2021 LEXUS RX350 ESP

1654-1. Before driving
4
Driving
Control can also help to stabilize the vehicle
and trailer.)
●After the trailer swaying has stopped:
• Stop in a safe place. Get all occupants out of the vehicle.
• Check the tires of the vehicle and the trailer.
• Check the load in the trailer.
Make sure the load has not shifted.
Make sure the tongue weight is appropri-
ate, if possible.
• Check the load in the vehicle. Make sure the vehicle is not overloaded
after occupants get in.
If you cannot find any problems, the speed
at which trailer swaying occurred is beyond
the limit of your particular vehicle-trailer
combination. Drive at a lower speed to pre-
vent instability. Remember that swaying of
the towing vehicle-trailer increases as
speed increases.
WARNING
■Trailer towing precautions
To tow a trailer safely, use extreme care
and drive the vehicle in accordance with
the trailer’s characteristics and operating
conditions. Failure to do so could cause
an accident resulting in death or serious
injury. Vehicle stabi lity and braking per-
formance are affected by trailer stability,
brake setting and performance, and the
hitch. Your vehicle will handle differently
when towing a trailer.
■To avoid accident or injury
●Do not exceed the TWR, unbraked
TWR, GCWR, GVWR or GAWR.
●If the gross trailer weight is over 2000
lb. (907 kg), a sway control device with
sufficient capacity is required.
●Adjust the tongue weight within the
appropriate range. Place heavier loads
as close to the trailer axle as possible.
●Do not exceed 65 mph (104 km/h),
the posted towing speed limit or the
speed limit for your trailer as set forth
in your trailer owner’s manual, which-
ever is lowest. Slow down sufficiently
before making a turn, in cross winds,
on wet or slippery surface, etc. to help
avoid an accident. If you experience a
vehicle-trailer instability from reduc-
ing a certain speed, slow down and
make sure you keep your vehicle
speed under the speed of which you
experience the instability.
●Do not make jerky, abrupt or sharp
turns.
●Do not apply the brakes suddenly as
you may skid, resulting in jackknifing
and loss of vehicle control. This is
especially true on wet or slippery sur-
faces.
●Do not exceed the trailer hitch assem-
bly weight, gross vehicle weight, gross
axle weight and tra iler tongue weight
capacities.
●Do not use the following systems when
trailer towing.
• Dynamic radar cruise control with full-speed range
• LTA (Lane Tracing Assist)
• PCS (Pre-Collision System)
• BSM (Blind Spot Monitor) (if equipped)
●Slow down and downshift before
descending steep or long downhill
grades. Do not make sudden down-
shifts while descendi ng steep or long
downhill grades.

1714-1. Before driving
4
Driving
the vehicle inspected by your Lexus dealer.
Your vehicle will handle differently
when towing a trailer. Help to avoid an
accident, death or serious injury, keep
the following in mind when towing:
Speed limits for towing a trailer vary
by state or province. Do not exceed
the posted towing speed limit.
 Lexus recommends that the vehi-
cle-trailer speed limit is 65 mph
(104 km/h) on a flat, straight, dry
road. Do not exceed this limit, the
posted towing speed limit or the
speed limit for your trailer as set
forth in your trailer owner’s manual,
whichever is lowest. Instability of the
towing vehicle-trailer combination
(trailer sway) increases as speed
increases. Exceed ing speed limits
may cause loss of control.
 Before starting out, check the trailer
lights, tires and the vehicle-trailer
connections. Recheck after driving
a short distance.
 Practice turning, stopping and
reversing with the trailer attached in
an area away from traffic until you
become accustomed to the feel of
the vehicle-trailer combination.
 Reversing with a tr ailer attached is
difficult and requires practice. Grip
the bottom of the steering wheel
and move your hand to the left to
move the trailer to the left. Move
your hand to the right to move the
trailer to right. (This is generally opposite to reversing without a
trailer attached.) Avoid sharp or
prolonged turning. Have someone
guide you when reversing to reduce
the risk of an accident.
 As stopping distance is increased
when towing a trailer, vehicle-to
vehicle distance should be
increased. For each 10 mph (16
km/h) of speed, allow at least one
vehicle and trailer length.
 Avoid sudden braking as you may
skid, resulting in the trailer jackknif-
ing and a loss of vehicle control. This
is especially true on wet or slippery
surfaces.
 Avoid jerky starts or sudden accel-
eration.
 Avoid jerky steering and sharp
turns, and slow down before making
turn.
 Note that when making a turn, the
trailer wheels will be closer than the
vehicle wheels to the inside of the
turn. Compensate by making a
wider than normal turning radius.
 Slow down before making a turn, in
cross winds, on wet or slippery sur-
faces, etc. Increasing vehicle speed
can destabilize the trailer.
 Take care when passing other vehi-
cles. Passing requires considerable
distance. After pass ing a vehicle, do
not forget the length of your trailer,
and be sure you have plenty of room
before changing lanes.
 To maintain engine braking effi-
ciency and charging system perfor-
Trailer towing tips

