Toyota Yaris Cross (2022 year). Manual in english — page 15

241

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D

riv

ing

This mode employs a radar to detect the presence of vehicles up to approx-
imately 100 m (328 ft.) ahead, determines the current vehicle-to-vehicle fol-
lowing distance, and operates to maintain a suitable following distance from
the vehicle ahead. The desired vehicle-to-vehicle 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 deceler-
ates your vehicle. When a greater reduction in vehicle speed is necessary, the sys-
tem 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 vehi-
cle-to-vehicle distance set by the driver. Approach warning warns you when the sys-
tem cannot decelerate sufficiently 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 control continues to keep your
vehicle stopped.

Driving in vehicle-to-vehicle distance control mode

242

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4-5. Using the driving support systems

When the turn signal lever is operated and your vehicle moves to an overtaking lane
while driving at 80 km/h (50 mph) or more, the vehicle will accelerate to help to over-
take 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 over-
taking lane is on a different side from where the vehicle is normally driven, the vehi-
cle 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 over-
taking lane is to the left, the vehicle may accelerate when the right turn signal is acti-
vated).

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 con-
trol.

Dynamic radar cruise control indicator

will come on and a message will be dis-

played on the multi-information display.
Press the switch again to deactivate the

cruise control.
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. (



P.245)

“Radar Ready”

2

Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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 set

Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)

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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 con-
trol 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 distance
control mode, the set speed will be

increased or decreased as follows:

Fine adjustment: By 1 km/h (0.6 mph)

*1

or 1 mph (1.6 km/h)

*2

each time the

switch is pressed

Large adjustment: Increases or
decreases in 5 km/h (3.1 mph)

*1

or 5

mph (8 km/h)

*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 km/h (0.6 mph)

*1

or 1 mph (1.6 km/h)

*2

each time the

switch is pressed

Large adjustment: The speed will con-
tinue to change while the switch is held.

*1

: When the set speed is shown in

“km/h”

*2

: When the set speed is shown in

“MPH”

■

Increasing the set speed by
the accelerator pedal

1

Accelerate with accelerator
pedal operation to the desired
vehicle speed

2

Press the “-SET” switch

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

Adjusting the set speed

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

244

n

4-5. Using the driving support systems

1

Long

2

Medium

3

Short

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 80 km/h (50 mph). Vehi-
cle-to-vehicle distance
increases/decreases in accor-
dance with vehicle speed. When
the vehicle is stopped by system
control, the vehicle stops at a cer-
tain vehicle-to-vehicle distance
depending on the situation.

After the vehicle ahead of you
starts off, press the “+RES” switch.

Your vehicle will also resume follow-up
cruising if the accelerator pedal is
depressed after the vehicle ahead of
you starts off.

“Push Cruise Control Switch or

Press Accelerator to Resume”

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

Distance

options

Vehicle-to-vehicle dis-

tance

Long

Approximately 50 m (160

ft.)

Medium

Approximately 40 m (130

ft.)

Short

Approximately 30 m (100

ft.)

Resuming follow-up cruis-
ing when the vehicle has
been stopped by system
control (vehicle-to-vehicle
distance control mode)

Distance

options

Vehicle-to-vehicle dis-

tance

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1

Pressing the cancel switch can-
cels the speed control.

The speed control is also canceled
when the brake pedal is depressed.
(When the vehicle has been stopped by
system control, depressing the brake
pedal does not cancel the setting.)

2

Pressing the “+RES” switch
resumes the cruise control and
returns vehicle speed to the set
speed.

When your vehicle is too close to a
vehicle ahead, and sufficient auto-
matic 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 follow-
ing 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 vehi-
cle-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 con-
trol speed was set



When depressing the accelerator
pedal

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 vehi-
cle-to-vehicle distance control
mode does not function correctly
due to a dirty radar, etc.

1

With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.

Canceling and resuming the
speed control

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

Selecting constant speed
control mode

246

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4-5. Using the driving support systems

Immediately after the switch is pressed,
the dynamic radar cruise control indica-

tor will come on. Afterwards, it switches

to the cruise control indicator.
Switching to constant speed control

mode is only possible when operating

the switch with the cruise control off.

