2021 LEXUS ES350 Owners Manual

1774-5. Using the driving support systems
4
Driving
The system can detect the following:
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.
■Suspension control (if equipped)
When the system determines that the
possibility of a frontal collision is high,
the Adaptive Variable Suspension Sys-
tem ( P.247) will control the damp-
ing force of the shock absorbers to
help maintain an appropriate vehicle
posture.
PCS (Pre-Collision System)
The pre-collision system uses a
radar sensor and front camera to
detect objects ( P.177) 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.179)
Detectable objects
System functions

1784-5. Using the driving support systems
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.
●Although this system is designed to
help avoid a collision or help reduce
the impact of the coll ision, 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.181
• Conditions under which the system may not operate properly: P.182
●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 operat ion 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 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

1794-5. Using the driving support systems
4
Driving
■Enabling/disabling the pre-colli-
sion system
The pre-collision system can be
enabled/disabled on ( P.78) of
the multi-information display.
The system is automatically enabled each
time the engine switch is turned to IGNI-
TION 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.78) of the
multi-information display.
The warning timing setting is retained
when the engine 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).
1 Early
2 Middle
This is the default setting.
3Late
■Operational conditions
The pre-collision system is enabled and the syst em determines that the possibility of a fron-
WARNING
●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

1804-5. Using the driving support systems
tal collision with a detected object is high.
Each function is operational at the following speed
●Pre-collision warning
●Pre-collision brake assist
●Pre-collision braking
The system may not operate in the following situations:
●If a 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)
■Object detection function
The system detects ob jects 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.182) The illustration shows
an image of dete ctable objects.
Detectable objectsVehicle speedRelative speed between your
vehicle and object
VehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 7 to 110 mph (10 to 180 km/h)
Bicyclists and pedestriansApprox. 7 to 50 mph (10 to 80 km/h)Approx. 7 to 50 mph (10 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
VehiclesApprox. 20 to 110 mph (30 to 180 km/h)Approx. 20 to 110 mph (30 to 180 km/h)
Bicyclists and pedestriansApprox. 20 to 50 mph (30 to 80 km/h)Approx. 20 to 50 mph (30 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
VehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 7 to 110 mph (10 to 180 km/h)
Bicyclists and pedestriansApprox. 7 to 50 mph (10 to 80 km/h)Approx. 7 to 50 mph (10 to 80 km/h)

1814-5. Using the driving support systems
4
Driving
■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 detectable object, etc.
• When changing lane s while overtaking a
detectable object, etc.
• When approaching a detectable object in an adjacent lane or on the roadside,
such as when changing the course of
travel or driving on a winding road
• When rapidly closing on a detectable object, etc.
• When approaching objects on the road- side, such as detectable objects, guard-
rails, utility poles, trees, or walls
• When there is a detectable object or other object by the roadside at the
entrance of a curve
• When there are patterns or paint in front of your vehicle that may be mistaken for a
detectable object • When the front of your vehicle is hit by
water, snow, dust, etc.
• When overtaking a de tectable 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

1824-5. Using the driving support systems
• 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, 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,
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 detect
able object is hid-
den by an object, such as large baggage,
an umbrella, or guardrail
• When multiple dete ctable 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 ob ject 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 head lights of oncoming
traffic, shines direct ly 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

1834-5. Using the driving support systems
4
Driving
• If a vehicle ahead is a child sized bicycle, a bicycle that is carrying a large load, a
bicycle ridden by more than one person,
or a uniquely shaped bicycle (bicycle with
a child seat, tandem bicycle, etc.)
• 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 incl ement 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 engine 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 makin g 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
●In some situations su ch 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
■If VSC is disabled
●If VSC is disabled ( P.247), 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.

1844-5. Using the driving support systems
LTA (Lane Tracing Assist)
When driving on highways and
freeways with white (yellow) lane
lines, this function alerts the driver
when the vehicle might depart from
its lane or course
* and provides
assistance by operating the steer-
ing wheel to keep the vehicle in its
lane or course
*. Furthermore, the
system provides steering assis-
tance when dynamic radar cruise
control with full-speed range is
operating to keep the vehicle in its
lane.
The LTA system recognizes white
(yellow) lane lines or a course
*
using the front camera. Addition-
ally, it detects preceding vehicles
using the front camera and radar.
*: Boundary between asphalt and the side of the road, such as grass, soil, or
a curb
WARNING
■Before using LTA system
●Do not rely solely upon the LTA sys-
tem. The LTA system does not auto-
matically drive the vehicle or reduce
the amount of attention that must be
paid to the area in front of the vehicle.
The driver must always assume full
responsibility for driving safely by pay-
ing careful attention to the surround-
ing conditions and operating the
steering wheel to correct the path of
the vehicle. Also, the driver must take
adequate breaks when fatigued, such
as from driving for a long period of
time.
●Failure to perform appropriate driving
operations and pay careful attention
may lead to an accident, resulting in
death or serious injury.
●When not using the LTA system, use
the LTA switch to turn the system off.
■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.