2034-5. Using the driving support systems
4
Driving
4-5.Using the driving support systems
■PCS (Pre-Collision System)
 P.209
■LTA (Lane Tracing Assist)
 P.216
■AHB (Automatic High Beam)
 P.191
■RSA (Road Sign Assist)*
P.225
*:If equipped
■Dynamic radar cruise control with
full-speed range
 P.227 Two types of sensors, located behind
the front grille and windshield, detect
information necessary to operate the
drive assist systems.
Radar sensor
Front camera
Lexus Safety System + 2.0
The Lexus Safety System + 2.0 con-
sists of the following drive assist sys-
tems and contributes to a safe and
comfortable driving experience:
Driving assist system
WARNING
■Lexus Safety System + 2.0
The Lexus Safety System + 2.0 is
designed to operate under the assump-
tion that the driver wi ll drive safely, and is
designed to help reduce the impact to
the occupants and the vehicle in the case
of a collision or assist the driver in normal
driving conditions.
As there is a limit to the degree of recog-
nition accuracy and control performance
that this system can provide, do not
overly rely on this system. The driver is
always responsible for paying attention
to the vehicle’s surro undings and driving
safely.
Sensors
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.
A
B

2104-5. Using the driving support systems
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.213
• Conditions under which the system may not operate properly:
P.214
●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 seco nds. 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

2164-5. 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 assistance
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.

2284-5. Using the driving support systems
Cruise control switch
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 pr ovides 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 ma y not be correctly
detecting the vehicle ahead:
P.235
• Conditions under which the vehi- cle-to-vehicle distance control mode
may not function correctly:
P.236
●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.
●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 “ON/OFF” button when not
in use.
E■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 following
distance between the driver’s own vehi-
cle and a designated vehicle traveling
ahead. It is not a mechanism that allows
careless or inattentive driving, 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 surroundings.
●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 vigi-
lant 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 func-
tions which will prevent or avoid colli-
sions with vehicles ah ead of your vehicle.
Therefore, if there is ever any possibility
of danger, the driver must take immedi-
ate and direct control of the vehicle and
act appropriately in order to ensure the
safety of all involved.

2304-5. Using the driving support systems
328 ft. (100 m) ahead, determines the current vehicle-to-vehicle following dis-
tance, and operates to maintain a suitab le 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 vehicl e-to-vehicle distance may become shorter.
Example of constant speed cruising
When there are no vehicles ahead
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 th e system cannot decelerate sufficiently to
prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehi cle will also stop (vehicle is stopped by sys-
tem control). After the vehicle ahead starts off, pushing the cruise control lever up 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 yo ur 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 over taking lane may be determined solely based on
the location of the steering wheel in the vehicl e (left side driver position versus right side
driver position.) If the vehicle is driven to a re gion where the overtaking lane is on a different
side from where the vehicle is normally driven, the vehicle may accelerate when the turn
A
B

2354-5. Using the driving support systems
4
Driving
●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.
●Pre-collision braking is activated.
●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.
●Pre-collision braking is activated.
If constant speed cont rol mode is automati-
cally canceled for any reasons other than
the above, there may be a malfunction in the
system. Contact your Lexus dealer.
■Brake operation
A brake operation sound may be heard and
the brake pedal respon se may change, but
these are not malfunctions.
■Warning messages and buzzers for
dynamic radar cruise control with
full-speed range
Warning messages and buzzers are used to
indicate a system malfunction or to inform
the driver of the need for caution while driv-
ing. If a warning messa ge is shown on the
multi-information displa y, read the message
and follow the instructions.( P.207,412)
■When the sensor may not be correctly
detecting the vehicle ahead
In the case of the fo llowing and depending
on the conditions, operate the brake pedal
when deceleration of the system is insuffi-
cient or operate the accelerator pedal
when acceleration is required.
As the sensor may not be able to correctly
detect these types of vehicles, the approach
warning ( P.233) may not be activated.
●Vehicles that cut in suddenly
●Vehicles traveling at low speeds
●Vehicles that are not moving in the same
lane
●Vehicles with small rear ends (trailers
with no load on board, etc.)
●Motorcycles traveling in the same lane
●When water or snow thrown up by the
surrounding vehicles hinders the detect-
ing of the sensor
●When your vehicle is pointing upwards
(caused by a heavy load in the luggage
compartment, etc.)