TOYOTA RAV4 PHEV 2021 Owners Manual

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.

373
5
5-5. Using the driving support systems
Driving
When the front camera recognizes
a sign and/or information of a sign
is available from the navigation sys -
tem, the sign will be displayed on
the multi-inform ation display.
 When the driving support system
information display is selected, a
maximum of 3 signs can be dis -
played. ( →P.179)
 When a tab other than the driv-
ing support system information
display is selected, the following
types of road signs will be dis -
played. ( →P.179)
• Speed limit begins/ends sign
• Speed limit related information sign
(Expressway, Highway, Urban area,
Residential area)
• End of prohibition sign
• No-entry sign* (when notification is
necessary)
• Speed limit with supplemental sign
(Ramp way only)
*: For vehicles with navigation system
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 blink -
ing signs, are recognized.
A non-official (not m eeting the Vienna
Convention) or a recently introduced
traffic sign may not be recognized.
 Speed limit road signs
 Speed limit related information*
Indication on the multi-infor-
mation display
Supported types of road
signs
Speed limit begins/Maxi -
mum speed zone begins
Speed limit ends/Maximum
speed zone ends
Expressway entrance
Expressway exit

3745-5. Using the driving support systems
*: Displayed when a sign is recognized
but speed limit information for the
road is not available from the naviga -
tion system
 No-overtaking road signs
 Other road signs
*: For vehicles with navigation system
Speed limit with supplemental
mark*1
*1: Displayed simultaneously with
speed limit
*2: Contents not recognized.
*3: If the turn signal indicator is not
operated when changing lanes, the
mark does not display.
In the following si tuations, the RSA
Highway entrance
Highway exit
Urban area beginning
Urban area ending
Urban area beginning
Urban area ending
Residential area beginning
Residential area ending
No overtaking begins
No overtaking ends
No-entry*
End of prohibition
Stop
Wet
Rain
Ice
Supplemental mark
exists*2
Exit ramp on right*3
Exit ramp on left*3
Time
Notification function

375
5
5-5. Using the driving support systems
Driving
system will notify the driver.
 When the vehicle speed exceeds
the speed notific ation threshold
of the speed limit sign displayed,
the sign display will be empha -
sized and a buzzer will sound.
 When the RSA system recog-
nizes a no-entry sign and detects
that the vehicle has entered a
no-entry area based on the map
information of the navigation sys -
tem, the no-entry sign flashes
and a buzzer will sound. (For
vehicles with navigation system)
 If it is detected that your vehicle
is overtaking when a no overtak -
ing sign is displayed on the multi-
information display, the dis -
played sign will flash and a steer -
ing wheel will vibrate.
Depending on the situation, traffic
environment (traffic direction,
speed unit) may be detected incor -
rectly and a notification function
may not operate properly.
■Setting procedure
→ P.186
■Automatic turn-off of RSA sign dis-
play
One or more signs automatically turn off
in the following situations.
●No sign has been recognized for a
certain distance.
●The road changes due to a left or right
turn, etc.
■Conditions in which the function
may not operate or detect correctly
In the following situations, RSA does not
operate normally and may not recognize
signs, display the i ncorrect sign, etc.
However, this does not indicate a mal - function.
●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 camera.
●The sign is dirty, f aded, 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 visi ble 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 cur -
rently traveled lane, but the sign exists dir e ct ly a ft er a f r eew ay br an ch es , or in
an adjacent lane ju st before merging.
●Stickers are attached to the rear of the
preceding vehicle.
●A sign resembling a system compati-
ble sign is recognized.
●Side road speed signs may be
detected and displa yed (if positioned
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 br ightness is not suf-
ficient or changes suddenly.
●When a sign intended for trucks, etc.
is recognized.
●The vehicle is driven in a country with
a different direction of traffic.
●The navigation syst em map data is

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.)