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It only detects human and metal. So you are safe from plastic bag and cardboard box.
Does that mean that it cannot sense Corvettes and other vehicles that have fiberglass bodies?
Cardboard boxes actually can inappropriately trigger Toyota/Lexus PCS and the automatic emergency braking systems of vehicles made by other companies. There are some fun videos on YouTube demonstrating this.
There is a long list of situations described in your RX owners manual on when PCS may be invoked when there is no danger of collision. Steel plates on streets and railroad tracks have especially caused PCS on our vehicles to be inappropriately triggered numerous times.
I approached a car in the left lane that had slowed down. I was coming up on that car at about 60 mph. I didn't notice he was slowing down until the last minute. The orange warning light came on and it beeped. I hit the brake in time but the car did not activate the brakes. I did not have the radar cruise on. I wonder what's the highest speed that the brakes would activate by themselves?
I approached a car in the left lane that had slowed down. I was coming up on that car at about 60 mph. I didn't notice he was slowing down until the last minute. The orange warning light came on and it beeped. I hit the brake in time but the car did not activate the brakes. I did not have the radar cruise on. I wonder what's the highest speed that the brakes would activate by themselves?
I was going about 60 mph in our Sienna in summer 2014 when a stopped car pulled in front of me. PCS nailed the brakes at full panic stop force before I got my foot off the gas pedal and my seat belt tightened so much that my chest hurt until the next day. It gave me enough time to swerve and avoid impact by inches. The whole experience took place in maybe a second or two.