Toyota C-HR (2021 year). Manual in english — part 4

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■

Daytime running light system

●

The daytime running lights illuminate using the same lights as the parking

lights and illuminate brighter than the parking lights. (On some models:

Using the same lights as the headlights and illuminate darker than the head-

lights.)

●

To make your vehicle more visible to other drivers during daytime driving,

the daytime running lights turn on automatically when all of the following

conditions are met. (The daytime running lights are not designed for use at

night.)
• The engine is running
• The parking brake is released
• The headlight switch is in the

or “AUTO”

*

position

*

: When the surroundings are bright

The daytime running lights remain on after they illuminate, even if the parking
brake is set again.

●

For the U.S.A.: Daytime running lights can be turned off by operating the

switch.

●

Compared to turning on the headlights, the daytime running light system

offers greater durability and consumes less electricity, so it can help improve

fuel economy.

■

Headlight control sensor

The sensor may not function properly if an

object is placed on the sensor, or anything

that blocks the sensor is affixed to the

windshield.

Doing so interferes with the sensor

detecting the level of ambient light and

may cause the automatic headlight sys-

tem to malfunction.

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Automatic light off system



Vehicles without a smart key system

●

When the headlights are on: The headlights and tail lights turn off 30 sec-

onds after the engine switch is turned to the “ACC” or “LOCK” position and a
door is opened and closed. (The lights turn off immediately if

on the

key is pressed after all the doors are locked.)

●

When only the tail lights are on: The tail lights turn off automatically if the

engine switch is turned to the “ACC” or “LOCK” position and the driver’s

door is opened.

To turn the lights on again, turn the engine switch to “ON” position, or turn the
light switch to

once and then back to

or

.

If any of the doors is kept open, the lights automatically turn off after 20 min-

utes.



Vehicles with a smart key system

●

When the headlights come on: The headlights and tail lights turn off 30 sec-

onds after a door is opened and closed if the engine switch is turned to
ACCESSORY mode or turned off. (The lights turn off immediately if

on

the key is pressed after all the doors are locked.)

●

When only the tail lights come on: The tail lights turn off automatically if the

engine switch is turned to ACCESSORY mode or turned off and the driver’s

door is opened.

To turn the lights on again, turn the engine switch to IGNITION ON mode, or
turn the light switch to

once and then back to

or

.

If any of the doors is kept open, the lights automatically turn off after 20 min-

utes.

■

Light reminder buzzer



Vehicles without a smart key system

A buzzer sounds when the engine switch is turned to “LOCK” position and the
driver’s door is opened while the lights are turned on.



Vehicles with a smart key system

A buzzer sounds and a message appears when the engine switch is turned
off or turned to ACCESSORY mode and the driver’s door is opened while the
lights are turned on.

■

Automatic headlight leveling system (vehicles with Adaptive Front-lighting
System)

The level of the headlights is automatically adjusted according to the number
of passengers and the loading condition of the vehicle to ensure that the
headlights do not interfere with other road users.

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Battery-saving function

In the following conditions, the headlights and the other remaining lights will
go off automatically after 20 minutes in order to prevent the vehicle battery
from being discharged:

●

The headlights and/or tail lights are on.

●

Vehicles without a smart key system: The engine switch is turned to the
“ACC” position or turned off.
Vehicles with a smart key system: The engine switch is turned to ACCES-
SORY mode or turned off.

●

The light switch is in

or

.

This function will be canceled in any of the following situations:

●

Vehicles without a smart key system: The engine switch is turned to the
“ON” position.
Vehicles with a smart key system: The engine switch is turned to IGNITION
ON.

●

When the light switch is operated.

●

When the door is opened or closed.

■

If “Headlight System Malfunction. Visit Your Dealer.” is displayed on the
multi-information display

The system may be malfunctioning. Have the vehicle inspected by your
Toyota dealer.

■

Customization

Settings (e.g. light sensor sensitivity) can be changed.
(Customizable features:



P. 507)

NOTICE

■

To prevent battery discharge

Do not leave the lights on longer than necessary when the engine is not
running.

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Automatic High Beam

Push the lever away from you
with the headlight switch in the

or

position.

