2021 TOYOTA RAV4 PHEV warning

365
5
5-5. 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 dis -
played on the multi-information dis -
play, and either a warning buzzer
will sound or the steering 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
WARNING
●The vehicle is driven in an area
without white (yellow) lines, such as
in front of a tollg ate or checkpoint, or at an intersection, etc.
●The white (yellow) lines are cracked, “Raised pavement
marker” or stones are present.
●The white (yellow) lines cannot be seen or are difficu lt to see due to
sand, etc.
●The vehicle is driven on a road sur -
face that is wet due to rain, pud -
dles, 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.
●If the edge of the road is not clear or straight.
●The vehicle is driven on a surface that is bright due t o reflected light,
etc.
●The vehicle is driven in an area
where the brightness changes sud -
denly, such as at the entrances and exits of tunnels, etc.
●Light from the hea dlights of an oncoming 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 nar -
row or wide.
●The vehicle is ext remely tilted due to carrying heavy luggage or having
improper tire pressure.
●The distance to the preceding vehi -
cle is extremely short.
●The vehicle is moving up and down
a large amount due to road condi-
tions during drivi ng (poor roads or road seams).
●When driving in a t unnel or at night with the headlights off or when a
headlight is dim due to its lens
being dirty or it being misaligned.
●The vehicle is s truck by a cross-
wind.
●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, man -
ufacturer, brand or tread pattern are used.
●Snow tires, etc. are equipped.
●The vehicle is b eing driven at
extremely high speeds.
Functions included in LTA
system

3665-5. Using the driving support systems
operate the steering wheel to move the
vehicle back to the center of the lane.
Vehicles with BSM : When the system
determines that the vehicle might
depart from its lane and that the possi-
bility 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, su ch as grass, soil,
or a curb
■Steering assist function
When the system de termines that
the vehicle might depart from its
lane or course*, the system pro -
vides assistance as necessary 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 dis -
play and the function is temporarily
canceled.
Vehicles with BSM : When the system
determines that the vehicle might
depart from its lane and that the possi -
bility of a collision with an overtaking
vehicle in the adjacent lane is high, the
steering assist function will operate
even if the turn si gnals 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 warni ng buzzer will
sound and a message will be dis -
played on the multi-information dis -
play to alert the driver.

367
5
5-5. Using the driving support systems
Driving
■Lane centering function
This function is linked with dynamic
radar cruise contro l with full-speed
range and provides the required
assistance by operating the steer -
ing wheel to keep t he vehicle in its
current lane.
When dynamic radar cruise control with
full-speed range is not operating, the
lane centering function does not oper -
ate.
In situations where t he white (yellow)
lane lines are difficu lt 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.
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 dis -
play and the functi on is temporarily
canceled.
Press the LTA switch to turn the
LTA system on.
The LTA indicator illuminates and a
message is displayed on the multi-infor -
mation display.
Press the LTA switch again to turn
the LTA system off.
When the LTA system i s turned on or
off, operation of t he LTA system contin-
ues in the same condition the next time
the hybrid system is started.
Turning LTA system on

369
5
5-5. Using the driving support systems
Driving
Inside of displayed lines is white
Indicates that the system is recognizing
white (yellow) lines or a course*. When
the vehicle departs f rom its lane, the
white line display ed on the side the
vehicle departs from flashes orange.
Inside of displayed lines is black
Indicates that the syst em is not able to
recognize white (yellow) lines or a
course* or is temporarily canceled.
*: Boundary between asphalt and the
side of the road, su ch as grass, soil,
or a curb
■Operation conditions of each func -
tion
●Lane departure alert function
This function operates when all of the
following conditions are met.
• LTA is turned on. • Vehicle speed is approximately 50
km/h (32 mph) or more.*1
• System recognizes white (yellow) lane
lines or a course*2. (When a white
[yellow] line or course*2 is recognized on only one side, the system will oper -
ate only for the recognized side.)
• Width of traffic lane is approximately 3 m (9.8 ft.) or more.
• Turn signal lever is not operated.
(Vehicles with BSM: Except when another vehicle is in the lane on the
side where the turn signal was oper -
ated) • Vehicle is not bei ng driven around a
sharp curve.
• No system malfunctions are detected. ( →P.371)*1: The function operates even if the
vehicle speed is less than approxi -
mately 50 km/h (32 mph) when the
lane centering func tion is operating.
*2: Boundary between asphalt and the
side of the road, su ch as grass, soil,
or a curb
●Steering assist function
This function operates when all of the
following conditions are met in addition
to the operation condi tions for the lane
departure alert function.
• Setting for “Steering Assist” in the
screen of the multi-information display
is set to “ON”. ( →P.179)
• Vehicle is not accel erated or deceler- ated by a fixed amount or more.
• Steering wheel is not operated with a
steering force level suitable for chang - ing lanes.
• ABS, VSC, TRC and PCS are not
operating. • TRC or VSC is not turned off.
• Hands off steering wheel warning is
not displayed. ( →P.370)
●Vehicle sway warning function
This function operates when all of the
following conditions are met.
• Setting for “Sway Warning” in the
screen of the multi-information display is set to “ON”. ( →P.179)

