Lexus ES: 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 assistance 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 operating to keep the vehicle in its lane.

The LTA system recognizes white (yellow) lane lines or a course* using the front camera. 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 vehicle or reduce the amount of attention that must be paid to the area in front of the vehicle.

  The driver must always assume full responsibility for driving safely by paying careful attention to the surrounding conditions 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 careful attention may lead to an accident, resulting in death or serious injury.
• When not using the LTA system, 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 surface which is slippery due to rainy weather, fallen snow, freezing, etc.
• Vehicle is driven on a snow-covered road.
• White (yellow) lines 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.
• Vehicle is driven in a construction 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 tires of a size other than specified are installed.
• Vehicle is driven in traffic lanes other than that highways and freeways.
• During emergency towing

■Preventing LTA system malfunctions and operations performed by mistake

• Do not modify the headlights or place stickers, etc. on the surface of the lights.
• Do not modify the suspension etc. If the suspension etc. needs to be replaced, contact your Lexus 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 Lexus dealer.

■Conditions in which functions may not operate properly In the following situations, the functions may not operate properly 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 display is displayed and the preceding vehicle changes lanes. (Your vehicle may follow the preceding vehicle and also change lanes.)

• When the follow-up cruising display is displayed  and the preceding vehicle is swaying. (Your vehicle may sway accordingly and depart from the lane.)
• When the follow-up cruising display is displayed 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 display is displayed and the preceding vehicle is being driven extremely close to the left/right lane line. (Your vehicle may follow the preceding vehicle and depart from the lane.)
• Vehicle is being driven around a sharp curve.
• Objects or patterns that could be mistaken for white (yellow) lines are present on the side of the road (guardrails, reflective poles, etc.).

WARNING

• Vehicle is driven where the road diverges, merges, etc.

• Repair marks of asphalt, white (yellow) lines, etc. are present due to road repair.

• There are shadows on the road that run parallel with, or cover, the white (yellow) lines.
• The vehicle is driven in an area without white (yellow) lines, such as in front of a tollgate or checkpoint, or at an intersection, etc.
• The white (yellow) lines are cracked, "Botts' dots", "Raised pavement marker" or stones are present.
• The white (yellow) lines cannot be seen or are difficult to see due to sand, etc.
• The vehicle is driven on a road surface that is wet due to rain, puddles, etc.
• The traffic lines are yellow (which may be more difficult to recognize than lines that are white).
• The white (yellow) lines cross over a curb, etc.
• The vehicle is driven on a bright surface, such as concrete.
• If the edge of the road is not clear or straight.
• The vehicle is driven on a surface that is bright due to reflected light, etc.
• The vehicle is driven in an area where the brightness changes suddenly, such as at the entrances and exits of tunnels, etc.
• Light from the headlights of an oncoming vehicle, the sun, etc. enters the camera.
• The vehicle is driven on a slope.
• The vehicle is driven on a road which tilts left or right, or a winding road.
• The vehicle is driven on an unpaved or rough road.
• The traffic lane is excessively narrow or wide.
• The vehicle is extremely tilted due to carrying heavy luggage or having improper tire pressure.
• 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 crosswind.
• The vehicle is affected by wind from a vehicle driven in a nearby lane.
• The vehicle has just changed lanes or crossed an intersection.
• Tires which differ by structure, manufacturer, brand or tread pattern are used.
• Snow tires, etc. are equipped.
• The vehicle is being driven at extremely high speeds.

Functions included in LTA system

■ Lane departure alert function When the system determines that the vehicle might depart from its lane or course*, a warning 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.

Vehicle with BSM: When the system determines that the vehicle might depart from its lane and that the possibility of a collision with an overtaking 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

■ Steering assist function When the system determines that the vehicle might depart from its lane or course*, the system provides assistance as necessary 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 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 function is temporarily canceled.

Vehicle with BSM: When the system determines that the vehicle might depart from its lane and that the possibility of a collision with an overtaking vehicle in the adjacent lane is high, the steering 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 function When the vehicle is swaying within a lane, the warning buzzer will sound and a message 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 provides 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 operating, the lane centering function does not operate.

In situations where the white (yellow) lane lines are difficult to see or are not visible, such as when in a traffic jam, this function will operate to help follow a preceding vehicle by monitoring the position of the preceding vehicle.

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 function is temporarily canceled.

Turning LTA system on

Press the LTA switch to turn the LTA system on.

The LTA indicator illuminates and a message is displayed on the multi-information display.

Press the LTA switch again to turn the LTA system off.

When the LTA system is turned on or off, operation of the LTA system continues in the same condition the next time the hybrid system is started.

Indications on multi-information display

1. 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.

2. Operation display of steering wheel operation support

Displayed when the multi-information display is switched to the driving assist system information screen Indicates that steering wheel assistance of the steering assist function or lane centering function is operating.

Both outer sides of the lane are displayed: Indicates that steering wheel assist of the lane centering function is operating.

One outer side of the lane is displayed: 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).

3. Follow-up cruising display

Displayed when the multi-information display is switched to the driving assist system information screen Indicates that steering assist of the lane centering function is operating by monitoring the position of a preceding vehicle.

When the follow-up cruising display is displayed, if the preceding vehicle moves, your vehicle may move in the same way.

Always pay careful attention to your surroundings and operate the steering wheel as necessary to correct the path of the vehicle and ensure safety.

4. Lane departure alert function display

Displayed when the multi-information display is switched to the driving assist system information screen.

Inside of displayed lines is white

Indicates that the system is recognizing white (yellow) lines or a course*. When the vehicle departs from its lane, the white line displayed on the side 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 canceled.

*: 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 operates when all of the following conditions 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 approximately 9.8 ft. (3 m) or more.
  • Turn signal lever is not operated. (Vehicle with BSM: 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.

*1: The function operates 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 of the multi-information display is set to "On".
  • 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.
• Vehicle sway warning function
  This function operates when all of the following conditions are met.
  • Setting for "Warning" in of the multi-information display is set to "On".
  • 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.
• 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 of the multi-information display are set to "On".
  • 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-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.
  • 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.
  • The vehicle is being driven in the center of a lane.
  • Steering assist function is not operating.

■Temporary cancelation of functions When operation conditions are no longer met, a function may be temporarily canceled.

However, when the operation conditions are met again, operation of the function is automatically restored. If the operation conditions 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. However, if the "Steering wheel vibration" customization setting is set to on, 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 conditions, etc., the driver may not feel the function is operating or the function may not operate at all.
• The steering control of the function is overridden by the driver'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 playback, 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.
• Vehicle with BSM: It may not be possible for the system 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 asphalt 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 driver. The warning stops when the system 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 holding 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 canceled. This warning also operates in the same way when the driver continuously 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 driving around a curve, warnings will occur earlier than during straight-lane driving.

• When the system determines 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 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 symbol shown in the illustration are simultaneously displayed on the multi-information display.

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 display and the LTA indicator illuminates in orange, follow the appropriate troubleshooting procedure.

Also, if a different warning message is displayed, follow the instructions displayed on the screen.

• "LTA Malfunction Visit Your Dealer"
  The system may not be operating properly.

  Have the vehicle inspected by your Lexus dealer.

• "LTA Unavailable"
  The system is temporarily canceled due to a malfunction in a sensor other than the front camera. Turn the LTA system off, wait for a little while, and then turn the LTA system back on.
• "LTA Unavailable at Current Speed"
  The function cannot be used as the vehicle speed exceeds the LTA operation range.

  Drive slower.

■Customization Function settings can be changed.

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