Press the Automatic High
Beam switch.

The Automatic High Beam indica-
tor will come on when the head-
lights are turned on automatically
to indicate that the system is
active.

The Automatic High Beam uses an in-vehicle front camera to
assess the brightness of streetlights, the lights of vehicles
ahead etc., and automatically turns the high beam on or off as
necessary.

WARNING

■

Limitations of the Automatic High Beam

Do not rely on the Automatic High Beam. Always drive safely, taking care to
observe your surroundings and turning the high beam on or off manually if
necessary.

■

To prevent incorrect operation of the Automatic High Beam system

Do not overload the vehicle.

Activating the Automatic High Beam system

1

2

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Switching to low beam

Pull the lever to the original
position.

The Automatic High Beam indi-
cator will turn off.
Push the lever away from you to
activate the Automatic High
Beam system again.

■

Switching to high beam

Press the Automatic High
Beam switch.

The Automatic High Beam indi-
cator will turn off and the high
beam indicator will turn on.
Press the switch to activate the
Automatic High Beam system
again.

Turning the high beam on/off manually

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High beam automatic turning on or off conditions

●

When all of the following conditions are fulfilled, the high beam will be auto-
matically turned on (after approximately 1 second):
• Vehicle speed is above approximately 21 mph (34 km/h).
• The area ahead of the vehicle is dark.
• There are no vehicles ahead with headlights or tail lights turned on.
• There are few streetlights on the road ahead.

●

If any of the following conditions are fulfilled, the high beam will be automat-
ically turned off:
• Vehicle speed drops below approximately 17 mph (27 km/h).
• The area ahead of the vehicle is not dark.
• Vehicles ahead have headlights or tail lights turned on.
• There are many streetlights on the road ahead.

■

front camera detection information

●

The high beam may not be automatically turned off in the following situa-
tions:
• When oncoming vehicles suddenly appear from a curve
• When the vehicle is cut off in front of by another vehicle
• When vehicles ahead are hidden from sight due to repeated curves, road

dividers or roadside trees

• When vehicles ahead appear from the faraway lane on wide road
• When vehicles ahead have no lights

●

The high beam may be turned off if a vehicle ahead that is using fog lights
without using the headlights is detected.

●

House lights, street lights, traffic signals, and illuminated billboards or signs
may cause the high beam to switch to the low beams, or the low beams to
remain on.

●

The following factors may affect the amount of time taken to turn the high
beam on or off:
• The brightness of headlights, fog lights, and tail lights of vehicles ahead
• The movement and direction of vehicles ahead
• When a vehicle ahead only has operational lights on one side
• When a vehicle ahead is a two-wheeled vehicle
• The condition of the road (gradient, curve, condition of the road surface,

etc.)

• The number of passengers and amount of luggage

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●

The high beam may be turned on or off when the driver does not expect it.

●

Bicycles or similar objects may not be detected.

●

In the situations shown below, the system may not be able to accurately
detect surrounding brightness levels. This may cause the low beams to
remain on or the high beams to cause problems for pedestrians, vehicles
ahead or other parties. In these cases, manually switch between the high
and low beams.
• In bad weather (rain, snow, fog, sandstorms, etc.)
• The windshield is obscured by fog, mist, ice, dirt, etc.
• The windshield is cracked or damaged.
• The front camera is deformed or dirty.
• The front camera temperature is extremely high.
• Surrounding brightness levels are equal to those of headlights, tail lights

or fog lights.

• Vehicles ahead have headlights that are either switched off, dirty, are

changing color, or are not aimed properly.

• When driving through an area of intermittently changing brightness and

darkness.

• When frequently and repeatedly driving ascending/descending roads, or

roads with rough, bumpy or uneven surfaces (such as stone-paved
roads, gravel tracks, etc.).

• When frequently and repeatedly taking curves or driving on a winding

road.

• There is a highly reflective object ahead of the vehicle, such as a sign or

a mirror.

• The back of a vehicle ahead is highly reflective, such as a container on a

truck.

• The vehicle’s headlights are damaged or dirty.
• The vehicle is listing or tilting, due to a flat tire, a trailer being towed etc.
• The high beam and low beam are repeatedly being switched between in

an abnormal manner.

