Toyota 4Runner (2020 year). Instruction — part 18

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Pressing the switch changes the
vehicle-to-vehicle distance as fol-
lows:

Long
Medium
Short

The vehicle-to-vehicle distance is
set automatically to long mode
when the engine switch is turned to
the “ON” position (vehicles without
a smart key system) or IGNITION
ON mode (vehicles with a smart
key system).
If a vehicle is running ahead of you, the preceding vehicle mark will also be
displayed.

Select a distance from the table below. Note that the distances shown
correspond to a vehicle speed of 50 mph (80 km/h). Vehicle-to-vehicle
distance increases/decreases in accordance with vehicle speed.

Changing the vehicle-to-vehicle distance (vehicle-to-vehicle dis-
tance control mode)

Preceding
vehicle mark

1

2

3

Vehicle-to-vehicle distance settings (vehicle-to-vehicle distance
control mode)

Distance options

Vehicle-to-vehicle distance

Long

Approximately 160 ft. (50 m)

Medium

Approximately 130 ft. (40 m)

Short

Approximately 100 ft. (30 m)

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Pulling the lever toward you
cancels the speed control.

The speed setting is also canceled
when

the

brake

pedal

is

depressed.

Pushing the lever up resumes
the cruise control and returns
vehicle speed to the set speed.

However, cruise control does not resume when the vehicle speed is
approximately 25 mph (40 km/h) or less.

When your vehicle is too close to
a vehicle ahead, and sufficient
automatic deceleration via the
cruise control is not possible, the
display will flash and the buzzer
will sound to alert the driver. An
example of this would be if
another driver cuts in front of you
while you are following a vehicle.
Depress the brake pedal to
ensure an appropriate vehicle-to-
vehicle distance.

■

Warnings may not occur when

In the following instances, warnings may not occur even when the
vehicle-to-vehicle distance is small.

●

When the speed of the preceding vehicle matches or exceeds
your vehicle speed

●

When the preceding vehicle is traveling at an extremely slow
speed

●

Immediately after the cruise control speed was set

●

When depressing the accelerator pedal

Canceling and resuming the speed control

1

2

Approach warning (vehicle-to-vehicle distance control mode)

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When constant speed control mode is selected, your vehicle will main-
tain a set speed without controlling the vehicle-to-vehicle distance.
Select this mode only when vehicle-to-vehicle distance control mode
does not function correctly due to a dirty radar sensor, etc.

With the cruise control off,
press and hold the “ON-OFF”
button for 1.5 seconds or more.

Immediately after the “ON-OFF”
button is pressed, the radar cruise
control indicator will come on.
Afterwards, it switches to the cruise
control indicator.
Switching to constant speed con-
trol mode is only possible when
operating the lever with the cruise
control off.

Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 25 mph
[40 km/h]) and push the lever
down to set the speed.

Cruise control “SET” indicator will
come on.

The vehicle speed at the moment the lever is released becomes the set
speed.
Adjusting the speed setting:



P. 279

Canceling and resuming the speed setting:



P. 281

Selecting constant speed control mode

1

2

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■

Dynamic radar cruise control can be set when

●

The shift lever is in D or range 3 or higher of S has been selected.

●

Vehicle speed is at or above approximately 30 mph (50 km/h).

■

Accelerating after setting the vehicle speed

The vehicle can accelerate by operating the accelerator pedal. After acceler-
ating, the set speed resumes. However, during vehicle-to-vehicle distance
control mode, the vehicle speed may decrease below the set speed in order
to maintain the distance to the preceding vehicle.

■

Automatic cancelation of vehicle-to-vehicle distance control mode

Vehicle-to-vehicle distance control mode is automatically canceled in the fol-
lowing situations:

●

Actual vehicle speed falls at or below approximately 25 mph (40 km/h).

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is turned off.

●

The sensor cannot detect correctly because it is covered in some way.

●

Pre-collision braking is activated.

If vehicle-to-vehicle distance control mode is automatically canceled for any
other reason, there may be a malfunction in the system. Contact your Toyota
dealer.

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■

Automatic cancelation of constant speed control mode

Constant speed control mode is automatically canceled in the following situa-
tions:

●

Actual vehicle speed is more than approximately 10 mph (16 km/h) below
the set vehicle speed.

