Toyota Mirai (2022 year). Manual in english — page 14
227
5-5. Using the driving support systems
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■
Lane departure alert func-
tion
When the system determines
that the vehicle might depart
from its lane or course
*
, a warn-
ing is displayed on the multi-
information display, and either a
warning buzzer will sound or the
steering wheel will vibrate to
alert the driver.
When the warning buzzer sounds
or the steering wheel vibrates,
check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane.
Vehicle with BSM: When the sys-
tem determines that the vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking vehicle in the adjacent
lane is high, the lane departure
alert will operate even if the turn
signals are operating.
*
: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
■
Steering assist function
When the system determines
that the vehicle might depart
from its lane or course
*
, the sys-
tem provides assistance as nec-
essary by operating the steering
wheel in small amounts for a
short period of time to keep the
vehicle in its lane.
Vehicle with BSM: When the sys-
tem determines that the vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking vehicle in the adjacent
lane is high, the steering assist
function will operate even if the turn
signals are operating.
*
: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
Functions included in LTA
system
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5-5. Using the driving support systems
■
Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes-
sage will be displayed on the
multi-information display to alert
the driver.
■
Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance by
operating the steering wheel to
keep the vehicle in its current
lane.
When dynamic radar cruise control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) lane lines are difficult to see or
are not visible, such as when in a
traffic jam, this function will operate
to help follow a preceding vehicle
by monitoring the position of the
preceding vehicle.
229
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Press the LTA switch to turn the
LTA system on.
The LTA indicator illuminates and a
message is displayed on the multi-
information display.
Press the LTA switch again to turn
the LTA system off.
When the LTA system is turned on
or off, operation of the LTA system
continues in the same condition the
next time the fuel cell system is
started.
“LTA Turned ON Steering
Assist Active”
LTA indicator
The illumination condition of the
indicator informs the driver of the
system operation status.
Illuminated in white: LTA system is
operating.
Illuminated in green: Steering wheel
assistance of the steering assist
function or lane centering function
is operating.
Flashing in orange: Lane departure
alert function is operating.
Operation display of steering
wheel operation support
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
screen.
Indicates that steering wheel assis-
tance of the steering assist function
or lane centering function is operat-
ing.
Both outer sides of the lane are dis-
played: Indicates that steering
wheel assist of the lane centering
function is operating.
Turning LTA system on
Indications on multi-infor-
mation display
230
5-5. Using the driving support systems
One outer side of the lane is dis-
played: Indicates that steering
wheel assist of the steering assist
function is operating.
Both outer sides of the lane are
flashing: Alerts the driver that their
input is necessary to stay in the
center of the lane (lane centering
function).
Follow-up cruising display
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
screen.
Indicates that steering assist of the
lane centering function is operating
by monitoring the position of a pre-
ceding vehicle.
When the follow-up cruising display
is displayed, if the preceding vehi-
cle moves, your vehicle may move
in the same way. Always pay care-
ful attention to your surroundings
and operate the steering wheel as
necessary to correct the path of the
vehicle and ensure safety.
Lane departure alert function
display
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
screen.
Inside of displayed lines is
white
Indicates that the system is rec-
ognizing white (yellow) lines or a
course
*
. When the vehicle
departs from its lane, the white
line displayed on the side the
vehicle departs from flashes
orange.
Inside of displayed lines is
black
Indicates that the system is not
able to recognize white (yellow)
lines or a course
*
or is temporar-
ily canceled.
*
: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
■
Operation conditions of each
function
●
Lane departure alert function
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This function operates when all of
the following conditions are met.
• LTA is turned on.
• Vehicle speed is approximately 32
mph (50 km/h) or more.
*1
• System recognizes white (yellow)
lane lines or a course
*2
. (When a
white [yellow] line or course
*2
is
recognized on only one side, the
system will operate only for the
recognized side.)
• Width of traffic lane is approxi-
mately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
(Vehicle with BSM: Except when
another vehicle is in the lane on
the side where the turn signal was
operated)
• Vehicle is not being driven around
a sharp curve.
• No system malfunctions are
detected. (
*1
:The function operates even if the
vehicle speed is less than
approximately 32 mph (50 km/h)
when the lane centering function
is operating.
*2
:Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
●
Steering assist function
This function operates when all of
the following conditions are met in
addition to the operation conditions
for the lane departure alert function.
• Vehicle is not accelerated or
decelerated by a fixed amount or
more.
• Steering wheel is not operated
with a steering force level suitable
for changing lanes.