• The driver believes that the high beam may be causing problems or dis-

tress to other drivers or pedestrians nearby.

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Temporarily lowering sensor sensitivity

The sensitivity of the sensor can be temporarily lowered.

Turn the engine switch off while the following conditions are met.

• The headlight switch is in

or

.

• The headlight switch lever is in high beam position.
• Automatic High Beam switch is on.
Turn the engine switch to ON mode.
Within 30 seconds after

, repeat pulling the headlight switch lever to the

original position then pushing it to the high beam position quickly 10 times,
then leave the lever in high beam position.
If the sensitivity is changed, the Automatic High Beam indicator is turn on
and off 3 times.

Automatic High Beam (headlights) may turn on even the vehicle is stopped.

■

If “Headlight System Malfunction. Visit Your Dealer.” is displayed on the
multi-information display

The system may be malfunctioning. Have the vehicle inspected by your
Toyota dealer.

1

2

3

2

4

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Fog light switch



*

1

or

*

2

Turns the front fog lights off

Turns the front fog lights on

*

1

: For U.S.A.

*

2

: For Canada

■

Fog lights can be used when

The headlights are turned on.



: If equipped

The fog lights secure excellent visibility in difficult driving con-
ditions, such as in rain and fog.

Operating instructions

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Windshield wipers and washer

Operating the

lever operates the wipers or washer as follows:

When intermittent windshield wiper operation is selected, the wiper
interval can be also adjusted.

*

1

or

*

2

Off

*

1

or

*

2

Intermittent windshield wiper
operation

*

1

or

*

2

Low speed windshield wiper
operation

*

1

or

*

2

High speed windshield wiper
operation

*

1

or

*

2

Temporary operation

*

1

: For U.S.A.

*

2

: For Canada

Operating the wiper lever

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Wiper intervals can be adjusted when intermittent operation is
selected.

Increases the intermittent wind-
shield wiper frequency
Decreases

the

intermittent

windshield wiper frequency

Washer/wiper dual oper-
ation

Pulling the lever operates
the wipers and washer.
Wipers will automatically
operate a couple of times
after the washer squirts.

■

The windshield wiper and washer can be operated when



Vehicles without a smart key system

The engine switch is in the “ON” position.



Vehicles with a smart key system

The engine switch is in IGNITION ON mode.

■

If no windshield washer fluid sprays

Check that the washer nozzles are not blocked if there is washer fluid in the
windshield washer fluid reservoir.

6

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WARNING

■

Caution regarding the use of washer fluid

When it is cold, do not use the washer fluid until the windshield becomes
warm. The fluid may freeze on the windshield and cause low visibility. This
may lead to an accident, resulting in death or serious injury.

NOTICE

■

When the windshield is dry

Do not use the wipers, as they may damage the windshield.

■

When there is no washer fluid spray from the nozzle

Damage to the washer fluid pump may be caused if the lever is pulled
toward you and held continually.

■

When a nozzle becomes blocked

In this case, contact your Toyota dealer.
Do not try to clear it with a pin or other object. The nozzle will be damaged.

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Rear window wiper and washer

Operating the

switch turns on the rear wiper as follows:

*

1

or

*

2

Off

*

1

or

*

2

Intermittent window wiper oper-
ation

*

1

or

*

2

Normal window wiper operation

*

1

: For U.S.A.

*

2

: For Canada

Washer/wiper dual oper-
ation

Pushing the lever operates
the wiper and washer.
The wiper will automati-
cally operate a couple of
times after the washer
squirts.

Operating instructions

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The rear window wiper and washer can be operated when



Vehicles without a smart key system

The engine switch is in the “ON” position.



Vehicles with a smart key system

The engine switch is in IGNITION ON mode.

■

If no windshield washer fluid sprays

Check that the washer nozzle is not blocked if there is washer fluid in the
windshield washer fluid reservoir.

NOTICE

■

When the rear window is dry

Do not use the wiper, as it may damage the rear window.

■

When the washer fluid tank is empty

Do not operate the switch continually as the washer fluid pump may over-
heat.

■

When a nozzle becomes blocked

In this case, contact your Toyota dealer.
Do not try to clear it with a pin or other object. The nozzle will be damaged.

