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288 4-5. Using the driving support systems
RX350_U_OM48E90U LKA indicator
The illumination condition of the
indicator informs the driver of the
system operation status. Illuminated in white:
LKA system is operating.
Illuminated in green:
Steering wheel assistance of the steer-
ing assist function or lane centering
function is operating.
Flashing in amber:
Lane departure alert function is operat-
ing.
Operation display of steering wheel
operation support
Indicates that steering wheel assistance of the steering assist function or lane
centering function is operating.
Lane departure alert function display
Displayed when the multi-information disp lay is switched to the driving assist
system information screen.Indications on multi-information display 1
2
3
Inside of displayed white lines is
white 
Inside of displayed white lines is
black
Indicates that the system is recognizing
white (yellow) lines. When the vehicle
departs from its lane, the white line dis-
played on the side the vehicle departs
from flashes amber. Indicates that the system is not able to
recognize white (yellow) lines or is
temporarily canceled.

2894-5. Using the driving support systems
4
Driving
RX350_U_OM48E90U ■
Operation conditions of each function ●
Lane departure alert function
This function operates when all of the following conditions are met.
• LKA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• System recognizes white (yellow) lines.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is driven on a straight road or around a gentle curve with a radius of more
than approximately 492 ft. (150 m).
• No system malfunctions are detected. (  P. 6 3 4 )●
Steering assist function
This function operates when all of the foll owing conditions are met in addition to the
operation conditions for the lane departure alert function.
• Setting for “Steering Assist” in of the multi-information display is set to “On”.
(  P. 9 6 )
• Vehicle is not accelerated or decelerated by a fixed amount or more.
• Steering wheel is not operated with a st eering force level suitable for changing
lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off. ●
Ve h i c l e s w a y w a r n i n g
This function operates when all of the following conditions are met.
• Setting for “Sway Warning” in of the multi-information display is set to “On”.
(  P. 9 6 )
• 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. 6 3 4 )●
Lane centering function
This function operates when all of the following conditions are met.
• LKA is turned on.
• Setting for “Lane Center” in of the mu lti-information display are set to “On”.
(  P. 9 6 )
• System recognizes white (yellow) lines.
• Dynamic radar cruise control with full-speed range is operating.
• Width of traffic lane is approximat ely 8.2 to 13.5 ft. (2.5 to 4.1 m).
• Turn signal lever is not operated.
• Vehicle is driven on a straight road or around a gentle curve with a radius of more
than approximately 656 ft. (200 m).
• No system malfunctions are detected. (  P. 6 3 4 )
• Vehicle does not accelerate or decelerate by a fixed amount or more.
• Steering wheel is not operated with a st eering force level suitable for changing
lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
• Steering assist function is not operating.

290 4-5. Using the driving support systems
RX350_U_OM48E90U ■
Temporary cancellation of functions
When operation conditions are no longer me t, a function may be temporarily canceled.
However, when the operation conditions are met again, operation of the function is auto-
matically restored. (  P. 2 8 9 )■
Steering assist function/lane centering function
Depending on the vehicle speed, lane depart ure situation, road conditions, etc., the
operation of the functions may not be reco gnized or the functions may not operate.■
Lane departure alert function
The warning buzzer may be difficult to hear due to external noise, audio playback, etc.
Also, it may be difficult to feel steering wheel vibrations due to the road conditions, etc. ■
Hands off steering wheel alert
When the system determines that the driver has removed their hands from the steering
wheel while the steering assist function or lane centering function is operating, a warning
message is displayed on th e multi-information display and the buzzer sounds.■
White (yellow) lines are on ly on one side of road
The LKA system will not operate for the side on which white (yellow) lines could not be
recognized.