2

Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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 set

speed.
Adjusting the speed setting:



P.243

Canceling and resuming the speed set-

ting:



P.245

When this function is enabled and
the system is operating in vehicle-
to-vehicle distance control mode
(



P.241), when a speed limit sign

is detected, the recognized speed
limit will be displayed with an
up/down arrow. The set speed can
be increased/reduced to the recog-
nized speed limit by pressing and
holding the “+RES”/“-SET” switch.



When the current set speed is
lower than the recognized speed
limit

Press and hold the “+RES” switch.



When the current set speed is
higher than the recognized
speed limit

Dynamic Radar Cruise Con-
trol with Road Sign Assist (if
equipped)

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Press and hold the “-SET” switch.

Dynamic Radar Cruise Control with
Road Sign Assist can be

enabled/disabled in

on the

multi-information display. (



P.457)

When the Dynamic Radar Cruise
Control with Road Sign Assist is
operating, while driving down a hill,
the vehicle speed may exceed the
set speed.
In this case, the displayed set vehi-
cle speed will be highlighted and a
buzzer will sound to alert the driver.

■

Dynamic radar cruise control with
full-speed range can be set when

●

The shift lever is in D.

●

The desired set speed can be set

when the vehicle speed is approxi-
mately 30 km/h (20 mph) or more.

(However, when the vehicle speed is

set while driving at below approxi-
mately 30 km/h [20 mph], the set

speed will be set to approximately 30

km/h [20 mph].)

■

Accelerating after setting the vehi-

cle speed

The vehicle can accelerate by operating
the accelerator pedal. After accelerat-

ing, the set speed resumes. However,

during vehicle-to-vehicle distance con-
trol mode, the vehicle speed may

decrease below the set speed in order

to maintain the distance to the preceding
vehicle.

■

When the vehicle stops while fol-
low-up cruising

●

Pressing the “+RES” switch while the
vehicle ahead stops will resume fol-

low-up cruising if the vehicle ahead

starts off within approximately 3 sec-
onds after the switch is pressed.

●

If the vehicle ahead starts off within 3
seconds after your vehicle stops, fol-

low-up cruising will be resumed.

■

Automatic cancelation of vehicle-

to-vehicle distance control mode

Vehicle-to-vehicle distance control mode

is automatically canceled in the follow-

ing situations.

●

VSC is activated.

●

TRC is activated for a period of time.

●

When the VSC or TRC system is
turned off.

●

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

●

When the brake control or output
restriction control of a driving support

system operates.

(For example: Pre-Collision System,
Drive-Start Control)

●

The parking brake is operated.

●

The vehicle is stopped by system con-

trol on a steep incline.

●

The following are detected when the

vehicle has been stopped by system
control:

• The driver is not wearing a seat belt.

• The driver’s door is opened.
• The vehicle has been stopped for

about 3 minutes

If vehicle-to-vehicle distance control
mode is automatically canceled for any

reasons other than the above, there

may be a malfunction in the system.
Contact any authorized Toyota retailer

or Toyota authorized repairer, or any reli-

able repairer.

■

Automatic cancelation of constant
speed control mode

Constant speed control mode is auto-

matically canceled in the following situa-

Enabling/Disabling the
Dynamic Radar Cruise Con-
trol with Road Sign Assist (if
equipped)

248

n

4-5. Using the driving support systems

tions:

●

Actual vehicle speed is more than

approximately 16 km/h (10 mph)
below the set vehicle speed.

●

Actual vehicle speed falls below
approximately 30 km/h (20 mph).

●

VSC is activated.

●

TRC is activated for a period of time.

●

When the VSC or TRC system is

turned off.

●

When the brake control or output

restriction control of a driving support

system operates.
(For example: Pre-Collision System,

Drive-Start Control)

●

The parking brake is operated.

If constant speed control mode is auto-

matically canceled for any reasons other
than the above, there may be a malfunc-

tion in the system. Contact any autho-

rized Toyota retailer or Toyota
authorized repairer, or any reliable

repairer.