• ABS, VSC, TRAC and PCS are
not operating.
• TRAC or VSC is not turned off.
●
Vehicle sway warning function
This function operates when all of
the following conditions are met.
• Setting for “Sway Warning” in
of the multi-information display is
set to “ON”. (
• Vehicle speed is approximately 32
mph (50 km/h) or more.
• Width of traffic lane is approxi-
mately 9.8 ft. (3 m) or more.
• No system malfunctions are
detected. (
●
Lane centering function
This function operates when all of
the following conditions are met.
• LTA is turned on.
• Setting for “Lane Center” in
of
the multi-information display are
set to “ON”. (
• This function recognizes white
(yellow) lane lines or the position
of a preceding vehicle (except
when the preceding vehicle is
small, such as a motorcycle).
• The dynamic radar cruise control
with full-speed range is operating
in vehicle-to-vehicle distance con-
trol mode.
• Width of traffic lane is approxi-
mately 10 to 13 ft. (3 to 4 m).
• Turn signal lever is not operated.
• Vehicle is not being driven around
a sharp curve.
• No system malfunctions are
detected. (
• Vehicle does not accelerate or
decelerate by a fixed amount or
more.
• Steering wheel is not operated
with a steering force level suitable
for changing lanes.
• ABS, VSC, TRAC and PCS are
not operating.
• TRAC or VSC is not turned off.
• Hands off steering wheel warning
is not displayed. (
• The vehicle is being driven in the
center of a lane.
• Steering assist function is not
operating.
■
Temporary cancelation of func-
tions
●
When operation conditions are no
232
5-5. Using the driving support systems
longer met, a function may be
temporarily canceled. However,
when the operation conditions are
met again, operation of the func-
tion is automatically restored.
(
●
If the operation conditions
(
P.230) are no longer met while
the lane centering function is
operating, the steering wheel may
vibrate and the buzzer may sound
to indicate that the function has
been temporarily canceled. How-
ever, if the “Alert” customization
setting is set to
, the system
will notify the driver by vibrating
the steering wheel instead of
sounding the buzzer.
■
Steering assist function/lane
centering function
●
Depending on the vehicle speed,
lane departure situation, road con-
ditions, etc., the driver may not
feel the function is operating or
the function may not operate at
all.
●
The steering control of the func-
tion is overridden by the driver’s
steering wheel operation.
●
Do not attempt to test the opera-
tion of the steering assist function.
■
Lane departure alert function
●
The warning buzzer may be diffi-
cult to hear due to external noise,
audio playback, etc. Also, it may
be difficult to feel steering wheel
vibrations due to the road condi-
tions, etc.
●
If the edge of the course
*
is not
clear or straight, the lane depar-
ture alert function may not oper-
ate.
●
Vehicle with BSM: It may not be
possible for the system to deter-
mine if there is a danger of a colli-
sion with a vehicle in an adjacent
lane.
●
Do not attempt to test the opera-
tion of the lane departure alert
function.
*
: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
■
Hands off steering wheel warn-
ing
In the following situations, a warning
message urging the driver to hold
the steering wheel and the symbol
shown in the illustration are dis-
played on the multi-information dis-
play to warn the driver. The warning
stops when the system determines
that the driver holds the steering
wheel. Always keep your hands on
the steering wheel when using this
system, regardless of warnings.
●
When the system determines the
driver is not holding the steering
wheel while the lane centering
function is operating.
If the driver continues to keep their
hands off of the steering wheel, the
buzzer sounds, the driver is warned
and the function is temporarily can-
celed. This warning also operates in
the same way when the driver con-
tinuously operates the steering
wheel only a small amount.
The buzzer also sounds even if the
alert type is set to
.
●
When the system determines that
the vehicle may deviate from the
lane while driving around a curve
while the lane centering function is
operating.
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Depending on the vehicle condition
and road conditions, the warning
may not operate. Also, if the system
determines that the vehicle is driv-
ing around a curve, warnings will
occur earlier than during straight-
lane driving.
●
When the system determines that
the driver is driving without hold-
ing the steering wheel while the
steering wheel assist of the steer-
ing assist function is operating.
If the driver continues to keep their
hands off of the steering wheel and
the steering wheel assist is operat-
ing, the buzzer sounds and the
driver is warned. Each time the
buzzer sounds, the continuing time
of the buzzer becomes longer.
The buzzer also sounds even if the
alert type is set to
.
■
Vehicle sway warning function
When the system determines that
the vehicle is swaying while the
vehicle sway warning function is
operating, a buzzer sounds and a
warning message urging the driver
to rest and the symbol shown in the
illustration are simultaneously dis-
played on the multi-information dis-
play.
