2021 TOYOTA RAV4 PRIME cruise control

2855-2. Driving procedures
5
Driving
*1: To improve fuel efficiency and reduce noise, shift the shift lever
to D for normal driving.
*2: Vehicles with paddle shift switches only: S electing shift
ranges in the D position allows
suitable use of engine braking.
(  P.287)
*3: By selecting shift ranges using S
mode, you can control accelerat-
ing force and engine braking
force.
■When driving with dynamic
radar cruise control with full-
speed range activated
Even when performing the following
actions with the in tent of enabling
engine braking, e ngine braking will
not activate because dynamic radar
cruise control with full-speed range will not be canceled.
●While driving in S mode, down-
shifting to 5 or 4. (
P.288)
●When switching th e driving mode
to sport mode while driving in D
position. ( P.377)
■Restraining sudden start (Drive-
Start Control)
 P.259
Hybrid transmission
Select the shift position
depending on your purpose
and situation.
Shift position purpose
and functions
Shift
positionObjective or function
P
Parking the vehi-
cle/starting the hybrid system
RReversing
NNeutral
DNormal driving*1, 2
SS mode driving*3
WARNING
■When driving on slippery
road surfaces
Be careful of downshifting and
sudden acceleration, as this could
result in the vehicle skidding to
the side or spinning.
NOTICE
■Hybrid battery (traction bat-
tery) charge
If the shift lever is in N, the hybrid
battery (traction battery) will not
be charging, even when the
engine is running. Therefore, if
the vehicle is left with the shift
lever in N for a long period of
time, the hybrid battery (traction
battery) will discharge, and this
may result in the vehicle not being
able to start.

3095-5. Using the driving support systems
5
Driving
5-5.Using the driving support systems
■PCS (Pre-Collision System)
 P.315
■LTA (Lane Tracing Assist)
 P.323
■AHB (Automatic High
Beam)
 P.298
■RSA (Road Sign Assist) (if
equipped)
 P.333
■Dynamic radar cruise con-
trol with full-speed range
 P.336 Two types of sensors, located
behind the front grille and wind-
shield, detect information neces-
sary to operate the drive assist
systems.
Radar sensor
Front camera
Toyota Safety Sense
2.0
The Toyota Safety Sense
2.0 consists of the following
drive assist systems and
contributes to a safe and
comfortable driving experi-
ence:
Driving assist system
WARNING
■Toyota Safety Sense 2.0
The Toyota Safety Sense 2.0 is
designed to operate under the
assumption that the driver will
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 condi-
tions.
As there is a limit to the degree of
recognition 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 su rroundings and
driving safely.
Sensors
A
B

3235-5. Using the driving support systems
5
Driving
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 assis-
tance by operating the
steering 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 operat-
ing to keep the vehicle in its
lane.
The LTA system recognizes
white (yellow) lane lines or a
course
* using the front cam-
era. Additionally, 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
system. The LTA system does
not automatically drive the vehi-
cle or reduce the amount of
attention that m ust be paid to
the area in front of the vehicle.
The driver must always assume
full responsibilit y for driving
safely by paying careful atten-
tion to the surrounding condi-
tions 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 care-
ful attention may lead to an
accident, result ing in death or
serious injury.
●When not using the LTA sys-
tem, 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 sur-
face which is slippery due to
rainy weather, fallen snow,
freezing, etc.
●Vehicle is driven on a snow-cov-
ered road.
●White (yellow) lin es are difficult
to see due to ra in, snow, fog,
dust, etc.
●Vehicle is driven in a temporary
lane or restricted lane due to
construction work.

3275-5. Using the driving support systems
5
Driving
from its lane or course*, the sys-
tem provides assistance as nec-
essary 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 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 t emporarily can-
celed.
When the system de termines that
the vehicle might depart from its
lane and that the possibility of a col-
lision with an over taking vehicle in
the adjacent lane is high, the steer-
ing assist function will operate even
if the turn signals are operating.
*: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
■Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes-
sage will be displayed on the
multi-information display to alert
the driver.
■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

3305-5. Using the driving support systems
• LTA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) 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 operat e only for the
recognized side.)
• Width of traffic lane is approxi-
mately 9.8 ft. ( 3 m) or more.
• Turn signal lever is not operated. (Except when another vehicle is in
the lane on the side where the
turn signal was operated)
• Vehicle is not being driven around
a sharp curve.
• No system malfunctions are detected. ( P.332)
*1: The function opera tes even if the
vehicle speed is less than
approximately 32 mph (50 km/h)
when the lane centering function
is operating.
*2: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
●Steering assist function
This function oper ates when all of
the following conditions are met in
addition to the operation conditions
for the lane departure alert function.
• Setting for “Steering Assist” in the
screen of the mu lti-information
display is set to “ON”. ( P.170)
• Vehicle is not a ccelerated or
decelerated 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.331)
●Vehicle sway warning function
This function oper ates 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.170)
• 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.332)
●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.170)
• This function recognizes white (yellow) lane lines or the position
of a preceding v ehicle (except
when the preceding vehicle is
small, such as a motorcycle).
• The dynamic radar cruise control
with full-speed ran ge is operating
in vehicle-to-vehicle 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.332)
• 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.331)
• The vehicle is being driven in the
center of a lane.
• Steering assist function is not operating.

3365-5. Using the driving support systems
■Meter displayMulti-information display
Set speed Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
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.339)
 Constant speed control
mode ( P.343)
System Components
A
B
:$51,1*
■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 attent ion to your sur-
roundings.
C
A
B
C
D
E

3375-5. Using the driving support systems
5
Driving
WARNING
●The dynamic radar cruise con-
trol with full-speed range pro-
vides driving assistance to
reduce the driver’s burden.
However, there are 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 detect ing the vehicle
ahead: P.345
• Conditions under which the vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly: P.346
●Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is respon sible 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, resulting in death or
serious injury.
●Switch the dynamic radar cruise
control with full-speed range
setting to off, using the cruise
control main swi tch when not in
use.
■Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, as there ar e 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 necessa ry for driver to
pay close attenti on 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 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 vigilant and to
determine whether or not there is
a possibility of danger in any
given situation.

3385-5. Using the driving support systems
WARNING
●Assisting the driver to operate
the vehicle
The dynamic radar cruise control
with full-speed range does not
include function s which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of da nger, 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
control with full-speed range in
any of the following situations.
Doing so may result in inappropri-
ate speed control 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
●When weather conditions are
bad enough that they may pre-
vent the sensors from detecting
correctly (fog, snow, sandstorm,
heavy rain, etc.)
●When there is rain, snow, etc.
on the front surface of the radar
or front camera
●In traffic conditi ons that require
frequent repeated acceleration
and deceleration
●When your vehicle is towing a
trailer or during emergency tow-
ing
●When an approach warning
buzzer is heard often