3705-5. Using the driving support systems
• Vehicle speed is approximately 50
km/h (32 mph) or more. • Width of traffic lane is approximately 3
m (9.8 ft.) or more.
• No system malfuncti ons are detected. ( →P.371)
●Lane centering function
This function operates when all of the
following conditions 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.179)
• This function recognizes white (yel -
low) lane lines or the position of a pre - ceding vehicle (except when the
preceding vehicle is small, such as a
motorcycle). • The dynamic radar cruise control with
full-speed range is operating in vehi-
cle-to-vehicle distance control mode. • Width of traffic lane is approximately 3
to 4 m (10 to 13 ft.).
• Turn signal lever is not operated. • Vehicle is not being driven around a
sharp curve.
• No system malfuncti ons are detected. ( →P.371)
• Vehicle does not accelerate or decel-
erate by a fixed amount or more. • Steering wheel is n ot operated with a
steering force level suitable for chang-
ing lanes. • ABS, VSC, TRC an d PCS are not
operating.
• TRC or VSC is not turned off. • Hands off steering wheel warning is
not displayed. ( →P.370)
• The vehicle is being driven in the cen- ter of a lane.
• Steering assist func tion is not operat-
ing.
■Temporary cancelation of functions
●When operation conditions are no lon -
ger met, a function may be temporar - ily canceled. However, when the
operation conditions are met again,
operation of the fu nction is automati- cally restored. ( →P.369)
●If the operation conditions (→P.369)
are no longer met while the lane cen- tering function is op erating, the steer-
ing wheel may vibrate and the buzzer
may sound to indicate that the func - tion has been temporarily canceled.
However, if the “Aler t” customization
setting is set to “Steering wheel vibra - tion”, the system will notify the driver
by vibrating the steering wheel instead
of sounding the buzzer.
■Steering assist function/lane cen - tering function
●Depending on the vehicle speed, lane departure situation, road conditions,
etc., the driver may not feel the func -
tion is operating or the function may not operate at all.
●The steering control of the function is overridden by the dr iver’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.
●Vehicles with BSM: It may not be pos-
sible for the syste m to determine if there is a danger of a collision with a
vehicle in an adjacent lane.
●Do not attempt to test the operation of
the lane departure alert function.*: Boundary between a sphalt and the
side of the road, such as grass, soil,
or a curb
■Hands off steering wheel warning
In the following situations, a warning message urging the driver to hold the
steering wheel and the symbol shown in
the illustration are displayed on the multi-information display to warn the

371
5
5-5. Using the driving support systems
Driving
driver. The warning stops when the sys -
tem determines that the driver holds the steering wheel. Always keep your hands
on the steering wheel when using this
system, regardless of warnings.
●When the system det ermines that the
driver is driving without holding the steering wheel wh ile the system 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 te mporarily canceled.
This warning also operates in the same
way when the driver continuously oper -
ates the steering w heel only a small
amount.
The buzzer also sounds even if the alert
type is set to “Steering wheel vibration”.
●When the system det ermines that the
vehicle may not t urn and instead
depart from its lane while driving around a curve
Depending on the vehicle condition and road conditions, the warning may not
operate. Also, if t he system determines
that the vehicle is driving around a curve, warnings will occur earlier than
during straight-lane driving.
●When the system det ermines that the
driver is driving without holding the
steering wheel while the steering
wheel assist of the steering assist function is operating.
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 buzze r sounds, the con-
tinuing time of the buzzer becomes lon -
ger.
The buzzer also sounds even if the alert
type is set to “Steering wheel vibration”.
■Vehicle sway wa rning function
When the system det ermines that the
vehicle is swaying while the vehicle sway warning function is operating, a
buzzer sounds and a warning message
urging the driver to r est and the symbol shown in the illustration are simultane -
ously displayed on the multi-information
display.
Depending on the vehicle and road con -
ditions, 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, follow the appropriate trouble -
shooting procedure. A lso, if a different
warning message is displayed, follow the instructions dis played on the screen.
●“LTA Malfunction Visit Your Dealer”
The system may not be operating prop-
erly. Have the vehicle inspected by any
authorized Toyota r etailer or Toyota
authorized repairer, or any reliable
repairer.
●“LTA Unavailable”
The system is temporarily canceled due
to a malfunction in a sensor other than
the front camera. Tu rn the LTA system
off, wait for a little while, and then turn
the LTA system back on.
●“LTA Unavailable at Current Speed”

3725-5. Using the driving support systems
The function canno t be used as the
vehicle speed exce eds the LTA opera-
tion range. Drive slower.
■Customization
Function settings can be changed.
( →P.186)
*: If equipped
RSA (Road Sign Assist)*
The RSA system recognizes
specific road signs using the
front camera and/or naviga -
tion system (when speed limit
information is available) to pro -
vide information to the driver
via the display.
If the system judges that the
vehicle is being driven over the
speed limit, performing prohib -
ited actions, etc. according to
the recognized road signs, it
notifies the driver through a
visual notification and notifica -
tion buzzer or steering wheel
vibration.
WARNING
■Before using the RSA
Do not rely solely upon the RSA sys- tem. 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.

377
5
5-5. Using the driving support systems
Driving
Indicators
■Operation switches
Vehicle-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 responsi -
bility of the driver. Do not rely solely
on the system, and drive safely by always paying careful attention to
your surroundings.
●The dynamic radar cruise control
with full-speed range provides driv -
ing assistance to reduce the driver’s burden. However, there are
limitations to the assistance pro -
vided.
Read the following conditions care -
fully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be cor -
rectly detecting the vehicle
ahead: →P.386
C
A
B
C
D
E
• Conditions under which the vehicle- to-vehicle distance control mode
may not function correctly: →P.387
●Set the speed appropriately
depending on the speed limit, traffic
flow, road conditions, weather con - ditions, etc. The driver is responsi -
ble for checking the set speed.
●Even when the system is function -
ing normally, the condition of the
preceding vehicle as detected by the system may differ from the con -
dition observed by the driver.
Therefore, the dri ver 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, resulti ng in death or seri- ous injury.
●Switch the dynamic radar cruise control with full-speed range setting
to off, using the cruise control main
switch when not in use.