Toyota RAV4 (2022 year). Manual in english — page 15

:The function operates even if the

vehicle speed is less than
approximately 32 mph (50 km/h)
when the lane centering function
is operating.

:Boundary between asphalt and

the side of the road, such 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 conditions
for the lane departure alert function.
• Setting for “Steering Assist” in the

screen of the multi-information

display is set to “ON”. (

P.94)

• Vehicle is not accelerated 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. (

●

Vehicle sway warning function

243

4-5. Using the driving support systems

ing

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”. (



• 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. (



●

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 is set

to “ON”. (



• 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-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. (



• 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. (



• 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.242)

●

If the operation conditions

(



P.242) 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 vehicle 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

244

4-5. Using the driving support systems

■

Hands off steering wheel warn-

ing

In the following situations, a warning

message urging the driver to hold

the steering wheel and the symbol

shown in the illustration are dis-

played on the multi-information dis-

play to warn the driver. The warning

stops when the system 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 determines that

the driver is driving without hold-

ing the steering wheel while 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 temporarily can-
celed. This warning also operates in
the same way when the driver con-
tinuously operates the steering
wheel only a small amount.

●

When the system determines that

the vehicle may deviate from the

lane while driving around a curve

while the lane centering function is

operating.

Depending on the vehicle condition
and road conditions, the warning
may not operate. Also, if the system
determines that the vehicle is driv-
ing around a curve, warnings will
occur earlier than during straight-
lane driving.

●

When the system determines that

the driver is driving without hold-

ing the steering wheel while the

steering wheel assist of the steer-

ing assist function is operating.

If the driver continues to keep their
hands off of the steering wheel and
the steering wheel assist is operat-
ing, the buzzer sounds and the
driver is warned. Each time the
buzzer sounds, the continuing time
of the buzzer becomes longer.

■

Vehicle sway warning function

When the system determines that

the vehicle is swaying while the

vehicle sway warning function is

operating, a buzzer sounds and a

warning message urging the driver

to rest and the symbol shown in the

illustration are simultaneously dis-

played on the multi-information dis-

play.

Depending on the vehicle and road

conditions, the warning may not

operate.

■

Warning message

If the following warning message is

displayed on the multi-information

display and the LTA indicator illumi-

nates in orange, follow the appropri-

ate troubleshooting procedure. Also,

if a different warning message is

displayed, follow the instructions

displayed on the screen.

●

“LTA Malfunction Visit Your

Dealer”

The system may not be operating
properly. Have the vehicle inspected
by your Toyota dealer.

●

“LTA Unavailable”

The system is temporarily canceled

245

4-5. Using the driving support systems

ing

due to a malfunction in a sensor
other than the front camera. Turn
the LTA system off, wait for a little
while, and then turn the LTA system
back on.

●

“LTA Unavailable at Current

Speed”

The function cannot be used as the
vehicle speed exceeds the LTA
operation range. Drive slower.

■

Customization

Function settings can be changed.

(

P.94)

: If equipped

RSA (Road Sign

Assist)

The RSA system recognizes
specific road signs using
the front camera to provide
information to the driver via
the display.

If the system judges that the
vehicle is being driven over
the speed limit, performing
prohibited actions, etc.
according to the recog-
nized road signs, it notifies
the driver through a visual
notification and notification
buzzer.

WARNING

■

Before using the RSA

Do not rely solely upon the RSA

system. RSA is a system which

supports the driver by providing

information, but it is not a replace-

ment for a driver’s own vision and

awareness. Drive safely by

always paying careful attention to

the traffic rules.

246

4-5. Using the driving support systems

When the front camera recog-
nizes a sign, the sign will be dis-
played on the multi-information
display.



When the driving support sys-
tem information display is
selected, a maximum of 3
signs can be displayed.
(



When a tab other than the
driving support system infor-
mation display is selected, the
following types of road signs
will be displayed. (

• Speed limit sign
• Do Not Enter sign (when notifica-

tion is necessary)

If signs other than speed limit
signs are recognized, they will

be displayed in an overlapping
stack under the current speed
limit sign.

