cruise control LEXUS ES300h 2022 User Guide

1994-5. Using the driving support systems
4
Driving
• 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.
OVehicle sway warning function
This function operates when all of the fol-
lowing conditions are met.
• Setting for “Warning” in of the multi- information display is set to “On”.
( P.85)
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• Width of traffic lane is approximately 9.8
ft. (3 m) or more.
• No system malfunctions are detected. ( P.200)
OLane centering function
This function operates when all of the fol-
lowing conditions are met.
• LTA is turned on.
• Setting for “Lane Center” in of the multi-information display is set to “On”.
( P.85)
• This function recognizes white (yellow) lane lines or the position of a preceding
vehicle (except when the preceding vehi-
cle is small, such as a motorcycle).
• The dynamic radar cruise control with full-speed range is operating in vehicle-
to-vehicle distance control mode.
• Width of traffic lane is approximately 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.200)
• Vehicle does not accelerate or deceler-
ate 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.200)
• The vehicle is being driven in the center of a lane.
• Steering assist function is not operating.
QTemporary cancelation of functions
OWhen operation conditions are no lon-
ger met, a function may be temporarily
canceled. However, when the operation
conditions are met again, operation of
the function is automatically restored.
(  P.198)
OIf the operation conditions ( P.196) are
no longer met while the lane centering
function is operating, the steering wheel
may vibrate and the buzzer may sound to
indicate that the function has been tem-
porarily canceled. Howe ver, if the “Alert”
customization setting is set to , the
system will notify the driver by vibrating
the steering wheel instead of sounding
the buzzer.
QSteering assist function/lane centering
function
ODepending on the vehicle speed, lane
departure situation, road conditions, etc.,
the driver may not feel the function is
operating or the function may not oper-
ate at all.
OThe steering control of the function is
overridden by the driver’s steering wheel
operation.
ODo not attempt to test the operation of
the steering assist function.
QLane departure alert function
OThe 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.
OIf the edge of the course* is not clear or
straight, the lane departure alert function
may not operate.
OIt may not be possible for the system to
determine if there is a danger of a colli-
sion with a vehicle in an adjacent lane.
ODo not attempt to test the operation of
the lane departure alert function.
*: Boundary between asphalt and the side
of the road, such as grass, soil, or a curb

2044-5. Using the driving support systems
QMeter displayMulti-information display
Set speed
Indicators
QOperation switchesVehicle-to-vehicle distance switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switchDynamic radar cruise con-
trol with full-speed range
In vehicle-to-vehicle distance con-
trol mode, the vehicle automati-
cally accelerates, decelerates and
stops to match the speed changes
of the preceding vehicle even if the
accelerator pedal is not depressed.
In constant speed control mode,
the vehicle runs at a fixed speed.
Use the dynamic radar cruise con-
trol with full-speed range on free-
ways and highways.
 Vehicle-to-vehicle distance con-
trol mode ( P.206)
 Constant speed control mode
( P.211)
System Components
A
B
C
WARNING
QBefore using dynamic radar cruise
control with full-speed range
ODriving 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 surround-
ings.
OThe dynamic radar cruise control with
full-speed range provides driving
assistance to reduce the driver’s bur-
den. However, there are limitations to
the assistance provided.
Read the following conditions care-
fully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be correctly detecting the vehicle ahead: P.213
• Conditions under which the vehicle- to-vehicle distance control mode may
not function correctly: P.213
OSet the speed appropriately depend-
ing on the speed limit, traffic flow, road
conditions, weather conditions, etc.
The driver is responsible for checking
the set speed.
A
B
C
D
E