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Opening the fuel tank cap

●

Vehicles without a smart key system
Turn the engine switch to the “LOCK” position and ensure that all
the doors and windows are closed.

●

Vehicles with a smart key system
Turn the engine switch off and ensure that all the doors and win-
dows are closed.

●

Confirm the type of fuel.

■

Fuel types



P. 484

■

Fuel tank opening for unleaded gasoline

To help prevent incorrect fueling, your vehicle has a fuel tank opening that
only accommodates the special nozzle on unleaded fuel pumps.

■

If the malfunction indicator lamp illuminates

The malfunction indicator lamp may illuminate erroneously if refueling is per-
formed repeatedly when the fuel tank is nearly full.

Perform the following steps to open the fuel tank cap:

Before refueling the vehicle

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WARNING

■

When refueling the vehicle

Observe the following precautions while refueling the vehicle. Failure to do
so may result in death or serious injury.

●

After exiting the vehicle and before opening the fuel door, touch an
unpainted metal surface to discharge any static electricity. It is important to
discharge static electricity before refueling because sparks resulting from
static electricity can cause fuel vapors to ignite while refueling.

●

Always hold the grips on the fuel tank cap and turn it slowly to remove it.
A whooshing sound may be heard when the fuel tank cap is loosened.
Wait until the sound cannot be heard before fully removing the cap. In hot
weather, pressurized fuel may spray out the filler neck and cause injury.

●

Do not allow anyone that has not discharged static electricity from their
body to come close to an open fuel tank.

●

Do not inhale vaporized fuel.
Fuel contains substances that are harmful if inhaled.

●

Do not smoke while refueling the vehicle.
Doing so may cause the fuel to ignite and cause a fire.

●

Do not return to the vehicle or touch any person or object that is statically
charged.
This may cause static electricity to build up, resulting in a possible ignition
hazard.

■

When refueling

Observe the following precautions to prevent fuel overflowing from the fuel
tank:

●

Securely insert the fuel nozzle into the fuel filler neck.

●

Stop filling the tank after the fuel nozzle automatically clicks off.

●

Do not top off the fuel tank.

NOTICE

■

Refueling

Do not spill fuel during refueling.
Doing so may damage the vehicle, such as causing the emission control
system to operate abnormally, or damaging fuel system components, or the
vehicle’s painted surface.

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Press the opener to open the
fuel filler door.

Turn the fuel tank cap slowly to
remove it and hang it on the
back of the fuel filler door.

■

When the fuel filler door cannot be opened

Opening the fuel tank cap

1

2

Open the back door and remove the
cover underneath the luggage compart-
ment light.

Pull the lever backward and check that
the fuel filler door opens.

1

2

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After refueling, turn the fuel tank
cap until you hear a click. Once
the cap is released, it will turn
slightly in the opposite direction.

Closing the fuel tank cap

WARNING

■

When replacing the fuel tank cap

Do not use anything but a genuine Toyota fuel tank cap designed for your
vehicle. Doing so may cause a fire or other incident which may result in
death or serious injury.

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Toyota Safety Sense 2.5

■

PCS (Pre-Collision System)



P. 231

■

LTA (Lane Tracing Assist)



P. 246

■

AHB (Automatic High Beam)



P. 209

■

RSA (Road Sign Assist) (if equipped)



P. 261

■

Dynamic radar cruise control with full-speed range



P. 266

The Toyota Safety Sense 2.5 consists of the following drive
assist systems and contributes to a safe and comfortable driv-
ing experience:

Driving assist system

WARNING

■

Toyota Safety Sense 2.5

The Toyota Safety Sense 2.5 is designed to operate under the assumption
that the driver will drive safely, and is designed to help reduce the impact to
the occupants and the vehicle in the case of a collision or assist the driver in
normal driving conditions.
As there is a limit to the degree of recognition accuracy and control perfor-
mance that this system can provide, do not overly rely on this system. The
driver is always responsible for paying attention to the vehicle’s surround-
ings and driving safely.

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Two types of sensors, located behind the front grille and windshield,
detect information necessary to operate the drive assist systems.

