2021 Toyota RAV4. The car has LTA (Lane Tracing Assistance) and it works quite well. If the car approaches the edge of a lane it beeps and corrects the steering lightly. However, if you are using the radar assisted cruise control it is much more aggressive. On a narrow lane it keeps the car within a very small center zone and the car can feel like the wind is pushing it. It works OK on wide.. 4:17 The car alerts "LTA - Hold Steering Wheel" 4:40 The car again alerts "LTA - Hold Steering Wheel" 4:45 The car alerts "LTA - Steering Assist Unavailable - Hold Steering Wheel" 4:55 Driver shuts off Lane Assist Remainder of video is about HUD Maybe the lanes were not marked clearly at the times the system cut out but I found it cumbersome.
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LTA is an umbrella term for a number of features including Lane Centering (keeping the car centered in the lane while using cruise) and for Steering Assist/Lane Keep Assist (nudging the car back toward the center of the lane if you cross a line on either side of the lane).. After eight seconds, the vehicle alerts you to hold the steering wheel, as it should.. But then, the LTA kicked in and kept steering back and forth in the lane and would not center in the lane.