2054-5. Using the driving support systems
4
Driving
WARNING
OEven when the system is functioning
normally, the condition of the preced-
ing vehicle as detected by the system
may differ from the condition
observed by the driver. Therefore, the
driver 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,
resulting in death or serious injury.
OSwitch the dynamic radar cruise con-
trol with full-speed range setting to off,
using the cruise control main switch
when not in use.
QCautions regarding the driving assist
systems
Observe the following precautions, 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.
OAssisting the driver to measure follow-
ing distance
The dynamic radar cruise control with
full-speed range is only intended to
help the driver in determining the fol-
lowing 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 vehicle’s sur-
roundings.
OAssisting 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.
OAssisting 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 vehicles 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.
QSituations 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 follow-
ing situations.
Doing so may result in inappropriate
speed control and could cause an acci-
dent resulting in death or serious injury.
ORoads where there are pedestrians,
cyclists, etc.
OIn heavy traffic
OOn roads with sharp bends
OOn winding roads
OOn slippery roads, such as those cov-
ered with rain, ice or snow
OOn 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.

2074-5. Using the driving support systems
4
Driving
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 necessary, the system applies
the brakes (the stop lights will come on at th is 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 sufficiently to
prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicl e will also stop (vehicle is stopped by sys-
tem 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 contro l continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an overtaking lane while
driving at 50 mph (80 km/h) or more, the vehicle will accelerate to help to overtake a
passing vehicle.
The system’s identification of what is an overtaking lane may be determined solely based on
the location of the steering wheel in the vehicl e (left side driver position versus right side
driver position.) If the vehicle is driven to a region where the overtaking lane is on a differ-
ent 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.
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 displayed
on the multi-information display. Press the
switch again to deactivate the cruise con-
trol. If the cruise control main switch is pressed
and held for 1.5 seconds or more, the sys-
tem turns on in constant speed control
mode. (
P.211)
B
C
Setting the vehicle speed (vehi-
cle-to-vehicle distance control
mode)

2084-5. Using the driving support systems
2Accelerate or decelerate, with
accelerator pedal operation, to the
desired vehicle speed (at or above
approximately 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 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 control mode)
2Decreases 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 con-
trol 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)*1 or 1
km/h (0.6 mph)
*2 each time the switch is
pressed
Large adjustment: Increases or decreases
in 1mph (1.6 km/h)
*1 or 1 km/h (0.6 mph)*2
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)*1 or 1
km/h (0.6 mph)
*2 each time the switch is
pressed
Large adjustment: Increases or decreases
in 5 mph (8 km/h)
*1 or 5 km/h (3.1 mph)*2
increments for as long as the switch is held
In the constant speed control mode
(  P.211), the set speed will be
increased or decreased as follows:
Fine adjustment: By 1 mph (1.6 km/h)*1 or 1
km/h (0.6 mph)
*2 each time the switch is
pressed
Large adjustment: The speed will continue
to change while the switch is held.
*1: When the set speed is shown in “MPH”
*2: When the set speed is shown in “km/h”
 Increasing the set speed by the
accelerator pedal
Adjusting the set speed

2104-5. Using the driving support systems
1Pressing 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.)
2Pressing 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 automatic
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
another driver cuts in front of you while
you are following a vehicle. Depress
the brake pedal to ensure an appropri-
ate vehicle-to-vehicle distance.
QWarnings may not occur when
In the following instances, warnings
may not occur even when the vehicle-
to-vehicle distance is small.
 When the speed of the preceding
vehicle matches or exceeds your
vehicle speed
 When the preceding vehicle is trav-
eling at an extremely slow speed
 Immediately after the cruise control
speed was set
 When depressing the accelerator
pedal
While driving in vehicle-to-vehicle dis-
tance control mode, this function will
reduce the vehicle speed, if it is deter-
mined to be necessary.
QFunction operation
When the steering wheel begins to be
turned, the vehicle speed will begin
being reduced. When the steering
wheel is returned to the center posi-
tion, the vehicle speed reduction will
end.
Depending on the situation, the vehicle
speed will then return to the vehicle-to-
Canceling and resuming the
speed control
Approach warning (vehicle-to-
vehicle distance control mode)Curve speed reduction function

