cruise control TOYOTA RAV4 PRIME 2021 User Guide

3235-5. Using the driving support systems
5
Driving
LTA (Lane Tracing
Assist)
When driving on highways
and freeways with white
(yellow) lane lines, this
function alerts the driver
when the vehicle might
depart from its lane or
course
* and provides assis-
tance by operating the
steering wheel to keep the
vehicle in its lane or
course
*. Furthermore, the
system provides steering
assistance when dynamic
radar cruise control with
full-speed range is operat-
ing to keep the vehicle in its
lane.
The LTA system recognizes
white (yellow) lane lines or a
course
* using the front cam-
era. Additionally, it detects
preceding vehicles using
the front camera and radar.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
WARNING
■Before using LTA system
●Do not rely solely upon the LTA
system. The LTA system does
not automatically drive the vehi-
cle or reduce the amount of
attention that m ust be paid to
the area in front of the vehicle.
The driver must always assume
full responsibilit y for driving
safely by paying careful atten-
tion to the surrounding condi-
tions and operating the steering
wheel to correct the path of the
vehicle. Also, the driver must
take adequate breaks when
fatigued, such as from driving
for a long period of time.
●Failure to perform appropriate
driving operations and pay care-
ful attention may lead to an
accident, result ing in death or
serious injury.
●When not using the LTA sys-
tem, use the LTA switch to turn
the system off.
■Situations unsuitable for LTA
system
In the following situations, use the
LTA switch to turn the system off.
Failure to do so may lead to an
accident, resulting in death or
serious injury.
●Vehicle is driven on a road sur-
face which is slippery due to
rainy weather, fallen snow,
freezing, etc.
●Vehicle is driven on a snow-cov-
ered road.
●White (yellow) lin es are difficult
to see due to ra in, snow, fog,
dust, etc.
●Vehicle is driven in a temporary
lane or restricted lane due to
construction work.

3275-5. Using the driving support systems
5
Driving
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.
If the system detects that the steer-
ing 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 function is t emporarily can-
celed.
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 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
■Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes-
sage will be displayed on the
multi-information display to alert
the driver.
■Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance by
operating the steering wheel to
keep the vehicle in its current
lane.
When dynamic radar cruise control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) lane lines are difficult to see or
are not visible, such as when in a

3305-5. Using the driving support systems
• 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.332)
*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.
• Setting for “Steering Assist” in the
screen of the mu lti-information
display is set to “ON”. ( P.170)
• 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.
• Hands off steering wheel warning
is not displayed. ( P.331)
●Vehicle sway warning function
This function oper ates 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.170)
• 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.332)
●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.170)
• 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.332)
• 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. ( P.331)
• The vehicle is being driven in the
center of a lane.
• Steering assist function is not operating.

3365-5. Using the driving support systems
■Meter displayMulti-information display
Set speed Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
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.339)
 Constant speed control
mode ( P.343)
System Components
A
B
:$51,1*
■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 attent ion to your sur-
roundings.
C
A
B
C
D
E

3375-5. Using the driving support systems
5
Driving
WARNING
●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 detect ing the vehicle
ahead: P.345
• Conditions under which the vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly: P.346
●Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is respon sible 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 swi tch when not in
use.
■Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, as there ar e 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 necessa ry for driver to
pay close attenti on 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.

3385-5. Using the driving support systems
WARNING
●Assisting the driver to operate
the vehicle
The dynamic radar cruise control
with full-speed range does not
include function s which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of da nger, 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
●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 conditi ons 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

3405-5. Using the driving support systems
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.343)
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
C
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

3435-5. Using the driving support systems
5
Driving
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 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
 When depressing the acceler-
ator pedal
When constant speed control
Canceling and resuming
the speed control
Approach warning (vehi-
cle-to-vehicle distance
control mode)
Selecting constant speed
control mode

3445-5. Using the driving support systems
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.
1With 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 wit h the cruise con-
trol off.
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. Adjusting the speed setting:

P.341
Canceling and resuming the speed
setting:  P.343
■Dynamic radar cruise control
with full-speed range can be set
when
●The shift lever is in D.
●The desired set speed can be set
when the vehicle speed is approx-
imately 20 mph (30 km/h) or more.
(However, when the vehicle speed
is set while driving at below
approximately 20 mph [30 km/h],
the set speed w ill be set to
approximately 20 mph [30 km/h].)
■Accelerating after setting the
vehicle speed
The vehicle can a ccelerate by oper-
ating the accelera tor pedal. After
accelerating, the set speed
resumes. However, during vehicle-
to-vehicle distance control mode,
the vehicle speed may decrease
below the set speed in order to
maintain the distance to the preced-
ing vehicle.
■When the vehicle stops while
follow-up cruising
●Pressing 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.
●If the vehicle ahead starts off
within 3 seconds after your vehicle
stops, follow-up c ruising will be

3455-5. Using the driving support systems
5
Driving
resumed.
■Automatic cancelation of vehi-
cle-to-vehicle distance control
mode
Vehicle-to-vehicle distance control
mode is automatically canceled in
the following situations.
●VSC is activated.
●TRAC is activated for a period of
time.
●When the VSC or TRAC system is
turned off.
●The sensor cannot detect cor-
rectly because i t is covered in
some way.
●Pre-collision braking is activated.
●The parking brake is operated.
●The vehicle is stopped by system
control on a steep incline.
●The following are detected when
the vehicle has been stopped by
system control:
• 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 malfunction in the
system. Contact your Toyota dealer.
■Automatic cancelation of con-
stant speed control mode
Constant speed control mode is
automatically cance led in the follow-
ing situations:
●Actual vehicle speed is more than
approximately 10 mph (16 km/h)
below the set vehicle speed.
●Actual vehicle speed falls below
approximately 20 mph (30 km/h).
●VSC is activated.
●TRAC is activated for a period of
time.
●When the VSC or TRAC system is turned off.
●Pre-collision braking is activated.
●The parking brake is operated.
If constant speed control mode is
automatically canceled for any rea-
sons other than the above, there
may be a malfunction in the system.
Contact your Toyota dealer.
■Brake operation
A brake operation sound may be
heard and the brake pedal response
may change, but these are not mal-
functions.
■Warning messages and buzzers
for dynamic radar cruise con-
trol with full-speed range
Warning messages and buzzers are
used to indicate a system malfunc-
tion or to inform the driver of the
need for caution while driving. If a
warning message is shown on the
multi-information display, read the
message and follow the instructions.
(  P.313, 523)
■When the sensor may not be
correctly detecting the vehicle
ahead
In the case of the following and
depending on the conditions, oper-
ate the brake pedal when decelera-
tion of the system is insufficient or
operate the accelerator pedal when
acceleration is required.
As the sensor may not be able to
correctly detect th ese types of vehi-
cles, the approach warning
(  P.343) may not be activated.
●Vehicles that cut in suddenly
●Vehicles traveling at low speeds
●Vehicles that are not moving in
the same lane
●Vehicles with small rear ends
(trailers with no load on board,
etc.)