IT might be argued that Toyota’s RAV4 was, more than any other vehicle, responsible for the compact sports utility vehicle revolution.

Now in its fourth iteration, the RAV4 – its name standing for Recreational Active Vehicle 4-wheel drive – has matured gently and boasts softer curves and a smooth, more relaxed driving experience.

But, unlike in 1994 when it ruled the roost, it is now surrounded by a crop of competitors with similar styling cues.

With that in mind, the new RAV4 range offers more models to choose from, higher spec and lower emissions across the board, yet the line-up starts at a lower price than the model it replaces.

It positions itself somewhere between Mitsubishi’s robust Outlander and Nissan’s big-selling Qashqai, blending all the good bits from a conventional family hatchback and adds a bold lifestyle element.

The high-rise Toyota’s fuss-free exterior is evidence that the firm is comfortable taking a low-key approach, while leaving the brashlystyled competition to chase after the younger buyer.

Yet it is still a far cry from the much smaller and boxy original, with its side-opening rear door.

This conservative theme is continued inside, where you’re met by a plush, well-built interior with plenty of mod cons, soft-touch surfaces and a dark, high-end ambience.

Don’t be fooled by the looks, though. Under the skin lies an intelligent transmission system, improved car-like handling and crash protection and increased refinement.

It has also grown, and there’s now a considerable amount of space for rear seat occupants. Five adults can travel in comfort, and there’s plenty of space for luggage, too.

The RAV4’s trim levels (Active, Icon, Invincible) offer the predictable sliding scale of kit. Even the base Active is anything but Spartan thanks to air-conditioning, Bluetooth connectivity plus aux-in and USB audio inputs, remote locking, alloys and a neat folding mechanism for the rear seats.

Icon trim adds leather steering wheel, climate control, larger alloy wheels, touch-screen audio unit with DAB radio and reversing camera display, a powered tailgate and cruise control. Step up to the flagship Invincible and you gain leather seats, keyless ignition, parking sensors and roof rails.

Options include Toyota’s Touch and Go sat-nav complete with Google Local Search plus lane departure and blind spot warning technology and the usual array of exterior scuff plates and guards befitting an SUV.

In contrast to the vast array of equipment, engine and drivetrain choice is modest but effective. The choice of two or four-wheel drive is available across all models, although choosing Toyota’s continuously variable automatic transmission limits you to the mid-spec Icon and the 2.0-litre petrol motor. No matter, because most interest is likely to be in diesel power, and here you have the choice of a low CO2 2.0-litre unit (127g/km) if you opt for front-wheel drive and a beefier 2.2-litre version, tested here with automatic itransmission, if you plump for allwheel drive.

The automatic transmission is impressive, with barely noticeable swift gear changes, and there’s the option to shove the gear stick into manual mode or use the steering wheel-mounted paddle-shift system.

In all-wheel drive diesel trim, the RAV4 delivers a measured and confident driving experience. The car’s weighty steering and well damped suspension ensure there are no unpleasant surprises, while the motor proves to be a willing unit and pitch and roll have been kept to a minimum.

The car copes well with gravel tracks and undulating surfaces.

Ground clearance will never trump that of Land Rover’s Defender but, if you’re careful, the RAV4 can surprise you and the engine’s 148bhp is ample for forging ahead to motorway speeds, where it delivers a composed ride.

Tuned to deliver a refined driving experience, it remains a capable lifestyle 4x4 ideal for anyone with the skills to exploit its talents.

Entry point is the new 2.0 D-4D Active 2WD version, available at £22,595. Both this model and the more highly-specified 2.0 D-4D Icon 2WD (£24,295) undercut the previous XTR 2.2 D-4D 2WD on price. As you climb up the scale of trim levels and options, you will have nudged the £30,000 mark, but at that point you will have a nearpremium level experience at your fingertips.

This RAV4 is a far cry from the original, and almost incomparable, but we should not forget Toyota’s heritage in this sector. And now the RAV4 is back up there with the best of them in a class it defined.

Fact file

Toyota RAV4 Invincible AWD 2.2 D-4D

PRICE: from £29,305 (RAV4 range from £22,595)

ENGINE: 2.2-litre diesel unit developing 148bhp

TRANSMISSION: six-speed automatic, driving all four wheels (six-speed manual version also available)

PERFORMANCE: top speed 115mph, 0-62mph in 10.0 seconds

ECONOMY: 42.2mpg combined

CO2 RATING: 176g/km