Toyota 4Runner (2020 year). Manual — part 17

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■

If the PCS warning light flashes or illuminates and a warning message is
displayed on the multi-information display

The pre-collision system may be temporarily unavailable or there may be a
malfunction in the system.

●

In the following situations, the warning light will turn off, the message will
disappear and the system will become operational when normal operating
conditions return:
• When the radar sensor or camera sensor or the area around either sen-

sor is hot, such as in the sun

• When the radar sensor or camera sensor or the area around either sen-

sor is cold, such as in an extremely cold environment

• When a front sensor is dirty or covered with snow, etc.
• When the part of the windshield in front of the camera sensor is fogged

up or covered with condensation or ice
(Defogging the windshield:



P. 342, 348)

• If the camera sensor is obstructed, such as when the hood is open or a

sticker is attached to the windshield near the camera sensor

●

If the PCS warning light continues to flash or remains illuminated or the
warning message does not disappear even though the vehicle has returned
to normal, the system may be malfunctioning. Have the vehicle inspected by
your Toyota dealer immediately.

■

If VSC is disabled

●

If VSC is disabled (



P. 323, 324), the pre-collision brake assist and pre-col-

lision braking functions are also disabled.

●

The PCS warning light will turn on and “VSC Turned Off Pre-Collision Brake
System Unavailable” will be displayed on the multi-information display.

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When driving on roads with white (yellow) lines, this function alerts the
driver when the vehicle might depart from its lane.
The LDA system recognizes visi-
ble white (yellow) lines with the
camera sensor on the upper por-
tion of the windshield.

LDA (Lane Departure Alert)

Summary of functions

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◆

Lane departure alert function

When the system determines
that the vehicle might depart
from its lane, a warning is dis-
played on the multi-information
display and the warning buzzer
sounds to alert the driver.

When the warning buzzer
sounds, check the surrounding
road situation and carefully
operate the steering wheel to
move the vehicle back to the
center of the lane.

◆

Vehicle sway warning function

When the vehicle is swaying or
appears as if it may depart from
its lane multiple times, the
warning buzzer sounds and a
message is displayed on the
multi-information display to alert
the driver.

Functions included in LDA system

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WARNING

■

Before using LDA system

Do not rely solely upon the LDA system. The LDA system does not auto-
matically drive the vehicle or reduce the amount of attention that must be
paid to the area in front of the vehicle. The driver must always assume full
responsibility for driving safely by paying careful attention to the surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigued, such as
from driving for a long period of time.
Failure to perform appropriate driving operations and pay careful attention
may lead to an accident, resulting in death or serious injury.

■

To avoid operating LDA system by mistake

When not using the LDA system, use the LDA switch to turn the system off.

■

Situations unsuitable for LDA system

Do not use the LDA system in the following situations.
The system may not operate properly and lead to an accident, resulting in
death or serious injury.

●

A spare tire, tire chains, etc. are equipped.

●

Objects or patterns that could be mistaken for white (yellow) lines are
present on the side of the road (guardrails, curbs, reflective poles, etc.).

●

Vehicle is driven on a snow-covered road.

●

White (yellow) lines are difficult to see due to rain, snow, fog, dust, etc.

●

Asphalt repair marks, white (yellow) line marks, etc. are present due to
road repair.

●

Vehicle is driven in a temporary lane or restricted lane due to construction
work.

●

Vehicle is driven in a construction zone.

■

Preventing LDA system malfunctions and operations performed by
mistake

●

Do not modify the headlights or place stickers, etc. on the surface of the
lights.

●

Do not modify the suspension etc. If the suspension etc. needs to be
replaced, contact your Toyota dealer.

●

Do not install or place anything on the hood or grille. Also, do not install a
grille guard (bull bars, kangaroo bar, etc.).

●

If your windshield needs repairs, contact your Toyota dealer.

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Press the LDA switch to turn the
LDA system on.

The LDA indicator illuminates and
a message is displayed on the
multi-information display.
Press the LDA switch again to turn
the LDA system off.
When the LDA system is turned on
or off, operation of the LDA system
continues in the same condition
the next time the engine is started.

Turning LDA system on

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The illustration used is intended as an example, and may differ from
the image that is actually displayed on the multi-information display.

LDA indicator
The illumination condition of the
indicator informs the driver of
the system operation status.

Illuminated in green:
LDA system is operating.
Flashing in Yellow:
Lane departure alert function is
operating.

Lane departure alert function
display
Displayed when the multi-infor-
mation display is switched to
the driving assist system infor-
mation screen.

