While driving on a road that has lane markers, this system recognizes the lane markers using a camera as a sensor to alert the driver when the vehicle deviates from its lane.
If the system judges that the vehicle has deviated from its lane, it alerts the driver using a buzzer and indications on the multi-information display.
Camera sensor

Turning the lda system onGlossary of sae and Toyota terms
This glossary lists all SAE-J1930 terms and abbreviations used in this manual
in compliance with SAE recommendations,
as well as their TOYOTA equivalents.
...