2114-5. Using the driving support systems
4
Driving
vehicle distance control mode set
speed.
In situations where vehicle-to-vehicle
distance control needs to operate,
such as when a preceding vehicle cuts
in front of your vehicle, the curve
speed reduction function will be can-
celed.
QOperation display
Displayed when the vehicle speed is
being reduced.
When the vehicle speed reduction ends,
the display will disappear.
QChanging the settings of the curve
speed reduction function
The curve speed reduction function
can be enabled/disabled and the vehi-
cle speed reduction strength can be
adjusted on ( P.85) of the multi-
information display.
The setting will change each time the “OK”
meter control switch is pressed.
When constant speed control mode is
selected, your vehicle will maintain a
set speed without controlling the vehi-
cle-to-vehicle distance. Select this mode only when vehicle-to-vehicle
distance control mode does not func-
tion 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 indicator will
come on. Afterwards, it switches to the
cruise control indicator.
Switching to constant speed control mode
is only possible 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 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.208
Canceling and resuming the speed setting:
Selecting constant speed con-
trol mode

2124-5. Using the driving support systems
P.210
QDynamic radar cruise control with full-
speed range can be set when
OThe shift lever is in D.
OThe desired set speed can be set when
the vehicle speed is approximately 20
mph (30 km/h) or more. (However,
when the vehicle speed is set while driv-
ing at below approximately 20 mph [30
km/h], the set speed will be set to
approximately 20 mph [30 km/h].)
QAccelerating after setting the vehicle
speed
The vehicle can accelerate by operating the
accelerator pedal. After accelerating, the
set speed resumes. However, during vehi-
cle-to-vehicle distance control mode, the
vehicle speed may decrease below the set
speed in order to maintain the distance to
the preceding vehicle.
QWhen the vehicle stops while follow-up
cruising
OPressing the “+RES” switch while the
vehicle ahead stops will resume follow-
up cruising if the vehicle ahead starts off
within approximately 3 seconds after the
switch is pressed.
OIf the vehicle ahead starts off within 3 sec-
onds after your vehicle stops, follow-up
cruising will be resumed.
QAutomatic cancelation of vehicle-to-
vehicle distance control mode
Vehicle-to-vehicle distance control mode is
automatically canceled in the following situ-
ations.
OVSC is activated.
OTRAC is activated for a period of time.
OWhen the VSC or TRAC system is
turned off.
OThe sensor cannot detect correctly
because it is covered in some way.
OWhen the brake control or output
restriction control of a driving support
system operates. (For example: Pre-Col-
lision System, Drive-Start Control)
OThe parking brake is operated.
OThe vehicle is stopped by system control
on a steep incline.
OThe following are detected when the
vehicle has been stopped by system con-
trol:
• The driver is not wearing a seat belt.
• The driver’s door is opened.
• The vehicle has been stopped for about 3 minutes
If vehicle-to-vehicle distance control mode
is automatically canceled for any reasons
other than the above, there may be a mal-
function in the system. Contact your Lexus
dealer.
QAutomatic cancelation of constant
speed control mode
Constant speed control mode is automati-
cally canceled in the following situations:
OActual vehicle speed is more than
approximately 10 mph (16 km/h) below
the set vehicle speed.
OActual vehicle speed falls below approxi-
mately 20 mph (30 km/h).
OVSC is activated.
OTRAC is activated for a period of time.
OWhen the VSC or TRAC system is
turned off.
OWhen the brake control or output
restriction control of a driving support
system operates. (For example: Pre-Col-
lision System, Drive-Start Control)
OThe parking brake is operated.
If constant speed control mode is automati-
cally canceled for any reasons other than
the above, there may be a malfunction in
the system. Contact your Lexus dealer.