Depending on the vehicle and road
conditions, the warning may not
operate.
■
Warning message
If the following warning message is
displayed on the multi-information
display and the LTA indicator illumi-
nates in orange, follow the appropri-
ate troubleshooting procedure. Also,
if a different warning message is
displayed, follow the instructions
displayed on the screen.
●
“LTA Malfunction Visit Your
Dealer”
The system may not be operating
properly. Have the vehicle inspected
by your Toyota dealer.
●
“LTA Unavailable”
The system is temporarily canceled
due to a malfunction in a sensor
other than the front camera. Turn
the LTA system off, wait for a little
while, and then turn the LTA system
back on.
●
“LTA Unavailable at Current
Speed”
The function cannot be used as the
vehicle speed exceeds the LTA
operation range. Drive slower.
■
Customization
Function settings can be changed.
(Customizable features:
234
5-5. Using the driving support systems
*
: If equipped
The RSA system recognizes
specific road signs using the
front camera and/or navigation
system (when speed limit infor-
mation is available) to provide
information to the driver via the
display.
When the front camera recog-
nizes a sign and/or information
of a sign is available from the
navigation system, the sign will
be displayed on the multi-infor-
mation display.
When the driving support sys-
tem information display is
selected, a maximum of 3
signs can be displayed.
(
When a tab other than the
driving support system infor-
mation is selected, the follow-
ing types of road signs will be
displayed. (
• Speed limit sign
• Do Not Enter sign (when notifica-
tion is necessary)
If signs other than speed limit signs
are recognized, they will be dis-
played in an overlapping stack
under the current speed limit sign.
RSA (Road Sign
Assist)
*
Summary of function
WARNING
■
Before using the RSA
Do not rely solely upon the RSA
system. RSA is a system which
supports the driver by providing
information, but it is not a replace-
ment for a driver’s own vision and
awareness. Drive safely by
always paying careful attention to
the traffic rules.
Indication on the multi-
information display
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The following types of road
signs, including electronic signs
and blinking signs, are recog-
nized.
A non-official or a recently intro-
duced traffic sign may not be recog-
nized.
In the following situations, the
RSA system will notify the
driver.
When the vehicle speed
exceeds the speed notifica-
tion threshold of the speed
limit sign displayed, the sign
display will be emphasized
and a buzzer will sound.
When the RSA system recog-
nizes a do not enter sign and
determines that your vehicle
has entered a no-entry area,
the displayed sign will flash
and a buzzer will sound.
Depending on the situation, a
notification function may not
operate properly.
■
Setting procedure
1
Press
or
of the meter
control switches and select
.
2
Press
or
of the meter
control switches and select
“
RSA”, then press
.
■
Automatic turn-off of RSA sign
display
In the following situations, a dis-
played speed limit sign and/or do
not enter sign will stop being dis-
played automatically:
●
No sign has been recognized for a
certain distance.
●
The road changes due to a left or
right turn, etc.
In the following situations, stop and
yield signs will stop being displayed
automatically:
●
The system determines that your
vehicle has passed the sign.
●
The road changes due to a left or
right turn, etc.
■
Conditions in which the func-
tion may not operate or detect
correctly
In the following situations, RSA
does not operate normally and may
not recognize signs, display the
incorrect sign, etc. However, this
does not indicate a malfunction.
●
The front camera is misaligned
due to a strong impact being
applied to the sensor, etc.
●
Dirt, snow, stickers, etc., are on
the windshield near the front cam-
era.
●
In inclement weather such as
heavy rain, fog, snow or sand
storms
Supported types of road
signs
Speed limit
Do Not Enter
Stop
Yield
Notification function
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5-5. Using the driving support systems
●
Light from an oncoming vehicle,
the sun, etc., enters the front cam-
era.
●
The sign is dirty, faded, tilted or
bent.
●
The contrast of electronic sign is
low.
●
All or part of the sign is hidden by
the leaves of a tree, a pole, etc.
●
The sign is only visible to the front
camera for a short amount of time.
●
The driving scene (turning, lane
change, etc.) is judged incorrectly.
●
If a sign not appropriate for the
currently traveled lane, but the
sign exists directly after a freeway
branches, or in an adjacent lane
just before merging.
●
Stickers are attached to the rear of
the preceding vehicle.
●
A sign resembling a system com-
patible sign is recognized.