The following types of road
signs, including electronic signs
and blinking signs, are recog-
nized.

A non-official or a recently intro-
duced traffic sign may not be recog-
nized.

In the following situations, the
RSA system will notify the
driver.



When the vehicle speed
exceeds the speed notifica-
tion threshold of the speed
limit sign displayed, the sign
display will be emphasized
and a buzzer will sound.



When the RSA system recog-

Indication on the multi-
information display

Supported types of road
signs

Speed limit

Do Not Enter

Stop

Yield

Notification function

247

4-5. Using the driving support systems

ing

nizes a do not enter sign and
determines that your vehicle
has entered a no-entry area,
the displayed sign will flash
and a buzzer will sound.

Depending on the situation, a
notification function may not
operate properly.

■

Setting procedure

P.94

■

Automatic turn-off of RSA sign

display

In the following situations, a dis-

played speed limit sign and/or do

not enter sign will stop being dis-

played automatically:

●

No sign has been recognized for a

certain distance.

●

The road changes due to a left or

right turn, etc.

In the following situations, stop and

yield signs will stop being displayed

automatically:

●

The system determines that your

vehicle has passed the sign.

●

The road changes due to a left or

right turn, etc.

■

Conditions in which the func-

tion may not operate or detect

correctly

In the following situations, RSA

does not operate normally and may

not recognize signs, display the

incorrect sign, etc. However, this

does not indicate a malfunction.

●

The front camera is misaligned

due to a strong impact being

applied to the sensor, etc.

●

Dirt, snow, stickers, etc. are on the

windshield near the front camera.

●

In inclement weather such as

heavy rain, fog, snow or sand

storms.

●

Light from an oncoming vehicle,

the sun, etc. enters the front cam-

era.

●

The sign is dirty, faded, tilted or

bent.

●

The contrast of electronic sign is

low.

●

All or part of the sign is hidden by

the leaves of a tree, a pole, etc.

●

The sign is only visible to the front

camera for a short amount of time.

●

The driving scene (turning, lane

change, etc.) is judged incorrectly.

●

If a sign not appropriate for the

currently traveled lane, but the

sign exists directly after a freeway

branches, or in an adjacent lane

just before merging.

●

Stickers are attached to the rear

of the preceding vehicle.

●

A sign resembling a system com-

patible sign is recognized.

●

Side road speed signs may be

detected and displayed (if posi-

tioned in sight of the front camera)

while the vehicle is traveling on

the main road.

●

Roundabout exit road speed signs

may be detected and displayed (if

positioned in sight of the front

camera) while traveling on a

roundabout.

●

The front of the vehicle is raised or

lowered due to the carried load.

●

The surrounding brightness is not

sufficient or changes suddenly.

●

When a sign intended for trucks,

etc. is recognized.

●

The speed information displayed

on the meter and on the naviga-

tion system may be different due

to the navigation system using

map data.

■

Speed limit sign display

If the engine switch was last turned

off while a speed limit sign was dis-

played on the multi-information dis-

play, the same sign displays again

248

4-5. Using the driving support systems

when the engine switch is turned to

ON.

■

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.

(

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.251)



Constant speed control
mode (

P.256)

System Components

249

4-5. Using the driving support systems

ing

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

responsibility of the driver. Do

not rely solely on the system,

and drive safely by always pay-

ing careful attention to your sur-

roundings.

●

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 detecting the vehicle

ahead:



P.257

• Conditions under which the

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly:



P.258

●

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, resulting 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.

250

4-5. Using the driving support systems

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 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.

●

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 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

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

251

4-5. Using the driving support systems

ing

This mode employs a radar to detect the presence of vehicles up to
approximately 328 ft. (100 m) ahead, determines the current vehicle-
to-vehicle following distance, and operates to maintain a suitable fol-
lowing distance from the vehicle ahead. The desired vehicle-to-vehi-
cle distance can also be set by operating the vehicle-to-vehicle
distance switch.

When driving on downhill slopes, the vehicle-to-vehicle distance may
become shorter.

