i no its a hp my last one i had was the same,i was in a similar position and lexus financial gave me the option of selling the car and then paying them back,
also my current lexus in on a pcp which i have reached the 50% point and the car goes back in a few weeks, they told me i could sell the car and anything over the 50% of the balance owing i could keep.
give them a ring and i bet they say you could sell the car and pay them back, it may be a better option for you as you may get nearer to what you owe on the car.?