●
Side road speed signs may be
detected and displayed (if posi-
tioned in sight of the front camera)
while the vehicle is traveling on
the main road.
●
Roundabout exit road speed signs
may be detected and displayed (if
positioned in sight of the front
camera) while traveling on a
roundabout.
●
The front of the vehicle is raised or
lowered due to the carried load.
●
The surrounding brightness is not
sufficient or changes suddenly.
●
When a sign intended for trucks,
etc., is recognized.
●
The navigation system map data
is outdated.
●
The navigation system is not oper-
ating.
●
The speed information displayed
on the meter and on the naviga-
tion system may be different due
to the navigation system using
map data.
■
Speed limit sign display
If the power switch was last turned
off while a speed limit sign was dis-
played on the multi-information dis-
play, the same sign displays again
when the power switch is turned to
ON.
■
If “RSA Malfunction Visit Your
Dealer” is shown
The system may be malfunctioning.
Have the vehicle inspected by your
Toyota dealer.
■
Customization
Some functions can be customized.
(Customizable features:
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In vehicle-to-vehicle distance
control mode, the vehicle auto-
matically accelerates, deceler-
ates and stops to match the
speed changes of the preceding
vehicle even if the accelerator
pedal is not depressed. In con-
stant speed control mode, the
vehicle runs at a fixed speed.
Use the dynamic radar cruise
control with full-speed range on
freeways and highways.
Vehicle-to-vehicle distance
control mode (
Constant speed control mode
(
■
Meter display
Multi-information display
Set speed
Indicators
■
Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
Dynamic radar cruise
control with full-speed
range
Summary of functions
System Components
WARNING
■
Before using dynamic radar
cruise control with full-speed
range
●
Driving safely is the sole
responsibility of the driver. Do
not rely solely on the system,
and drive safely by always pay-
ing careful attention to your sur-
roundings.
●
The dynamic radar cruise con-
trol with full-speed range pro-
vides driving assistance to
reduce the driver’s burden.
However, there are limitations to
the assistance provided.
Read the following conditions
carefully. Do not overly rely on
this system and always drive
carefully.
• When the sensor may not be
correctly detecting the vehicle
ahead:
238
5-5. Using the driving support systems
WARNING
• Conditions under which the
vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly:
●
Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is responsible for check-
ing the set speed.
●
Even when the system is func-
tioning normally, the condition of
the preceding vehicle as
detected by the system may dif-
fer from the condition observed
by the driver. Therefore, the
driver must always remain alert,
assess the danger of each situ-
ation and drive safely. Relying
solely on this system or assum-
ing the system ensures safety
while driving can lead to an
accident, resulting in death or
serious injury.
●
Switch the dynamic radar cruise
control with full-speed range
setting to off, using the cruise
control main switch when not in
use.
■
Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, as there are limitations to
the assistance provided by the
system. Failure to do so may
cause an accident resulting in
death or serious injury.
●
Assisting the driver to measure
following distance
The dynamic radar cruise control
with full-speed range is only
intended to help the driver in
determining the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead. It is not a mechanism that
allows careless or inattentive driv-
ing, and it is not a system that can
assist the driver in low-visibility
conditions.
It is still necessary for driver to
pay close attention to the vehi-
cle’s surroundings.
●
Assisting the driver to judge
proper following distance
The dynamic radar cruise control
with full-speed range determines
whether the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead is within a set range. It is
not capable of making any other
type of judgement. Therefore, it is
absolutely necessary for the
driver to remain vigilant and to
determine whether or not there is
a possibility of danger in any
given situation.
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WARNING
●
Assisting the driver to operate
the vehicle
The dynamic radar cruise control
with full-speed range does not
include functions which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of danger, the driver
must take immediate and direct
control of the vehicle and act
appropriately in order to ensure
the safety of all involved.
■
Situations unsuitable for
dynamic radar cruise control
with full-speed range
Do not use dynamic radar cruise
control with full-speed range in
any of the following situations.
Doing so may result in inappropri-
ate speed control and could
cause an accident resulting in
death or serious injury.
●
Roads where there are pedes-
trians, cyclists, etc.
●
In heavy traffic
●
On roads with sharp bends
●
On winding roads
●
On slippery roads, such as
those covered with rain, ice or
snow
●
On steep downhills, or where
there are sudden changes
between sharp up and down
gradients
Vehicle speed may exceed the
set speed when driving down a
steep hill.
●
At entrances to freeways and
highways
●
When weather conditions are
bad enough that they may pre-
vent the sensors from detecting
correctly (fog, snow, sand-
storm, heavy rain, etc.)
