While driving on highways and freeways, and on roads without white or yellow edge lines, LTA alerts the driver of possible lane or road deviations and helps assist steering to avoid them. If it determines the vehicle may deviate from the lane on a sharp curve or in other circumstances, it displays a caution and encourages appropriate steering inputs. In addition, when Dynamic Radar Cruise Control (with full speed range) is activated, it helps assist steering to avoid lane departure. As well as providing assistance on gradual curves, it helps to keep the vehicle in the center of the lane with smooth and steady movements. It also assists tracking of the preceding vehicle even if it is difficult to detect the white or yellow edge lines.