Radar sensor
Front camera

Sensors

WARNING

■

To avoid malfunction of the radar sensor

Observe the following precautions.
Otherwise, the radar sensor may not operate properly, possibly leading to
an accident resulting in death or serious injury.

●

Keep the radar sensor and the radar sensor cover clean at all times.

Radar sensor
Radar sensor cover

If the front of the radar sensor or the
front or back of the radar sensor cover
is dirty or covered with water droplets,
snow, etc., clean it.
Clean the radar sensor and radar sen-
sor cover with a soft cloth to avoid
damaging them.

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WARNING

●

Do not attach accessories, stickers (including transparent stickers) or
other items to the radar sensor, radar sensor cover or surrounding area.

●

Do not subject the radar sensor or its surrounding area to a strong impact.
If the radar sensor, front grille, or front bumper has been subjected to a
strong impact, have the vehicle inspected by your Toyota dealer.

●

Do not disassemble the radar sensor.

●

Do not modify or paint the radar sensor or radar sensor cover.

●

In the following cases, the radar sensor must be recalibrated. Contact your
Toyota dealer for details.
• When the radar sensor or front grille are removed and installed, or

replaced

• When the front bumper is replaced

■

To avoid malfunction of the front camera

Observe the following precautions.
Otherwise, the front camera may not operate properly, possibly leading to
an accident resulting in death or serious injury.

●

Keep the windshield clean at all times.
• If the windshield is dirty or covered with an oily film, water droplets,

snow, etc., clean the windshield.

• If a glass coating agent is applied to the windshield, it will still be neces-

sary to use the windshield wipers to remove water droplets, etc. from
the area of the windshield in front of the front camera.

• If the inner side of the windshield where the front camera is installed is

dirty, contact your Toyota dealer.

B: Approximately 7.9 in. (20 cm) (Approximately 4.0 in. (10 cm) to the

right and left from the center of the front camera)

●

Do not attach objects, such as stickers,
transparent stickers, etc., to the outer
side of the windshield in front of the
front camera (shaded area in the illus-
tration).
A: From the top of the windshield to

approximately 0.4 in. (1 cm) below
the bottom of the front camera

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WARNING

●

If the part of the windshield in front of the front camera is fogged up or cov-
ered with condensation, or ice, use the windshield defogger to remove the
fog, condensation, or ice. (



P. 315)

●

If water droplets cannot be properly removed from the area of the wind-
shield in front of the front camera by the windshield wipers, replace the
wiper insert or wiper blade.

●

Do not attach window tint to the windshield.

●

Replace the windshield if it is damaged or cracked.
After replacing the windshield, the front camera must be recalibrated. Con-
tact your Toyota dealer for details.

●

Do not allow liquids to contact the front camera.

●

Do not allow bright lights to shine into the front camera.

●

Do not dirty or damage the front camera.
When cleaning the inside of the windshield, do not allow glass cleaner to
contact the lens of the front camera. Also, do not touch the lens.
If the lens is dirty or damaged, contact your Toyota dealer.

●

Do not subject the front camera to a strong impact.

●

Do not change the installation position or direction of the front camera or
remove it.

●

Do not disassemble the front camera.

●

Do not modify any components of the vehicle around the front camera
(inside rear view mirror, etc.) or ceiling.

●

Do not attach any accessories to the hood, front grille or front bumper that
may obstruct the front camera. Contact your Toyota dealer for details.

●

If a surfboard or other long object is to be mounted on the roof, make sure
that it will not obstruct the front camera.

●

Do not modify the headlights or other lights.

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Certification



For vehicles sold in the U.S.A.



For vehicles sold in the Canada

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If a warning message is displayed on the multi-information display

A system may be temporarily unavailable or there may be a malfunction in
the system.

●

In the following situations, perform the actions specified in the table. When
the normal operating conditions are detected, the message will disappear
and the system will become operational.

If the message does not disappear, contact your Toyota dealer.