WARNING

●

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 conditions 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

Driving in vehicle-to-vehicle distance control mode

252

4-5. Using the driving support systems

Example of constant speed cruising
When there are no vehicles ahead

The vehicle travels at the speed set by the driver.

Example of deceleration cruising and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears

When a vehicle is detected running ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle speed is nec-
essary, the system 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 vehicle-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 stops, your vehicle will also stop (vehicle is
stopped by system control). After 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 operated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) or more, the vehicle will accel-
erate to help to overtake a passing vehicle.
The system’s identification 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 right side driver position.) If the vehicle is driven
to a region where the overtaking lane is on a different side from where the
vehicle is normally driven, the vehicle may accelerate when the turn signal
lever is operated in the opposite direction to the overtaking lane (e.g., if the
driver normally operates the vehicle in a region where the overtaking lane is
to the right but then drives to a region where the overtaking lane 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 constant speed cruising.

Press 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

Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

253

4-5. Using the driving support systems

ing

again to deactivate the cruise con-

trol.
If the cruise control main switch is

pressed and held for 1.5 seconds

or more, the system turns on in

constant speed control mode.

(

P.256)

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.

Increases the speed (Except
when the vehicle has been
stopped by system control in
vehicle-to-vehicle distance
control mode)

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 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)

or 1 km/h (0.6 mph)

each

time the switch is pressed
Large adjustment: Increases or
decreases in 1 mph (1.6 km/h)

1 km/h (0.6 mph)

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)

or 1 km/h (0.6 mph)

each

time the switch is pressed

Adjusting the set speed

254

4-5. Using the driving support systems

Large adjustment: Increases or
decreases in 5 mph (8 km/h)

or 5

km/h (3.1 mph)

increments for as

long as the switch is held

In the constant speed control
mode (

P.256), the set speed

will be increased or decreased
as follows:

Fine adjustment: By 1 mph (1.6
km/h)

or 1 km/h (0.6 mph)

each

time the switch is pressed
Large adjustment: The speed will
continue to change while the switch
is held.

:When the set speed is shown in

“MPH”

:When the set speed is shown in

“km/h”

Pressing the switch changes the
vehicle-to-vehicle distance as
follows:

Long

Medium

Short

If a vehicle is running ahead of you,
the preceding vehicle mark

will

also be displayed.

Select a distance from the table
below. Note that the distances
shown correspond to a vehicle
speed of 50 mph (80 km/h).
Vehicle-to-vehicle distance
increases/decreases in accor-
dance with vehicle speed. When
the vehicle is stopped by system
control, the vehicle stops at a
certain vehicle-to-vehicle dis-
tance depending on the situa-
tion.

After the vehicle ahead of you

Changing the vehicle-to-
vehicle distance (vehicle-
to-vehicle distance con-
trol mode)

Vehicle-to-vehicle dis-
tance settings (vehicle-to-
vehicle distance control
mode)

Distance options

Vehicle-to-vehi-

cle distance

Long

Approximately

160 ft. (50 m)

Medium

Approximately

130 ft. (40 m)

Short

Approximately

100 ft. (30 m)

Resuming follow-up
cruising when the vehicle
has been stopped by sys-
tem control (vehicle-to-
vehicle distance control
mode)

255

4-5. Using the driving support systems

ing

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.

Pressing 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 brake pedal does
not cancel the setting.)

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-
ceding vehicle matches or
exceeds your vehicle speed



When the preceding vehicle is
traveling at an extremely slow
speed



Immediately after the cruise
control speed was set

Canceling and resuming
the speed control

Approach warning (vehi-
cle-to-vehicle distance
control mode)

256

4-5. Using the driving support systems



When depressing the acceler-
ator pedal

When constant speed control
mode is selected, your vehicle
will maintain a set speed without
controlling the vehicle-to-vehi-
cle distance. Select this mode
only when vehicle-to-vehicle dis-
tance control mode does not
function correctly due to a dirty
radar, etc.

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 indicator will come on. After-

wards, it switches to the cruise con-

trol indicator.
Switching to constant speed control

mode is only possible when operat-

ing the switch with the cruise con-

trol off.

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.
Adjusting the speed setting:



P.253

Canceling and resuming the speed

setting: