wheel TOYOTA RAV4 PRIME 2022 Workshop Manual

3215-5. Using the driving support systems
5
Driving
LTA (Lane Tracing
Assist)
While driving on a road with
clear white (yellow) lane
lines, the LTA system warns
the driver if the vehicle may
deviate from the current
lane or course
*, and also
can slightly operate the
steering wheel to help avoid
deviation from the lane or
course
*. Also, while the
dynamic radar cruise con-
trol with full-speed range is
operating, this system will
operate the steering wheel
to maintain the vehicle’s
lane position.
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, resulting 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 rain, snow, fog,
dust, etc.
●Vehicle is driven in a temporary
lane or restricted lane due to
construction work.

3225-5. Using the driving support systems
WARNING
●Vehicle is driven in a construc-
tion zone.
●A spare tire, tire chains, etc. are
equipped.
●When the tires have been
excessively worn, or when the
tire inflation pressure is low.
●When your vehicle is towing a
trailer or during emergency tow-
ing
■Preventing LTA system mal-
functions and operations per-
formed by mistake
●Do not modify the headlights or
place stickers, etc. on the sur-
face of the lights.
●Do not modify the suspension
etc. If the suspension etc. needs
to be replaced, contact your
Toyota dealer.
●Do not install or place anything
on the hood or grille. Also, do
not install a grille guard (bull
bars, kangaroo bar, etc.).
●If your windshield needs
repairs, contact your Toyota
dealer.
■Conditions in which functions
may not operate properly
In the following situations, the
functions may not operate prop-
erly and the vehicle may depart
from its lane. Drive safely by
always paying careful attention to
your surroundings and operate
the steering wheel to correct the
path of the vehicle without relying
solely on the functions.
●When the follow-up cruising dis-
play is displayed ( P.327) and
the preceding vehicle changes
lanes. (Your veh icle may follow
the preceding vehicle and also
change lanes.)
●When the follow-up cruising dis-
play is displayed ( P.327) and
the preceding vehicle is sway-
ing. (Your vehicle may sway
accordingly and depart from the
lane.)
●When the follow-up cruising dis-
play is displayed ( P.327) and
the preceding vehicle departs
from its lane. (Your vehicle may
follow the preceding vehicle and
depart from the lane.)
●When the follow-up cruising dis-
play is displayed ( P.327) and
the preceding vehicle is being
driven extremely close to the
left/right lane line. (Your vehicle
may follow the preceding vehi-
cle and depart from the lane.)
●Vehicle is being driven around a
sharp curve.

3245-5. Using the driving support systems
■Lane departure alert func-
tion
When the system determines that the vehicle might depart
from its lane or course
*, a warn-
ing is displayed on the multi-
information display, and either a
warning buzzer will sound or the
steering wheel will vibrate to
alert the driver.
When the warning buzzer sounds
or the steering wheel vibrates,
check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane.
When the system determines that
the vehicle might depart from its
lane and that the possibility of a col-
lision with an overta king vehicle in
the adjacent lane is high, the lane
departure alert 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
WARNING
●The traffic lane is excessively
narrow or wide.
●The vehicle is extremely tilted
due to carrying heavy luggage
or having improper tire pres-
sure.
●The distance to the preceding
vehicle is extremely short.
●The vehicle is moving up and
down a large amount due to
road conditions during driving
(poor roads or road seams).
●When driving in a tunnel or at
night with the headlights off or
when a headlight is dim due to
its lens being dirty or it being
misaligned.
●The vehicle is struck by a cross-
wind.
●The vehicle is affected by wind
from a vehicle driven in a
nearby lane.
●The vehicle has just changed
lanes or crossed an intersec-
tion.
●Tires which differ by structure,
manufacturer, b rand or tread
pattern are used.
●When tires of a size other than
specified are installed.
●Snow tires, etc. are equipped.
●The vehicle is being driven at
extremely high speeds.
Functions included in
LTA system

3255-5. Using the driving support systems
5
Driving
■Steering assist function
When the system determines
that the vehicle might depart
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.

3265-5. Using the driving support systems
■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
traffic jam, this fu nction will operate
to help follow a preceding vehicle
by monitoring the position of the
preceding vehicle.
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 temporarily can-
celed.
Press the LTA switch to turn the
LTA system on.
The LTA indicator illuminates and a
message is display
ed on the multi-
information display.
Press the LTA switch again to
turn the LTA system off.
When the LTA syste m is turned on
or off, operation of the LTA system
continues in the same condition the
next time the hybrid system is
started.
Turning LTA system on

3275-5. Using the driving support systems
5
Driving
LTA indicator
The illumination condition of the
indicator informs the driver of the
system operation status.
Illuminated in white: LTA system is
operating.
Illuminated in green: Steering
wheel assistance of the steering
assist function or lane centering
function is operating.
Flashing in orange: Lane departure
alert function is operating.
Operation display of steering
wheel operation support
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
display.
Indicates that steering wheel assis-
tance of the steering assist function or lane centering f
unction is operat-
ing.
Both outer sides of the lane are dis-
played: Indicates that steering
wheel assist of the lane centering
function is operating.
One outer side of the lane is dis-
played: Indicates that steering
wheel assist of the steering assist
function is operating.
Both outer sides of the lane are
flashing: Alerts the driver that their
input is necessary to stay in the
center of the lane (lane centering
function).
Follow-up cruising display
Displayed when the multi-informa-
tion display is swit ched to the driv-
ing support system information
display.
Indicates that steering assist of the
lane centering function is operating
by monitoring the position of a pre-
ceding vehicle.
When the follow-up cruising display
is displayed, if t he preceding vehi-
cle moves, your ve hicle may move
in the same way. Always pay care-
ful attention to your surroundings
and operate the steering wheel as
necessary to correct the path of the
vehicle and ensure safety.
Lane departure alert function
display
Displayed when the multi-informa-
tion display is swit ched to the driv-
ing support system information
display.
Indications on multi-infor-
mation display
A
B
C
D

3285-5. Using the driving support systems
Inside of displayed lines is
white
Indicates that the system is recog-
nizing white (yellow) lines or a
course
*. When the vehicle departs
from its lane, the white line dis-
played on the si de the vehicle
departs from flashes orange.
Inside of displayed lines is
black
Indicates that the system is not able
to recognize white (yellow) lines or
a course
* or is temporarily can-
celed.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
■Operation conditions of each
function
●Lane departure alert function
This function oper ates when all of
the following cond itions are met. • 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 operate 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.330)
*1: The function oper ates 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 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.170)
• 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. ( P.330)
●Vehicle sway warning function
This function operates when all of

3295-5. Using the driving support systems
5
Driving
the following conditions are met.
• Setting for “Sway Warning” in the
screen of the mu lti-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.330)
●Lane centering function
This function oper ates when all of
the following cond itions 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 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-vehic le 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.330)
• 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.330)
• 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.328)
●If the operation conditions
( P.328) 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 temporarily canceled. How-
ever, if the “Alert” customization
setting is set to , the system
will notify the driver by vibrating
the steering wheel instead of
sounding the buzzer.
■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. Also, it may
be difficult to fee l steering wheel
vibrations due to the road condi-
tions, etc.
●If the edge of the course* is not
clear or straight, the lane depar-
ture alert function may not oper-
ate.
●It may not be possible for the sys-
tem to determine if there is a dan-
ger of a collision with a vehicle in

3305-5. Using the driving support systems
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
■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 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 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.
The buzzer also sounds even if the
alert type is set to “Steering wheel
vibration”.
●When the system determines that
the vehicle may not turn 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 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 assi
st 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.
The buzzer also sounds even if the
alert type is set to “Steering wheel
vibration”.
■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 sym bol 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

3385-5. 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 crui sing and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears
When a vehicle is detected runni ng ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle s peed is nec-
essary, the system applies the brakes (the stop lights will come on at this
time). The system will respond to changes i n the speed of the vehicle
ahead in order to maintain the ve hicle-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 st ops, your vehicle will also stop (vehicle is
stopped by system control). Afte r 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 ope rated 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
A
B
C
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)