Indications on multi-information display

1

2



Inside of displayed white lines
is white



Inside of displayed white lines
is black

Indicates that the system is recog-
nizing white (yellow) lines. When
the vehicle departs from its lane,
the white line displayed on the
side the vehicle departs from
flashes yellow.

Indicates that the system is not
able to recognize white (yellow)
lines or is temporarily canceled.

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Operation conditions of each function

●

Lane departure alert function
This function operates when all of the following conditions are met.
• LDA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• System recognizes white (yellow) lines.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is driven on a straight road or around a gentle curve with a radius

of more than approximately 492 ft. (150 m).

• No system malfunctions are detected. (



P. 272)

●

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”. (



P. 96)

• Vehicle speed is approximately 32 mph (50 km/h) or more.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• No system malfunctions are detected. (



P. 272)

■

Temporary cancellation of functions

When the operation conditions are no longer met, a function may be tempo-
rarily canceled. However, when the operation conditions are met again, oper-
ation of the function is automatically restored. (



P. 270)

■

Lane departure alert function

The warning buzzer may be difficult to hear due to external noise, audio play-
back, etc.

■

Vehicle sway warning function

Depending on the vehicle and road conditions, the warning may not operate.

■

White (yellow) lines are only on one side of road

The LDA system will not operate for the side on which white (yellow) lines
could not be recognized.

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 display.

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Conditions in which functions may not operate properly

In the following situations, the camera sensor may not detect white (yellow)
lines and various functions may not operate normally.

●

There are shadows on the road that run parallel with, or cover, the white
(yellow) lines.

●

The vehicle is driven in an area without white (yellow) lines, such as in front
of a tollgate or checkpoint, or at an intersection, etc.

●

The white (yellow) lines are cracked, “Botts’ dots”, “Raised pavement
marker” or stones are present.

●

The white (yellow) lines cannot be seen or are difficult to see due to sand,
etc.

●

The vehicle is driven on a road surface that is wet due to rain, puddles, etc.

●

The traffic lines are yellow (which may be more difficult to recognize than
lines that are white).

●

The white (yellow) lines cross over a curb, etc.

●

The vehicle is driven on a bright surface, such as concrete.

●

The vehicle is driven on a surface that is bright due to reflected light, etc.

●

The vehicle is driven in an area where the brightness changes suddenly,
such as at the entrances and exits of tunnels, etc.

●

Light from the headlights of an oncoming vehicle, the sun, etc. enters the
camera.

●

The vehicle is driven where the road diverges, merges, etc.

●

The vehicle is driven on a slope.

●

The vehicle is driven on a road which tilts left or right, or a winding road.

●

The vehicle is driven on an unpaved or rough road.

●

The vehicle is driven around a sharp curve.

●

The traffic lane is excessively narrow or wide.

●

The vehicle is extremely tilted due to carrying heavy luggage or having
improper tire pressure.

●

The distance to the preceding vehicle is extremely short.

●

The vehicle is moving up and down a large amount due to road conditions
during driving (poor roads or road seams).

●

The headlight lenses are dirty and emit a faint amount of light at night, or the
beam axis has deviated.

●

The vehicle has just changed lanes or crossed an intersection.

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Warning message

If the following warning message is displayed on the multi-information display
and the LDA indicator illuminates in amber, follow the appropriate trouble-
shooting procedure.

If a different warning message is displayed, follow the instructions displayed
on the screen.

■

Customization

Some functions can be customized. (



P. 547)

Warning message

Details/Actions

“LDA Malfunction

Visit Your Dealer”

The system may not be operating
properly.



Have the vehicle inspected at your
Toyota dealer.

“Front Camera Unavailable”

The operation conditions of the cam-
era sensor (temperature, etc.) are not
met.



When the operation conditions of
the camera sensor (temperature,
etc.) are met, the LDA system will
become available. Turn the LDA
system off, wait for a little while,
and then turn the LDA system back
on.

“LDA Unavailable”

The LDA system is temporarily can-
celed due to a malfunction in a sensor
other than the camera sensor.



Turn the LDA system off and follow
the appropriate troubleshooting
procedures for the warning mes-
sage. Afterward, drive the vehicle
for a short time, and then turn the
LDA system back on.

“LDA Unavailable Below

Approx 32MPH”

The LDA system cannot be used as
the vehicle speed is less than approxi-
mately 32 mph (50 km/h).



Drive the vehicle at approximately
32 mph (50 km/h) or more.

