The Toyota RAV4 is considered a crossover, which is used as a synonym for a compact SUV. In general, most manufacturers call their crossovers “compact SUVs,” even though there’s one major difference between a crossover and a traditional SUV: the frame.
Traditional SUVs have the same type of frame as a truck called a body-on-frame chassis. Crossovers like the RAV4, on the other hand, are based on the frame of a car called a unibody frame. This is why they’re called crossovers: they look like an SUV, but they’re more like a car at their core.