
2444-5. Using the driving support systems
●Pre-collision warning
While the pre-collision warning function is operating, if the steering wheel is
operated heavily or suddenly, the pre -collision warning may be cancelled.
●Pre-collision brake assist
●Pre-collision braking
If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
●Emergency steering assist
When the turn signal lights are flashing, emergency steering as sist will not
operate in case of an emergency.
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped vehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 7 to 110 mph (10 to 180 km/h)
Oncoming vehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 13 to 110 mph (20 to 180 km/h)
Bicyclists and pedestri- ansApprox. 7 to 50 mph (10 to 80 km/h)Approx. 7 to 50 mph (10 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding and stopped vehiclesApprox. 20 to 110 mph (30 to 180 km/h)Approx. 20 to 110 mph (30 to 180 km/h)
Bicyclists and pedestri- ansApprox. 20 to 50 mph (30 to 80 km/h)Approx. 20 to 50 mph (30 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding and stopped vehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 7 to 110 mph (10 to 180 km/h)
Oncoming vehiclesApprox. 7 to 110 mph (10 to 180 km/h)Approx. 13 to 110 mph (20 to 180 km/h)
Bicyclists and pedestri- ansApprox. 7 to 50 mph (10 to 80 km/h)Approx. 7 to 50 mph (10 to 80 km/h)

2454-5. Using the driving support systems
4
Driving
If any of the following occur while the emergency steering assi st function is
operating, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
• The brake pedal is depressed.
●Intersection right/left turn assistance (pre-collision warning)
When the turn signal lights are not flashing, support for turning left or right at
an intersection which targets on coming vehicles does not work.
●Intersection right/left turn assistance (pre-collision braking)
When the turn signal lights are not flashing, support for turning left or right at
an intersection which targets on coming vehicles does not work.
■Object detection function
The system detects objects based
on their size, profile, motion, etc.
However, an object may not be
detected depending on the sur- rounding brightness and the motion,
posture, and angle of the detected
object, preventing the system from
operating properly. (
P.247)
The illustration shows an image of
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped vehicles, bicyclists and pedestriansApprox. 25 to 50 mph (40 to 80 km/h)Approx. 25 to 50 mph (40 to 80 km/h)
Detectable objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Oncoming vehi- clesApprox. 7 to 15 mph (10 to 25 km/h)Approx. 20 to 35 mph (30 to 55 km/h)Approx. 25 to 50 mph (40 to 80 km/h)
Pedestrians
Approx. 7 to 15 mph (10 to 25 km/h)
Approx. 7 to 15 mph (10 to 25 km/h)
Detectable objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Oncoming vehi- clesApprox. 10 to 15 mph (15 to 25 km/h)Approx. 20 to 28 mph (30 to 45 km/h)Approx. 28 to 43 mph (45 to 70 km/h)
Pedestrians
Approx. 7 to 15 mph (10 to 25 km/h)
Approx. 7 to 15 mph (10 to 25 km/h)

2544-5. Using the driving support systems
■Lane departure alert func-
tion
When the system determines
that the vehicle might depart
from its lane or course
*, a warn-
ing is displayed on the multi-
information display, 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 operate the steering
wheel to move the vehicle back to
the center of the lane.
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 lane
departure alert 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
■Steering assist function
When the system determines
that the vehicle might depart
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.
When the system determines that
the vehicle might depart from its
lane and that the possibility of a col-
lision with an overta king 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
Functions included in
LTA system

2594-5. Using the driving support systems
4
Driving
celed.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
■Operation conditions of each
function
●Lane departure alert function
This function oper ates when all of
the following cond itions are met.
• 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.261)
*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.
• 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.
●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.100,
111)
• 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.261)
●Lane centering function
This function operates when all of
the following conditions are met.
• LTA is turned on.
• Setting for “Lane Center” in the
screen of the multi-information
display is set to “ON”. ( P.100,
111)
• 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.261)
• 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

2694-5. Using the driving support systems
4
Driving
control continues to keep your vehicle stopped.
When the turn signal lever is operated 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
again to deactivate the cruise con-
trol.
If the cruise cont rol main switch is
pressed and held for 1.5 seconds
or more, the syste m turns on in
constant speed control mode. (
P.274)
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.
C
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

2784-5. Using the driving support systems
Meter control switches
Turning the BSM function/RCTA
function on/off.
Outside rear view mirror indi-
cators
BSM function: When a vehicle is
detected in a blind spot of the out-
side rear view mirrors or approach-
ing rapidly from behind into a blind
spot, the outside rear view mirror indicator on the detected side will
illuminate. If the turn signal lever is
operated toward the detected side,
the outside rear view mirror indica-
tor will flash.
RCTA function: When a vehicle
approaching from the right or left at
the rear of the vehicle is detected,
both outside rear view mirror indi-
cators will flash.
Multimedia Display (RCTA
function only)
If a vehicle approaching from the
right or left at the rear of the vehicle
is detected, the RCTA icon
(
P.283) for the detected side will
be displayed.
RCTA buzzer (RCTA func-
tion only)
If a vehicle approaching from the
right or left at the rear of the vehicle
is detected, a buzzer will sound
from behind the rear seat.
The BSM function and the
RCTA function can be
enabled/disabled on the
screen of the multi-information
display. ( P.106, 117)
When the Blind Spot Monitor is dis-
abled, the BSM OFF indicator illu-
minates. ( P.88)
When the RCTA function is dis-
abled, the RCTA OFF indicator illu-
minates. ( P.88)
The BSM function and the RCTA
function are automatically enabled
each time the power switch is
WARNING
■Cautions regarding the use of
the RCTA function
There is a limit to the degree of
recognition accuracy and control
performance that this system can
provide, do not ov erly rely on this
system.
The driver is always responsible
for paying attention to the vehi-
cle’s surroundings and driving
safely.
System components
A
B
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