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In vehicle-to-vehicle distance control mode, the vehicle automatically
accelerates and decelerates to match the speed changes of the pre-
ceding 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 on freeways and highways.

●

Vehicle-to-vehicle distance control mode (



P. 277)

●

Constant speed control mode (



P. 282)

Display
Indicators
Set speed
Vehicle-to-vehicle

distance

switch
Cruise control switch

Dynamic radar cruise control

Summary of functions

1

2

3

4

5

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WARNING

■

Before using dynamic radar cruise control

●

Driving safely is the sole responsibility of the driver. Do not rely solely on
the system, and drive safely by always paying careful attention to your sur-
roundings.

●

The dynamic radar cruise control provides 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:



P. 284

• Conditions under which the vehicle-to-vehicle distance control mode

may not function correctly:



P. 285

●

Set the speed appropriately depending on the speed limit, traffic flow, road
conditions, weather conditions, etc. The driver is responsible for checking
the set speed.

●

Even when the system is functioning normally, the condition of the preced-
ing vehicle as detected by the system may differ from the condition
observed by the driver. Therefore, the driver must always remain alert,
assess the danger of each situation and drive safely. Relying on this sys-
tem or assuming the system ensures safety while driving can lead to an
accident, resulting in death or serious injury.

●

Switch the dynamic radar cruise control off using the “ON-OFF” button
when not in use.

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WARNING

■

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 following 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 care-
less 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 surroundings.

●

Assisting the driver to judge proper following distance
The dynamic radar cruise control determines whether the following dis-
tance 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.

●

Assisting the driver to operate the vehicle
The dynamic radar cruise control has limited capability to prevent or avoid
a collision with a vehicle traveling ahead. Therefore, if there is ever any
danger, the driver must take immediate and direct control of the vehicle
and act appropriately in order to ensure the safety of all involved.

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WARNING

■

Situations unsuitable for dynamic radar cruise control

Do not use dynamic radar cruise control in any of the following situations.
Doing so may result in inappropriate speed control and could cause an acci-
dent resulting in death or serious injury.

●

Roads where there are pedestrians, cyclers, 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 prevent the sen-
sors from detecting correctly (fog, snow, sandstorm, heavy rain, etc.)

●

When there is rain, snow, etc. on the front surface of the radar sensor or
camera sensor

●

In traffic conditions that require frequent repeated acceleration and decel-
eration

●

When your vehicle is towing a trailer or during emergency towing

●

When an approach warning buzzer is heard often

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This mode employs a radar sensor to detect the presence of vehicles
up to approximately 320 ft. (100 m) ahead, determines the current
vehicle-to-vehicle following distance, and operates to maintain a suit-
able following distance from the vehicle ahead.

Note that vehicle-to-vehicle distance will close in when traveling on long
downhill slopes.

Example of constant speed cruising
When there are no vehicles ahead

The vehicle travels at the speed set by the driver. The desired vehicle-to-
vehicle distance can also be set by operating the vehicle-to-vehicle dis-
tance switch.

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
necessary, 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.

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.

Driving in vehicle-to-vehicle distance control mode

1

2

3

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Press the “ON-OFF” button to
activate the cruise control.

Radar cruise control indicator will
come on and a message will be
displayed on the multi-information
display.
Press the button again to deacti-
vate the cruise control.
If the “ON-OFF” button is pressed
and held for 1.5 seconds or more,
the system turns on in constant
speed control mode. (



P. 282)

Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 mph
[50 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.

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

1

2

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To change the set speed, operate the lever until the desired set speed
is displayed.

Increases the speed
Decreases the speed

Fine adjustment: Momentarily
move the lever in the desired
direction.
Large adjustment: Hold the lever
up or down 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:



For U.S. mainland and Hawaii

Fine adjustment: By 1 mph (1.6 km/h)

*

1

or 1 km/h (0.6 mph)

*

2

each time

the lever is operated
Large adjustment: Increases or decreases in 1 mph (1.6 km/h)

*

1

or 1 km/h

(0.6 mph)

*

2

increments for as long as the lever is held



Except for U.S. mainland and Hawaii

Fine adjustment: By 1 mph (1.6 km/h)

*

1

or 1 km/h (0.6 mph)

*

2

each time

the lever is operated
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 lever is held

In the constant speed control mode (



P. 282), 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 lever is operated
Large adjustment: The speed will continue to change while the lever is
held.

*

1

: When the set speed is shown in “MPH”

*

2

: When the set speed is shown in “km/h”

Adjusting the set speed

1

2