2021 TOYOTA RAV4 cruise control

2454-5. Using the driving support systems
4
Driving■Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance by
operating the steering wheel to
keep the vehicle in its current
lane.
When dynamic radar cruise control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) lane lines are difficult to see or
are not visible, such as when in a
traffic jam, this fu nction will operate
to help follow a preceding vehicle
by monitoring the position of the
preceding vehicle.
If the system detects that the steer-
ing 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 function is temporarily can-
celed.
Press the LTA switch to turn the
LTA system on.
The LTA indicator illuminates and a
message is display
ed on the multi-
information display.
Press the LTA switch again to
turn the LTA system off.
When the LTA syste m is turned on
or off, operation of the LTA system
continues in the same condition the
next time the engine is started.
Turning LTA system on

2484-5. Using the driving support systems
This function operates when all of
the following cond itions are met.
• Setting for “Sway Warning” in the
screen of the mu lti-information
display is set to “ON”. ( P.89)
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• Width of traffic lane is approxi-
mately 9.8 ft. ( 3 m) or more.
• No system malfunctions are detected. ( P.249)
●Lane centering function
This function oper ates when all of
the following cond itions are met.
• LTA is turned on.
• Setting for “Steering Assist” and
“Lane Center” in the screen of
the multi-information display are
set to “ON”. ( P.89)
• This function recognizes white (yellow) lane lines or the position
of a preceding vehicle (except
when the preceding vehicle is
small, such as a motorcycle).
• The dynamic radar cruise control with full-speed range is operating
in vehicle-to-vehic le distance con-
trol mode.
• Width of traffic lane is approxi- mately 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.249)
• Vehicle does not accelerate or
decelerate 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.249)
• The vehicle is being driven in the center of a lane.
• Steering assist function is not operating.
■Temporary cancelation of func-
tions
●When operation conditions are no
longer met, a function may be
temporarily canceled. However,
when the operation conditions are
met again, operation of the func-
tion is automatically restored.
( P.247)
●If the operation conditions
( P.247) are no longer met while
the lane centering function is
operating, the buzzer may sound
to indicate that the function has
been temporarily canceled.
■Steering assist function/lane
centering function
●Depending on the vehicle speed,
lane departure situation, road con-
ditions, etc., the driver may not
feel the function is operating or
the function may not operate at
all.
●The steering control of the func-
tion is overridden by the driver’s
steering wheel operation.
●Do not attempt to test the opera-
tion of the steering assist function.
■Lane departure alert function
●The warning buzzer may be diffi-
cult to hear due to external noise,
audio playback, etc.
●If the edge of the course* is not
clear or straight, the lane depar-
ture alert function may not oper-
ate.
●Vehicles with BSM: It may not be
possible for the system to deter-
mine if there is a danger of a colli-
sion with a vehicl e in an adjacent
lane.
●Do not attempt to test the opera-
tion of the lane departure alert
function.
*: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb

2534-5. Using the driving support systems
4
Driving
■If “RSA Malfunction Visit Your
Dealer” is shown
The system may be malfunctioning.
Have the vehicle inspected by your
Toyota dealer.
■Customization
Some functions can be customized.
(Customizable features: P.94)
■Meter display
Multi-information display
Set speed
Dynamic radar cruise
control with full-speed
range
In vehicle-to-vehicle dis-
tance control mode, the
vehicle automatically accel-
erates, decelerates and
stops to match the speed
changes of the preceding
vehicle even if the accelera-
tor pedal is not depressed.
In constant speed control
mode, the vehicle runs at a
fixed speed.
Use the dynamic radar
cruise control with full-
speed range on freeways
and highways.
 Vehicle-to-vehicle distance
control mode ( P.256)
 Constant speed control
mode ( P.261)
System Components
A
B

2544-5. Using the driving support systems
Indicators
■Operation switchesVehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
WARNING
■Before using dynamic radar
cruise control with full-speed
range
●Driving safely is the sole
responsibility of t he driver. Do
not rely solely o n the system,
and drive safely by always pay-
ing careful attention to your sur-
roundings.
C
A
B
C
D
E
●The dynamic radar cruise con-
trol with full-speed range pro-
vides driving assistance to
reduce the driver’s burden.
However, there ar e limitations
to the assistance provided.
Read the following conditions
carefully. Do not overly rely on
this system and always drive
carefully.
• When the sensor may not be correctly detecting the vehicle
ahead: P.263
• Conditions under which the vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly: P.263
●Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is responsible for check-
ing the set speed.
●Even when the system is func-
tioning normally, the condition
of the preceding vehicle as
detected by the system may dif-
fer from the condition observed
by the driver. Therefore, the
driver must always remain alert,
assess the danger of each situ-
ation and drive safely. Relying
solely on this system or assum-
ing the system ensures safety
while driving can lead to an
accident, result ing in death or
serious injury.
●Switch the dynamic radar cruise
control with full-speed range
setting to off, using the cruise
control main switch when not in
use.

