When both lane lines, or a preceding vehicle within the recognised lane (when lane lines are not detected during both-lane recognition–based control), are detected and the vehicle speed is below the operating speed, the system assists with steering to help keep the vehicle centred in the lane. The indicator light () on the instrument cluster is displayed in green.

• When both lane lines are detected: 0–160 km/h (0–100 mph)

• When a preceding vehicle is detected: 0–75 km/h (0–45 mph)