Toyota Safety Sense (TSS) - Lane Departure Alert and Lane Departure Alert with steering assist (LDA) 

When the turn signal is not activated, the Lane Departure Alert function is designed to assist a driver from unintentionally deviating from their lane.
On some models with Toyota Safety Sense P, there is an additional Steering Assist function. When turned on, it provides a small corrective steering input to the steering wheel for a short period of time to help keep the vehicle in its lane.
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