■

The Dynamic Radar Cruise Control

with Road Sign Assist may not
operate properly when (if

equipped)

As the Dynamic Radar Cruise Control
with Road Sign Assist may not operate

properly in conditions in which RSA may

not operate or detect correctly
(



P.266), when using this function,

make sure to check the speed limit sign

displayed.
In the following situations, the set speed

may not be changed to the recognized

speed limit by pressing and holding the
“+RES”/“-SET” switch.

●

If speed limit information is not avail-
able

●

When the recognized speed limit is
the same as the set speed

●

When the recognized speed limit is
outside of the speed range that the

dynamic radar cruise control system

can operate

■

Brake operation

A brake operation sound may be heard

and the brake pedal response may

change, but these are not malfunctions.

■

Warning messages and buzzers for
dynamic radar cruise control with

full-speed range

Warning messages and buzzers are
used to indicate a system malfunction or

to inform the driver of the need for cau-

tion while driving. If a warning message
is shown on the multi-information dis-

play, read the message and follow the

instructions. (



P.215, 413)

■

When the sensor may not be cor-
rectly detecting the vehicle ahead

In the case of the following and depend-

ing 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 cor-

rectly detect these types of vehicles, the

approach warning (



P.245) 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

●

When water or snow thrown up by the
surrounding vehicles hinders the

detecting of the sensor

●

When your vehicle is pointing

upwards (caused by a heavy load in

the luggage compartment, etc.)

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●

Preceding vehicle has an extremely
high ground clearance

■

Conditions under which the vehi-
cle-to-vehicle distance control

mode may not function correctly

In the case of the following conditions,
operate the brake pedal (or accelerator

pedal, depending on the situation) as

necessary.
As the sensor may not be able to cor-

rectly detect vehicles ahead, the system

may not operate properly.

●

When the road curves or when the

lanes are narrow

●

When steering wheel operation or

your position in the lane is unstable

●

When the vehicle ahead of you decel-
erates 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 accel-
erator pedal

250

n

4-5. Using the driving support systems

*

: If equipped

In vehicle-to-vehicle distance con-
trol mode, the vehicle automati-
cally accelerates and decelerates
to match the speed changes of the
preceding vehicle even if the accel-
erator pedal is not depressed. In
constant speed control mode, the
vehicle runs at a fixed speed.
Use the dynamic radar cruise con-
trol on freeways and highways.



Vehicle-to-vehicle distance con-
trol mode (



P.252)



Constant speed control mode
(



P.256)

■

Meter display

Multi-information display

Set speed

Indicators

■

Operation switches

Vehicle-to-vehicle distance

switch

“+RES” switch

Cancel switch

“-SET” switch

Cruise control main switch

Dynamic radar cruise
control

*

Summary of functions

System components

WARNING

■

Before using dynamic radar

cruise control

●

Driving safely is the sole responsi-

bility of the driver. Do not rely solely

on the system, and drive safely by
always paying careful attention to

your surroundings.

●

The dynamic radar cruise control

provides driving assistance to
reduce the driver’s burden. How-

ever, there are limitations to the

assistance provided.

Read the following conditions care-
fully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be cor-

rectly detecting the vehicle ahead:



P.259

• Conditions under which the vehicle-

to-vehicle distance control mode

may not function correctly:



P.260

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WARNING

●

Set the speed appropriately

depending on the speed limit, traffic
flow, road conditions, weather con-

ditions, etc. The driver is responsi-

ble for checking the set speed.

●

Even when the system is function-

ing normally, the condition of the
preceding vehicle as detected by

the system may differ from the con-

dition observed by the driver.
Therefore, the driver must always

remain alert, assess the danger of

each situation and drive safely.
Relying solely on this system or

assuming the system ensures

safety while driving can lead to an
accident, resulting in death or seri-

ous injury.

●

Switch the dynamic radar cruise

control setting to off, using the

cruise control main switch when not
in use.

■

Cautions regarding the driving
assist systems

Observe the following precautions, 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 fol-

lowing distance

The dynamic radar cruise control 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 driving, 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 vehicle’s sur-
roundings.

●

Assisting the driver to judge proper

following distance

The dynamic radar cruise control
determines whether the following dis-
tance between the driver’s own vehi-
cle 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 vig-
ilant and to determine whether or not
there is a possibility of danger in any
given situation.

