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It's pretty easy in my G1 Insight:
Once the engine coolant temperature is above around 140F, I simply let off the throttle until the FCD reads ~100mpg, and it starts lean burn and the FCD jumps up. I can then stay in lean burn until around 90-95% load, which equates to ~70mpg on the FCD. If I push the pedal down any further, it drops out of lean burn, the FCD drops from ~70 to ~50mpg, and it begins electric assist. So far as I can tell, that's all there is to it.
Lean burn seemingly exists so that the Insight can cruise at peak BSFC RPM and high load, but also have power on tap for climbing hills, also at peak BSFC RPM and high load.
I'm under the impression that later model year Insights have more difficulty entering LB but I've never driven another one to confirm.
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