●

Actual vehicle speed falls below approximately 25 mph (40 km/h).

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is turned off.

●

Pre-collision braking is activated.

If constant speed control mode is automatically canceled for any other rea-
son, there may be a malfunction in the system. Contact your Toyota dealer.

■

Brake system operation sound

If the brakes are applied automatically while the vehicle is in vehicle-to-vehi-
cle distance control mode, a brake system operation sound may be heard.
This does not indicate a malfunction.

■

Warning messages and buzzers for dynamic radar cruise control

Warning messages and buzzers are used to indicate a system malfunction or
to inform the driver of the need for caution while driving. If a warning message
is shown on the multi-information display, read the message and follow the
instructions.

■

When the sensor may not be correctly detecting the vehicle ahead

In the case of the following and depending on the conditions, operate the
brake pedal when deceleration of the system is insufficient or operate the
accelerator pedal when acceleration is required.
As the sensor may not be able to correctly detect these types of vehicles, the
approach warning (



P. 281) may not be activated.

●

Vehicles that cut in suddenly

●

Vehicles traveling at low speeds

●

Vehicles that are not moving in the same lane

●

Vehicles with small rear ends (trailers with no load on board, etc.)

●

Motorcycles traveling in the same lane

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●

When water or snow thrown up by the surrounding vehicles hinders the
detecting of the sensor

■

Conditions under which the vehicle-to-vehicle distance control mode
may not function correctly

In the case of the following conditions, operate the brake pedal (or accelera-
tor pedal, depending on the situation) as necessary.
As the sensor may not be able to correctly detect vehicles ahead, the system
may not operate properly.

●

When the vehicle ahead of you decelerates suddenly

●

When driving on a road surrounded by a structure, such as in a tunnel or on
a bridge

●

While the vehicle speed is decreasing to the set speed after the vehicle
accelerates by depressing the accelerator pedal

●

When your vehicle is pointing upwards
(caused by a heavy load in the luggage
compartment, etc.)

●

Preceding vehicle has an extremely
high ground clearance

●

When the road curves or when the
lanes are narrow

●

When steering wheel operation or your
position in the lane is unstable

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Front corner sensors
Rear corner sensors
Rear center sensors

Press

/

of the meter con-

trol switches, select

.

Press

/

of the meter con-

trol switches, select

.

Press

of the meter control

switch.

Each time

is pressed, the function changes on/off.

When on, the indicator light comes on to inform the driver that the sys-
tem is operational.

Intuitive parking assist





: If equipped

The distance from your vehicle to nearby obstacles when paral-
lel parking or maneuvering into a garage is measured by the
sensors and communicated via the multi-information display
and a buzzer. Always check the surrounding area when using
this system.

Types of sensors

Turning the intuitive parking assist on/off

1

2

3

1

2

3

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Multi-information display

Front corner sensor opera-
tion
Rear corner sensor operation
Rear center sensor operation

Display

1

2

3

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■

Distance display

Sensors that detect an obstacle will illuminate continuously or blink.

*

: The images may differ from those shown in the illustrations. (



P. 287)

Sensor detection display, obstacle distance

Multi-information

display

*

Approximate distance to obstacle

Rear center sensor

Front and rear corner

sensor

(continuous)

Far

Near

4.9 ft. (150 cm) to
2.0 ft. (60 cm)



(continuous)

2.0 ft. (60 cm) to
1.5 ft. (45 cm)

2.0 ft. (60 cm) to
1.5 ft. (45 cm)

(continuous)

1.5 ft. (45 cm) to
1.2 ft. (35 cm)

1.5 ft. (45 cm) to
1.2 ft. (35 cm)

(blinking)

Less than
1.2 ft. (35 cm)

Less than
1.2 ft. (35 cm)

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Buzzer operation and distance to an obstacle

A buzzer sounds when the sensors are operating.

●

The buzzer sounds faster as the vehicle approaches an obstacle.
When the vehicle comes within the following distance of the
obstacle, the buzzer sounds continuously: Approximately 1.2 ft.
(35 cm).

●

When 2 or more obstacles are detected simultaneously, the
buzzer system responds to the nearest obstacle. If one or both
come within the above distances, the beep will repeat a long
tone, followed by fast beeps.

