2021 TOYOTA RAV4 PLUG-IN HYBRID cruise control

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

3765-5. Using the driving support systems
outdated. (For vehicles with naviga -
tion system)
●The navigation syst em is not operat-
ing. (For vehicles with navigation sys - tem)
●The speed information displayed on the meter and on t he navigation sys-
tem may be different due to the navi -
gation system using map data.
■Speed limit sign display
If the power switch w as last turned off
while a speed limit sign was displayed
on the multi-information display, the same sign displays again when the
power switch is turned to ON.
■If “RSA Malfunction Visit Your
Dealer” is shown
The system may be malfunctioning.
Have the vehicle i nspected by any
authorized Toyota retailer or Toyota authorized repairer, or any reliable
repairer.
■Customization
Some functions can be customized. (Customizable features: →P.186)
*: If equipped
■Meter display
Multi-information display
Set speed
Dynamic radar cruise
control with full-speed
range*
In vehicle-to-vehicle distance
control mode, the vehicle auto -
matically accelerates, deceler -
ates and stops to match the
speed changes of the preced -
ing vehicle even if the acceler -
ator 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.379)
 Constant speed control mode
( →P.383)
System Components
A
B

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.

3785-5. Using the driving support systems
WARNING
■Cautions regarding the driving
assist systems
Observe the following precautions, as there are limitations to the assistance
provided by the syst em. Failure to do
so may cause an accident resulting in death or serious injury.
●Assisting the driver to measure fol -
lowing distance
The dynamic radar cruise control with
full-speed range is only intended to
help the driver in determining the fol -
lowing distance bet ween the driver’s
own vehicle and a designated vehicle
traveling ahead. It is not a mechanism
that allows carele ss or inattentive
driving, and it is not a system that can
assist the driver in low-visibility condi-
tions.
It is still necessary for driver to pay
close attention to the vehicle’s sur -
roundings.
●Assisting the driver to judge proper
following distance
The dynamic radar cruise control with
full-speed range determines whether
the following dist ance 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 judgemen t. Therefore, it
is absolutely necessary for the driver
to remain vigilant 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
functions which will prevent or avoid
collisions with vehi cles ahead of your
vehicle. Therefore, if there is ever any
possibility of danger, the driver must
take immediate and direct control of
the vehicle and act appropriately in
order to ensure the safety of all
involved.
■Situations unsuitable for
dynamic radar cruise control
with full-speed range
Do not use dynamic radar cruise con-
trol with full-speed range in any of the
following situations. Doing so may result in inappropriate speed control
and could cause an accident resulting
in death or serious injury.
●Roads where there are pedestrians,
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 high - ways
●When weather conditions are bad
enough that they may prevent the sensors from detecting correctly
(fog, snow, sandstorm, heavy rain,
etc.)

3805-5. Using the driving support systems
When a vehicle is de tected running ahead of you, the system automatically deceler-
ates your vehicle. When a great er reduction in vehicle speed is necessary, the sys-
tem 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 vehi-
cle-to-vehicle distance set by the driver. Approach warning war ns you when the sys-
tem cannot decelerate sufficiently to prevent your vehicle from closing in on the
vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also sto p (vehicle is stopped
by system control). After the veh icle ahead starts off, pressing the “+RES” switch or
depressing the accelerator pedal (start-off operation) will res ume 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 your vehicle moves t o an overtaking lane
while driving at 50 mph (80 km/h) or more, the vehicle will acc elerate to help to over-
take a passing vehicle.
The system’s identificat ion of what is an overtaking lane may be determined solely
based on the location of the ste ering wheel in the vehicle (left side driver position
versus right side driv er position.) If the vehicle is driven to a region where the over-
taking lane is on a different sid e from where the vehicle is normally driven, the vehi-
cle may accelerate when the turn signal lever is operated in th e opposite direction to
the overtaking lane (e.g., if th e driver normally operates the vehicle in a region
where the overtaking lane is to t he right but then drives to a region where the over-
taking lane is to the left, the vehicle may accelerate when the right turn signal is acti-
vated).
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
constant speed cruising.
1 Press the cruise control main
switch to activate the cruise con -
trol.
Dynamic radar cruise control indicator
will come on and a message will be dis - played on the multi-information display.
Press the switch again to deactivate the
cruise control.
If the cruise control main switch is
pressed and held for 1.5 seconds or
more, the system tur ns on in constant
C
Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)

381
5
5-5. Using the driving support systems
Driving
speed control mode. ( →P.383)
2Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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.
 Adjusting the set speed by the
switch
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 con -
trol mode)
2 Decreases the speed
Fine adjustment: Press the switch.
Large adjustment: Press and hold the
switch to change the speed, and
release when the desired speed is
reached.
In the vehicle-to-vehicle distance
control mode, the set speed will be
increased or decreased as follows:
Fine adjustment: By 1 km/h (0.6 mph)*1
or 1 mph (1.6 km/h)*2 each time the
switch is pressed
Large adjustment: Increases or
decreases in 5 km/h (3.1 mph)*1 or 5
mph (8 km/h)*2 increments for as long
as the switch is held
In the constant speed control mode
( →P.383), the set speed will be
increased or decreased as follows:
Fine adjustment: By 1 km/h (0.6 mph)*1
or 1 mph (1.6 km/h)*2 each time the
switch is pressed
Large adjustment: The speed will con -
tinue to change while the switch is held.
Adjusting the set speed

383
5
5-5. Using the driving support systems
Driving
1 Pressing the cancel switch can-
cels the speed control.
The speed control is also canceled
when the brake pedal is depressed.
(When the vehicle has been stopped by
system control, depr essing the brake
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 sufficient auto-
matic deceleration via the cruise
control is not possible, the display
will flash and the buzzer will sound
to alert the driver. An example of
this would be if ano ther driver cuts
in front of you whi le you are follow-
ing a vehicle. Depress the brake
pedal to ensure an appropriate
vehicle-to-vehicle distance.
■Warnings may not occur when
In the following instances, warnings
may not occur even when the vehi -
cle-to-vehicle d istance is small.
 When the speed of the preceding
vehicle matches or exceeds your
vehicle speed
 When the preceding vehicle is
traveling at an extremely slow
speed
 Immediately after the cruise con-
trol speed was set
 When depressing the accelerator
pedal
When constant speed control mode
is selected, your vehicle will main-
tain a set speed without controlling
Canceling and resuming the
speed control
Approach warning (vehicle-
to-vehicle distance control
mode)
Selecting constant speed
control mode

3845-5. Using the driving support systems
the vehicle-to-vehicle distance.
Select this mode only when vehi -
cle-to-vehicle distance control
mode does not function correctly
due to a dirty radar, etc.
1 With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.
Immediately after the switch is pressed,
the dynamic radar cruise control indica -
tor will come on. After wards, it switches to the cruise control indicator.
Switching to constant speed control
mode is only possibl e when operating the switch with the cruise control off.
2Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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.
Adjusting the speed setting: →P.381
Canceling and resu ming the speed set-
ting: →P.383
When this function is enabled and
the system is opera ting in vehicle-
to-vehicle distance control mode
( →P.379), when a speed limit sign
is detected, the recognized speed
limit will be displayed with an
up/down arrow. The set speed can
be increased/reduced to the recog -
nized speed limit by pressing and
holding the “+RES”/“-SET” switch.
 When the current set speed is
lower than the recognized speed
limit
Press and hold the “+RES” switch.
 When the current set speed is
higher than the recognized
Dynamic Radar Cruise Con -
trol with Road Sign Assist
(vehicles with RSA)