2134-5. Using the driving support systems
4
Driving
QSituations in which the curve speed
reduction function may not operate
In situations such as the following, the curve
speed reduction function may not operate:
OWhen the vehicle is being driven around
a gentle curve.
OWhen the accelerator pedal is being
depressed.
OWhen the vehicle is being driven around
an extremely short curve.
QBrake operation
A brake operation sound may be heard and
the brake pedal response may change, but
these are not malfunctions.
QWarning messages and buzzers for
dynamic radar cruise control with full-
speed range
Warning messages and buzzers are used to
indicate a system malfunction or to inform
the driver of the need for caution while driv-
ing. If a warning message is shown on the
multi-information displa y, read the message
and follow the instructions. ( P.180, 374)
QWhen the sensor may not be correctly
detecting the vehicle ahead
In the case of the following and depending
on the conditions, operate the brake pedal
when deceleration of the system is insuffi-
cient or operate the accelerator pedal
when acceleration is required.
As the sensor may not be able to correctly
detect these types of vehicles, the approach
warning ( P.210) may not be activated.
OVehicles that cut in suddenly
OVehicles traveling at low speeds
OVehicles that are not moving in the same
lane
OVehicles with small rear ends (trailers
with no load on board, etc.)
OMotorcycles traveling in the same lane
OWhen water or snow thrown up by the
surrounding vehicles hinders the detect-
ing of the sensor
OWhen your vehicle is pointing upwards
(caused by a heavy load in the luggage
compartment, etc.)
OPreceding vehicle has an extremely high
ground clearance
QConditions under wh ich the vehicle-to-
vehicle distance control mode may not
function correctly
In the case of the following conditions,
operate the brake pedal (or accelerator
pedal, depending on the situation) as nec-
essary.
As the sensor may not be able to correctly
detect vehicles ahead, the system may not
operate properly.
OWhen the road curves or when the lanes
are narrow
OWhen steering wheel operation or your
position in the lane is unstable

2204-5. Using the driving support systems
tions set to your preferred settings.
Custom mode settings can only be
changed on the drive mode customization
display of Center Display. (P.266)
2 Eco drive mode
Helps the driver accelerate in an eco-
friendly manner and improve fuel economy
through moderate throttle characteristics
and by controlling the operation of the air
conditioning system (heating/cooling).
When not in Eco drive mode, if the Driving
Mode Select switch is turned toward you,
the “Eco” indicator comes on.
3Sport mode
•SPORT S mode
Controls the hybrid system to provide
quick, powerful acceleration. This mode is
suitable for when agile driving response is
desired, such as when driving on roads
with many curves.
When not in SPORT S mode, if the Driving
Mode Select switch is turned away from
you, the “SPORT S” indicator comes on.
•SPORT S+ mode
Helps to ensure steering performance and
driving stability by simultaneously con-
trolling the steering and suspension in
addition to the transmission and engine.
Suitable for sportier driving.
When in SPORT S mode, if the Driving
Mode Select switch is turned away from
you, the “SPORT S+” indicator comes on.
QOperation of the air conditioning sys-
tem in Eco drive mode
Eco drive mode contro ls the heating/cool-
ing operations and fan speed of the air con-
ditioning system to enhance fuel efficiency.
To improve air conditioning performance,
perform the following operations:
OTurn off eco air conditioning mode
(  P.275)
OAdjust the fan speed ( P.271, 273)
OTurn off Eco drive mode ( P.219)
QAuto Glide Control
OWhile driving in Eco drive mode with D
position, selected, releasing the accelera-
tor pedal will activate Auto Glide Con-
trol under certain conditions. (Auto
Glide Control may activate before the
accelerator pedal is fully released.)
When Auto Glide Control operates, the
electric motor (traction motor) will be
controlled, reducing the deceleration
force and allowing the vehicle to coast,
enhancing fuel economy.
When Auto Glide Control operates, the
AGC indicator light will illuminate.
OAuto Glide Control may not operate in
the following situations:
• When not in Eco drive mode
• When the brake pedal is depressed
• When a shift position other than D is selected
• When the vehicle speed is approximately 10 mph (15 km/h) or lower
• When the vehicle is accelerating on a
downward slope
• When the PCS (Pre-Collision System) is operating
• When the dynamic radar cruise control with full-speed range is operating
• When the PKSB (Parking Support
Brake) system (if equipped) is operating
• When the TRAC or VSC system is oper- ating
• When the TRAC or VSC system is dis-
abled by pressing the switch
QAutomatic deactivation of sport mode
and custom mode (if equipped)
If the power switch is turned off after driving
in sport mode or custom mode, the drive
mode will be changed to normal mode.