Approximately 2.0 ft. (60 cm)
Approximately 4.9 ft. (150 cm)

The diagram shows the detection
range of the sensors. Note that the
sensors cannot detect obstacles
that are extremely close to the
vehicle.
The range of the sensors may
change depending on the shape of
the object etc.

Detection range of the sensors

1

2

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■

Intuitive parking assist can be operated when

●

Front corner sensors:
• The engine switch is in the “ON” position (without a smart key system) or

the engine switch is in IGNITION ON mode (with a smart key system).

• The shift lever is in a position other than P.
• The vehicle speed is less than approximately 6 mph (10 km/h).

●

Rear corner and rear center sensors:
• The engine switch is in the “ON” position (without a smart key system) or

the engine switch is in IGNITION ON mode (with a smart key system).

• The shift lever is in R.

■

Intuitive parking assist display

When an obstacle is detected while the Toyota parking assist monitor is in
use, the warning indicator will appear in the upper part of the screen even if
the display setting has been set to off.

■

Sensor detection information

●

The sensor’s detection areas are limited to the areas around the vehicle’s
front corner and rear bumpers.

●

Certain vehicle conditions and the surrounding environment may affect the
ability of the sensor to correctly detect obstacles. Particular instances where
this may occur are listed below.
• There is dirt, snow or ice on the sensor. (Wiping the sensors will resolve

this problem.)

• The sensor is frozen. (Thawing the area will resolve this problem.)
In especially cold weather, if a sensor is frozen the screen may show an
abnormal display, or obstacles may not be detected.
• The sensor is covered in any way.
• The vehicle is leaning considerably to one side.
• On an extremely bumpy road, on an incline, on gravel, or on grass.
• The vicinity of the vehicle is noisy due to vehicle horns, motorcycle

engines, air brakes of large vehicles, or other loud noises producing ultra-
sonic waves.

• There is another vehicle equipped with parking assist sensors in the

vicinity.

• The sensor is coated with a sheet of spray or heavy rain.
• The vehicle is equipped with a fender pole or wireless antenna.
• Towing eyelet is installed.
• The bumper or sensor receives a strong impact.
• The vehicle is approaching a tall or curved curb.
• In harsh sunlight or intense cold weather.
• The area directly under the bumpers is not detected.
• If obstacles draw too close to the sensor.
• A non-genuine Toyota suspension (lowered suspension etc.) is installed.
• People may not be detected if they are wearing certain types of clothing.
In addition to the examples above, there are instances in which, because of
their shape, signs and other objects may be judged by the sensor to be
closer than they are.

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●

The shape of the obstacle may prevent the sensor from detecting it. Pay
particular attention to the following obstacles:
• Wires, fences, ropes, etc.
• Cotton, snow and other materials that absorb sound waves
• Sharply-angled objects
• Low obstacles
• Tall obstacles with upper sections projecting outwards in the direction of

your vehicle

●

The following situations may occur during use.
• Depending on the shape of the obstacle and other factors, the detection

distance may shorten, or detection may be impossible.

• Obstacles may not be detected if they are too close to the sensor.
• There will be a short delay between obstacle detection and display. Even

at slow speeds, there is a possibility that the obstacle will come within the
sensor’s detection areas before the display is shown and the warning
beep sounds.

• Thin posts or objects lower than the sensor may not be detected for colli-

sion when approached, even if they have been detected once.

• It might be difficult to hear beeps due to the volume of audio system or air

flow noise of air conditioning system.

■

When the system malfunctions

●

If “Clean park sonar” is shown
A sensor may be dirty or covered with snow or ice. In such cases, if it is
removed from the sensor, the system should return to normal. Also, due to
the sensor being frozen at low temperatures, a malfunction display may
appear or an obstacle may not be detected. If the sensor thaws out, the sys-
tem should return to normal.

●

If “Check park sonar system” is shown
Depending on the malfunction of the sensor, the device may not be working
normally. Have the vehicle inspected by your Toyota dealer.

■

Customization that can be configured at Toyota dealer

Some functions can be customized. (Customizable features



P. 547)

■

Certification



For vehicles sold in the U.S.A.