Situation

Actions

When the area around a camera
is covered with dirt, moisture
(fogged up, covered with con-
densation, ice, etc.), or other for-
eign matter

Using the wiper and A/C function, remove
the dirt and other attached matter.
(



P. 315)

When the temperature around
the front camera is outside of
the operational range, such as
when the vehicle is in the sun or
in an extremely cold environ-
ment

If the front camera is hot, such as after the
vehicle had been parked in the sun, use
the air conditioning system to decrease
the temperature around the front camera.
If a sunshade was used when the vehicle
was parked, depending on its type, the
sunlight reflected from the surface of the
sunshade may cause the temperature of
the front camera to become excessively
high.

If the front camera is cold, such after the
vehicle is parked in an extremely cold
environment, use the air conditioning sys-
tem to increase the temperature around
the front camera.

The area in front of the front
camera is obstructed, such as
when the hood is open or a
sticker is attached to the part of
the windshield in front of the
front camera.

Close the hood, remove the sticker, etc. to
clear the obstruction.

When “Pre-Collision System
Radar in self calibration Unavail-
able See owner’s manual.” is
displayed.

Check whether there is attached materi-
als on the radar and radar cover, and if
there is, remove it.

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●

In the following situations, if the situation has changed (or the vehicle has
been driven for some time) and the normal operating conditions are
detected, the message will disappear and the system will become opera-
tional.

If the message does not disappear, contact your Toyota dealer.

• When the temperature around the radar sensor is outside of the opera-

tional range, such as when the vehicle is in the sun or in an extremely
cold environment

• When the front camera cannot detect objects in front of the vehicle, such

as when driving in the dark, snow, or fog, or when bright lights are shining
into the front camera

• Depending on the conditions in the vicinity of the vehicle, the radar may

judge the surrounding environment can not be properly recognized. In
that case, “Pre-Collision System Unavailable See owner’s manual.” is
displayed.

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PCS (Pre-Collision System)

The system can detect the following (The detectable objects differs
depending on the function.):

●

Vehicles

●

Bicyclists

●

Pedestrians

The pre-collision system uses a radar sensor and front camera
to detect objects (



P. 231) in front of the vehicle. When the sys-

tem determines that the possibility of a frontal collision with an
object is high, a warning operates to urge the driver to take eva-
sive action and the potential brake pressure is increased to help
the driver avoid the collision. If the system determines that the
possibility of a frontal collision with an object is extremely high,
the brakes are automatically applied to help avoid the collision
or help reduce the impact of the collision.

The pre-collision system can be disabled/enabled and the warning
timing can be changed. (



P. 236)

Detectable objects

232

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Pre-collision warning

When the system determines
that the possibility of a frontal
collision is high, a buzzer will
sound and a warning message
will be displayed on the multi-
information display to urge the
driver to take evasive action.

■

Pre-collision brake assist

When the system determines that the possibility of a frontal colli-
sion is high, the system applies greater braking force in relation to
how strongly the brake pedal is depressed.

■

Pre-collision braking

If the system determines that the possibility of a frontal collision is
extremely high, the brakes are automatically applied to help avoid
the collision or reduce the impact of the collision.

■

Emergency steering assist

If the system determines that the possibility of a collision with a
pedestrian is high and that there is sufficient space for the vehicle
to be steered into within its lane, and the driver has begun evasive
maneuver or steering, emergency steering assist will assist the
steering movements to help enhance the vehicle stability and for
lane departure prevention.

System functions

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Intersection right/left turn assistance

If the system determines that there is a high possibility of a collision
in the following situations, it will assist with Pre-collision warning
and, if necessary Pre-collision braking.
Depending on the configuration of the intersection, it may not be
possible to support.

●

When you turn right/left at an
intersection and cross the
path of an oncoming vehicle

●

When you turn right/left,
pedestrian is detected in the
forward direction and esti-
mated to enter your vehicle’s
path (bicyclists are not
detected.)

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WARNING

■

Limitations of the pre-collision system

●

The driver is solely responsible for safe driving. Always drive safely, taking
care to observe your surroundings.
Do not use the pre-collision system instead of normal braking operations
under any circumstances. This system will not prevent collisions or lessen
collision damage or injury in every situation. Do not overly rely on this sys-
tem. Failure to do so may lead to an accident, resulting in death or serious
injury.