●

Assisting the driver to operate the

vehicle

The dynamic radar cruise control
does not include functions which will
prevent or avoid collisions with vehi-
cles ahead of your vehicle. Therefore,
if there is ever any possibility of dan-
ger, 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

Do not use dynamic radar cruise con-

trol in any of the following situations.
Doing so may result in inappropriate

speed control and could cause an

accident resulting in death or serious
injury.

●

Roads where there are pedestrians,
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

252

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4-5. Using the driving support systems

This mode employs a radar to detect the presence of vehicles up to approx-
imately 100 m (328 ft.) ahead, determines the current vehicle-to-vehicle fol-
lowing distance, and operates to maintain a suitable following distance from
the vehicle ahead. The desired vehicle-to-vehicle 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.

WARNING

●

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 high-

ways

●

When weather conditions are bad

enough that they may prevent the
sensors from detecting correctly

(fog, snow, sandstorm, heavy rain,

etc.)

●

When there is rain, snow, etc., on

the front surface of the radar or
front camera

●

In traffic conditions that require fre-
quent repeated acceleration and

deceleration

●

When your vehicle is towing a

trailer or during emergency towing

●

When an approach warning buzzer

is heard often

Driving in vehicle-to-vehicle distance control mode

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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 deceler-
ates your vehicle. When a greater reduction in vehicle speed is necessary, the sys-
tem 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 vehi-
cle-to-vehicle distance set by the driver. Approach warning warns you when the sys-
tem cannot decelerate sufficiently to prevent your vehicle from closing in on the
vehicle ahead.
When the turn signal lever is operated and your vehicle moves to an overtaking lane
while driving at 80 km/h (50 mph) or more, the vehicle will accelerate to help to over-
take 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 over-
taking lane is on a different side from where the vehicle is normally driven, the vehi-
cle 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 over-
taking lane is to the left, the vehicle may accelerate when the right turn signal is acti-
vated).

Example of acceleration

When there are no longer any preceding vehicles driving slower than the

254

n

4-5. Using the driving support systems

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 con-
trol.

Dynamic radar cruise control indicator

will come on and a message will be dis-
played on the multi-information display.

Press the switch again to deactivate the

cruise control.
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. (



P.256)

“Radar Ready”

2

Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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 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

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 distance
control mode, the set speed will be

Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)

Adjusting the set speed

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increased or decreased as follows:

Fine adjustment: By 1 km/h (0.6 mph)

*1

or 1 mph (1.6 km/h)

*2

each time the

switch is pressed

Large adjustment: Increases or
decreases in 5 km/h (3.1 mph)

*1

or 5

mph (8 km/h)

*2

increments for as long

as the switch is held

In the constant speed control mode
(



P.256), the set speed will be

increased or decreased as follows:

Fine adjustment: By 1 km/h (0.6 mph)

*1

or 1 mph (1.6 km/h)

*2

each time the

switch is pressed

Large adjustment: The speed will con-
tinue to change while the switch is held.

*1

: When the set speed is shown in

“km/h”

*2

: When the set speed is shown in

“MPH”

■

Increasing the set speed by
the accelerator pedal

1

Accelerate with accelerator
pedal operation to the desired
vehicle speed

2

Press the “-SET” switch

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

1

Long

2

Medium

3

Short

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 80 km/h (50 mph). Vehi-
cle-to-vehicle distance
increases/decreases in accor-
dance with vehicle speed.

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

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

Distance

options

Vehicle-to-vehicle dis-

tance

Long

Approximately 50 m (160

ft.)

Medium

Approximately 40 m (130

ft.)

Short

Approximately 30 m (100

ft.)

256

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4-5. Using the driving support systems

1

Pressing the cancel switch can-
cels the speed control.

The speed control is also canceled
when the brake pedal is depressed.

2

Pressing the “+RES” switch
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 km/h (16 mph) or
less.

When your vehicle is too close to a
vehicle ahead, and sufficient auto-
matic 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 follow-
ing 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 vehi-
cle-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 con-
trol speed was set



When depressing the accelerator
pedal

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 vehi-
cle-to-vehicle distance control
mode does not function correctly
due to a dirty radar, etc.

1

With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.

Canceling and resuming the
speed control

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

Selecting constant speed
control mode