

The vehicle is driven on a surface that is 

bright due to reflected light, etc.

●

The vehicle is driven in an area where the 

brightness changes suddenly, such as at 

the entrances and exits of tunnels, etc.

●

Light from the headlights of an oncoming 

vehicle, the sun, etc. enters the camera.

●

The vehicle is driven where the road 

diverges, merges, etc.

●

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 vehicle is driven around a sharp 

curve.

●

The traffic lane is excessively narrow or 

wide.

●

The vehicle is extremely tilted due to car-

rying 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