the system will alert the driver using a buzzer, and if necessary, pre-charge the brakes and tighten the safety belts. 2006: the Lexus LS introduced an advanced pre-collision system (APCS), added a twin-lens stereo camera located on the windshield, and a more sensitive radar to detect smaller "soft" objects such as animals and pedestrians. A near-infrared projector located in the headlights allows the system to work at night. With the adaptive variable suspension (AVS) and electric power steering, the system can change the shock absorber firmness, steering gear ratios, and torque assists to aid the driver's evasive steering measures. The lane departure warning system will make automatic steering adjustments to help ensure that the vehicle maintains its lane in case the driver fails to react. Driver Monitoring System was introduced on the Lexus LS. Rear-end pre-collision system includes a rearward-facing millimeter-wave radar mounted in the rear bumper. The system adjusts the active head restraints by moving them upward and forward to reduce the risk of whiplash injuries if an imminent rear collision is detected. 2008: Improved driver monitoring system added on the Crown for detecting whether the driver's eyes are properly open. It monitors the driver's eyes to detect the driver's level of wakefulness. This system is designed to work even if the driver is wearing sunglasses at night. 2008: PCS with GPS-navigation linked brake assist function on the Crown. The system is designed to determine if the driver is late in decelerating at an approaching stop sign, will then sound an alert, and can also pre-charge the brakes to provide braking force if deemed necessary. This system works in certain Japanese cities and requires Japan-specific road markings that are detected by a camera. 2009: Crown added a front-side millimeter-wave radar to detect potential side collisions primarily at intersections or when another vehicle crosses the center line. The latest version tilts the rear seat upward, placing the passenger in a more ideal crash position if it detects a front or rear impact. 2012: Higher speed APCS on the Lexus LS enables deceleration from up to , compared to the previous of . The higher-speed APCS uses the same technologies as the current APCs. This system increases the braking force up to twice that applied by average drivers. It was not then available in U.S. markets. 2013: Pre-collision system with pedestrian-avoidance steer assist and steering bypass assist can help prevent collisions