This device complies with Part 15 of the FCC Rules. Operation is subject to
the following two conditions; (1) This device may not cause harmful interfer-
ence, and (2) This device must accept any interference received, including
interference that may cause undesired operation.



For vehicles sold in Canada

This ISM device complies with Canadian ICES-001.
Cet appareil ISM est conforme a la norme NMB-001 du Canada.

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WARNING

■

When using the intuitive parking assist

Observe the following precautions.
Failing to do so may result in the vehicle being unable to be driven safely
and possibly cause an accident.

●

Do not use the sensor at speeds in excess of 6 mph (10 km/h).

●

The sensors’ detection areas and reaction times are limited. When moving
forward or reversing, check the areas surrounding the vehicle (especially
the sides of the vehicle) for safety, and drive slowly, using the brake to
control the vehicle’s speed.

●

Do not install accessories within the sensors’ detection areas.

NOTICE

■

When using intuitive parking assist-sensor

In the following situations, the system may not function correctly due to a
sensor malfunction etc. Have the vehicle checked by your Toyota dealer.

●

The intuitive parking assist operation display flashes, and a beep sounds
when no obstacles are detected.

●

If the area around a sensor collides with something, or is subjected to
strong impact.

●

If the bumper collides with something.

●

If the display shows continuously without a beep.

●

If a display error occurs, first check the sensor.

If the error occurs even if there is no ice, snow or mud on the sensor, it is
likely that the sensor is malfunctioning.

■

Notes when washing the vehicle

Do not apply intensive bursts of water or steam to the sensor area.
Doing so may result in the sensor malfunctioning.

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

Type A

The four-wheel drive indicator comes on when H4, N or L4 mode is
selected.

H2 (high speed position, two-wheel drive)

Use this for normal driving on dry hard-surfaced roads. This position gives
greater economy, quietest ride and least wear.

H4 (high speed position, four-wheel drive)

Use this for driving only on tracks that permit the tires slide, like off-road,
icy or snow-covered roads. This position provides greater traction than
two-wheel drive.

N (neutral position)

No power is delivered to the wheels. The vehicle must be stopped.

L4 (low speed position, four-wheel drive)

Use this for maximum power and traction. Use “L4” for climbing or
descending steep hills, off-road driving, and hard pulling in sand, mud or
deep snow.

Four-wheel drive indicator
Low speed four-wheel drive indicator

Four-wheel drive system (part-time 4WD

models)

Use the front-wheel drive control lever or switch to select the fol-
lowing transfer modes:

1

2

3

4

5

6

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

Type B

The four-wheel drive indicator comes on when H4 or L4 mode is
selected.

H2 (high speed position, two-wheel drive)

Use this for normal driving on dry hard-surfaced roads. This position gives
greater economy, quietest ride and least wear.

H4 (high speed position, four-wheel drive)

Use this for driving only on tracks that permit the tires slide, like off-road,
icy or snow-covered roads. This position provides greater traction than
two-wheel drive.

L4 (low speed position, four-wheel drive)

Use this for maximum power and traction. Use “L4” for climbing or
descending steep hills, off-road driving, and hard pulling in sand, mud or
deep snow.

Four-wheel drive indicator
Low speed four-wheel drive indicator

1

2

3

4

5

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Shifting from H2 to H4



Type A
Reduce vehicle speed to less than 50 mph (80 km/h).
Shift the front-wheel drive control lever to H4.



Type B
Reduce vehicle speed to less than 62 mph (100 km/h).
Push the “UNLOCK” button and turn the front-wheel drive control
switch to H4.

The four-wheel drive indicator will turn on.

■

Shifting from H4 to H2



Type A

Shift the front-wheel drive control lever to H2.



Type B

Push the “UNLOCK” button and turn the front-wheel drive control
switch to H2.
This can be done at any speed.

The four-wheel drive indicator will go off.

■

Shifting from H4 to L4

Stop the vehicle completely and continue to depress the brake
pedal.
Shift the shift lever to N.



Type A
Shift the front-wheel drive control lever to L4.



Type B
Push the “UNLOCK” button and then push and turn the front-
wheel drive control switch to L4.

The low speed four-wheel drive indicator will turn on.

Shifting between H2 and H4

Shifting between H4 and L4

1

2

1

2

1

2

3

3