●
When there is rain, snow, etc.,
on the front surface of the radar
or front camera
●
In traffic conditions that require
frequent repeated acceleration
and deceleration
●
During emergency towing
●
When an approach warning
buzzer is heard often
240
5-5. Using the driving support systems
This mode employs a radar to detect the presence of vehicles up to
approximately 328 ft. (100 m) ahead, determines the current vehicle-
to-vehicle following distance, and operates to maintain a suitable fol-
lowing distance from the vehicle ahead. The desired vehicle-to-vehi-
cle distance can also be set by operating the vehicle-to-vehicle
distance switch.
When driving on downhill slopes, the vehicle-to-vehicle distance may
become shorter.
Example of constant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
Example of deceleration cruising and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears
When a vehicle is detected running ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle speed is nec-
essary, the system applies the brakes (the stop lights will come on at this
time). The system will respond to changes in the speed of the vehicle
ahead in order to maintain the vehicle-to-vehicle distance set by the driver.
Approach warning warns you when the system cannot decelerate suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also stop (vehicle is
stopped by system control). After the vehicle ahead starts off, pressing the
“+RES” switch or depressing the accelerator pedal (start-off operation) will
resume follow-up cruising. If the start-off operation is not performed, system
Driving in vehicle-to-vehicle distance control mode
241
5-5. Using the driving support systems
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control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) or more, the vehicle will accel-
erate to help to overtake a passing vehicle.
The system’s identification of what is an overtaking lane may be determined
solely based on the location of the steering wheel in the vehicle (left side
driver position versus right side driver position.) If the vehicle is driven to a
region where the overtaking lane is on a different side from where the vehi-
cle is normally driven, the vehicle may accelerate when the turn signal lever
is operated in the opposite direction to the overtaking lane (e.g., if the driver
normally operates the vehicle in a region where the overtaking lane is to the
right but then drives to a region where the overtaking lane is to the left, the
vehicle may accelerate when the right turn signal is activated).
Example of acceleration
When there are no longer any preceding vehicles driving slower
than the set speed
The system accelerates until the set speed is reached. The system then
returns to constant speed cruising.
1
Press the cruise control main
switch to activate the cruise
control.
Dynamic radar cruise control indi-
cator will come on and a message
will be displayed on the multi-infor-
mation display. Press the switch
again to deactivate the cruise con-
trol.
If the cruise control main switch is
pressed and held for 1.5 seconds
or more, the system turns on in
constant speed control mode.
(
“Radar Ready”
2
Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 20 mph [30 km/h])
and press the “-SET” switch
to set the speed.
Cruise control “SET” indicator will
come on.
The vehicle speed at the moment
the switch is released becomes the
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)
242
5-5. Using the driving support systems
set speed.
■
Adjusting the set speed by
the switch
To change the set speed, press
the “+RES” or “-SET” switch
until the desired set speed is
displayed.
1
Increases the speed (Except
when the vehicle has been
stopped by system control in
vehicle-to-vehicle distance
control mode)
2
Decreases the speed
Fine adjustment: Press the switch.
Large adjustment: Press and hold
the switch to change the speed,
and release when the desired
speed is reached.
In the vehicle-to-vehicle dis-
tance control mode, the set
speed will be increased or
decreased as follows:
For the U.S. mainland, Hawaii
Fine adjustment: By 1 mph (1.6
km/h)
*1
or 1 km/h (0.6mph)
*2
each
time the switch is pressed
Large adjustment: Increases or
decreases in 1mph (1.6 km/h)
*1
or
1 km/h (0.6 mph)
*2
increments for
as long as the switch is held
Except for the U.S. mainland
and Hawaii
Fine adjustment: By 1 mph (1.6
km/h)
*1
or 1 km/h (0.6mph)
*2
each
time the switch is pressed
Large adjustment: Increases or
decreases in 5 mph (8 km/h)
*1
or 5
km/h (3.1 mph)
*2
increments for as
long as the switch is held
In the constant speed control
mode (
P.245), the set speed
will be increased or decreased
as follows:
Fine adjustment: By 1 mph (1.6
km/h)
*1
or 1 km/h (0.6 mph)
*2
each
time the switch is pressed
Large adjustment: The speed will
continue to change while the switch
is held.
*1
:When the set speed is shown in
“MPH”
*2
:When the set speed is shown in
“km/h”
■
Increasing the set speed by
the accelerator pedal
1
Accelerate with accelerator
pedal operation to the
desired vehicle speed
Adjusting the set speed
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