2554-5. Using the driving support systems
4
Driving
WARNING
■Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, 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
following 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 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 vehi-
cle’s surroundings.
●Assisting the driver to judge
proper following distance
The dynamic radar cruise control
with full-speed range determines
whether the follo wing 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 d anger 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 pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of dang er, the driver
must take immediate and direct
control of the vehicle and act
appropriately in order to ensure
the safety of a ll 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 following situations.
Doing so may result in inappropri-
ate speed cont rol and could
cause an accident resulting in
death or serious injury.
●Roads where there are pedes-
trians, cyclists, etc.
●In heavy traffic
●On roads with sharp bends
●On winding roads
●On slippery roads, such as
those covered 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.
●At entrances to freeways and
highways

2574-5. Using the driving support systems
4
Driving
Example of constant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
Example of deceleration crui sing and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears
When a vehicle is detected runni ng ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle s peed is nec-
essary, the system applies the brakes (the stop lights will come on at this
time). The system will respond to changes i n the speed of the vehicle
ahead in order to maintain the ve hicle-to-vehicle distance set by the driver.
Approach warning warns you when the system cannot decelerate suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you st ops, your vehicle will also stop (vehicle is
stopped by system control). Afte r 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 ope rated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) or more, the vehi cle will accel-
erate to help to overt ake a passing vehicle.
The system’s identifi cation of what is an overtaking lane may be deter-
mined solely based on the location of the steering wheel in the vehicle (left
side driver position versus righ t side driver position.) If the vehicle is driven
to a region where the overtaking lane is on a different side fr om where the
vehicle is normally driven, the v ehicle may accelerate when the turn signal
lever is operated in the opposite direction to the overtaking l ane (e.g., if the
driver normally operates the vehicle in a region where the over taking lane is
to the right but then drives to a region where the overtaking l ane 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 constan t speed cruising.
1Press the cruise control main switch to activate the cruise
control.
Dynamic radar cruise control indi-
cator will come on and a message
will be displayed on
the multi-infor-
mation display. Press the switch
A
B
C
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

2584-5. Using the driving support systems
again to deactivate the cruise con-
trol.
If the cruise control main switch is
pressed and held for 1.5 seconds
or more, the syste m turns on in
constant speed control mode.
(  P.261)
2 Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 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.
To change the set speed, press
the “+RES” or “-SET” switch
until the desired set speed is displayed.
1
Increases the speed (Except
when the vehicle has been
stopped by system control in
vehicle-to-vehicle distance
control mode)
2 Decreases the speed
Fine adjustment: Press the switch.
Large adjustment: Press and hold
the switch to cha nge the speed,
and release when the desired
speed is reached.
In the vehicle-to-vehicle dis-
tance control 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)
*1 or 1 km/h (0.6 mph)*2 each
time the switch is pressed
Large adjustment: Increases or
decreases in 1 mph (1.6 km/h)
*1 or
1 km/h (0.6 mph)
*2 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)
*1 or 1 km/h (0.6 mph)*2 each
time the switch is pressed
Adjusting the set speed

2604-5. Using the driving support systems
After the vehicle ahead of you
starts off, press the “+RES”
switch.
Your vehicle will also resume
follow-up cruising if the acceler-
ator pedal is depressed after the
vehicle ahead of you starts off.
1Pressing 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 br
ake pedal does
not cancel the setting.)
2 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 suffi-
cient automatic deceleration via
the cruise control is not possi-
ble, 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 appropriate
vehicle-to-vehicle distance.
■Warnings may not occur
when
In the following instances, warn-
ings may not occur even when
the vehicle-to-vehicle distance is
small.
 When the speed of the pre-
Resuming follow-up
cruising when the vehicle
has been stopped by sys-
tem control (vehicle-to-
vehicle distance control
mode)
Canceling and resuming
the speed control
Approach warning (vehi-
cle-to-vehicle distance
control mode)