292 4-5. Using the driving support systems
RX350_U_OM48E90U ■
If the LKA indicator is illuminated in amber and a warning message is displayed on the
multi-information display
 P. 6 3 4 ■
Customization
Some functions can be customized. (  P. 9 6 )

2934-5. Using the driving support systems
4
Driving
RX350_U_OM48E90U When driving on highways and freeways with white or yellow lines, this function
alerts the driver when the vehicle might depart from its lane and provides assis-
tance by operating the steering wheel to keep the vehicle in its lane.
The LDA system recognizes visible
white or yellow lines with the camera
sensor on the upper portion of the
windshield.
◆ Lane departure alert function
When the system determines that
the vehicle might depart from its
lane, a warning is displayed on the
multi-information display, and either
the warning buzzer sounds or the
steering wheel vibrates to alert the
driver. When the warning buzzer sounds or
the steering wheel vibrates, check
the surrounding road situation and
carefully operate the steering wheel
to move the vehicle back to the cen-
ter within the white (yellow) lines.LDA (Lane Departure Alert with steering control) 
 : If equippedSummary of functions
Functions included in LDA system

294 4-5. Using the driving support systems
RX350_U_OM48E90U ◆ Steering assist function
When the system determines that
the vehicle might depart from its
lane, the system provides assistance
as necessary by operating the steer-
ing wheel in small amounts for a
short period of time to keep the
vehicle in its lane. If the system detects that the steering
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 warning
buzzer sounds.
◆ Ve h i c l e s w a y w a r n i n g
When the vehicle is swaying or
appears as if it may depart from its
lane multiple times, the warning
buzzer sounds and a message is dis-
played on the multi-information dis-
play to alert the driver.

296 4-5. Using the driving support systems
RX350_U_OM48E90U Press the LDA switch to turn the LDA
system on. The LDA indicator illuminates and a
message is displayed on the multi-infor-
mation display.
Press the LDA switch again to turn the
LDA system off.
When the LDA system is turned on or
off, operation of the LDA system contin-
ues in the same condition the next time
the engine is started.Turning LDA system on

2974-5. Using the driving support systems
4
Driving
RX350_U_OM48E90U LDA indicator
The illumination condition of the
indicator informs the driver of the
system operation status. Illuminated in white:
LDA system is operating.
Illuminated in green:
Steering wheel assistance of the steer-
ing assist function is operating.
Flashing in amber:
Lane departure alert function is operat-
ing.
Operation display of steering wheel
operation support
Indicates that steering wheel assistance of the steering assist function is oper-
ating.
Lane departure alert function display
Displayed when the multi-information disp lay is switched to the driving assist
system information screen.Indications on multi-information display 1
2
3
Inside of displayed white lines is
white 
Inside of displayed white lines is
black
Indicates that the system is recognizing
white (yellow) lines. When the vehicle
departs from its lane, the white line dis-
played on the side the vehicle departs
from flashes amber. Indicates that the system is not able to
recognize white (yellow) lines or is
temporarily canceled.

298 4-5. Using the driving support systems
RX350_U_OM48E90U ■
Operation conditions of each function ●
Lane departure alert function
This function operates when all of the following conditions are met.
• LDA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• System recognizes white (yellow) lines.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is driven on a straight road or around a gentle curve with a radius of more
than approximately 492 ft. (150 m).
• No system malfunctions are detected. (  P. 6 3 4 )●
Steering assist function
This function operates when all of the foll owing conditions are met in addition to the
operation conditions for the lane departure alert function.
• Setting for “Steering Assist” in of the multi-information display is set to “On”.
(  P. 9 6 )
• Vehicle is not accelerated or decelerated by a fixed amount or more.
• Steering wheel is not operated with a st eering force level suitable for changing
lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off. ●
Ve h i c l e s w a y w a r n i n g
This function operates when all of the following conditions are met.
• Setting for “Sway Warning” in of the multi-information display is set to “On”.
(  P. 9 6 )
• 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. 6 3 4 )

2994-5. Using the driving support systems
4
Driving
RX350_U_OM48E90U ■
Temporary cancellation of functions
When operation conditions are no longer me t, a function may be temporarily canceled.
However, when the operation conditions are met again, operation of the function is auto-
matically restored. (  P. 2 9 8 )■
Steering assist function
Depending on the vehicle speed, lane depart ure situation, road conditions, etc., the
operation of the functions may not be reco gnized or the functions may not operate.■
Lane departure alert function
The warning buzzer may be difficult to hear due to external noise, audio playback, etc.
Also, it may be difficult to feel steering wheel vibrations due to the road conditions, etc. ■
Hands off steering wheel alert
When the system determines that the driver has removed their hands from the steering
wheel while the steering assist function is operating, a warning message is displayed on
the multi-information displa y and the buzzer sounds.■
White (yellow) lines are on ly on one side of road
The LDA system will not operate for the side on which white (yellow) lines could not be
recognized.