●

Although this system is designed to help avoid a collision or help reduce
the impact of the collision, its effectiveness may change according to vari-
ous conditions, therefore the system may not always be able to achieve
the same level of performance.
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• Conditions under which the system may operate even if there is no pos-

sibility of a collision:



P. 240

• Conditions under which the system may not operate properly:



P. 242

●

Do not attempt to test the operation of the pre-collision system yourself.
Depending on the objects used for testing (dummies, cardboard objects
imitating detectable objects, etc.), the system may not operate properly,
possibly leading to an accident.

■

Pre-collision braking

●

When the pre-collision braking function is operating, a large amount of
braking force will be applied.

●

If the vehicle is stopped by the operation of the pre-collision braking func-
tion, the pre-collision braking function operation will be canceled after
approximately 2 seconds. Depress the brake pedal as necessary.

●

The pre-collision braking function may not operate if certain operations are
performed by the driver. If the accelerator pedal is being depressed
strongly or the steering wheel is being turned, the system may determine
that the driver is taking evasive action and possibly prevent the pre-colli-
sion braking function from operating.

●

In some situations, while the pre-collision braking function is operating,
operation of the function may be canceled if the accelerator pedal is
depressed strongly or the steering wheel is turned and the system deter-
mines that the driver is taking evasive action.

●

If the brake pedal is being depressed, the system may determine that the
driver is taking evasive action and possibly delay the operation timing of
the pre-collision braking function.

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WARNING

■

Emergency steering assist

●

As emergency steering assist operation will be canceled when the system
determines that lane departure prevention function has been completed.

●

Emergency steering assist may not operate or may be cancel in the follow-
ing cases as the system may determine the driver is taking actions.
• If the accelerator pedal is being depressed strongly, the steering wheel

is being operated sharply, the brake pedal is being depressed or the
turn signal lever is being operated. In this case, the system may deter-
mine that the driver is taking evasive action and the emergency steering
assist may not operate.

• In some situations, while the emergency steering assist is operating,

operation of the function may be canceled if the accelerator pedal is
depressed strongly, the steering wheel is operated sharply or the brake
pedal is being depressed and the system determines that the driver is
taking evasive action.

• When the emergency steering assist is operating, if the steering wheel

is held firmly or is operated in the opposite direction to that which the
system is generating torque, the function may be canceled.

■

When to disable the pre-collision system

In the following situations, disable the system, as it may not operate prop-
erly, possibly leading to an accident resulting in death or serious injury:

●

When the vehicle is being towed

●

When your vehicle is towing another vehicle

●

When transporting the vehicle via truck, boat, train or similar means of
transportation

●

When the vehicle is raised on a lift with the engine running and the tires
are allowed to rotate freely

●

When inspecting the vehicle using a drum tester such as a chassis dyna-
mometer or speedometer tester, or when using an on vehicle wheel bal-
ancer

●

When a strong impact is applied to the front bumper or front grille, due to
an accident or other reasons

●

If the vehicle cannot be driven in a stable manner, such as when the vehi-
cle has been in an accident or is malfunctioning

●

When the vehicle is driven in a sporty manner or off-road

●

When the tires are not properly inflated

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Enabling/disabling the pre-collision system

The pre-collision system can be enabled/disabled on

(



P. 507)

of the multi-information display.

The system is automatically enabled each time the engine switch is
turned to the “ON” position (vehicles without a smart key system) or
turned to IGNITION ON mode (vehicles with a smart key system).

If the system is disabled, the
PCS warning light will turn on
and a message will be dis-
played on the multi-information
display.

WARNING

●

When the tires are very worn

●

When tires of a size other than specified are installed

●

When tire chains are installed

●

When a compact spare tire or an emergency tire puncture repair kit is used

●

If equipment (snow plow, etc.) that may obstruct the radar sensor or front
camera is temporarily installed to the vehicle

Changing settings of the pre-collision system

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Changing the pre-collision warning timing

The pre-collision warning timing can be changed on

(



P. 507)

of the multi-information display.

The warning timing setting is retained when the engine switch is turned
off. However, if the pre-collision system is disabled and re-enabled, the
operation timing will return to the default setting (middle).

If the pre-collision warning timing is changed, emergency steering
assist timing will also be changed accordingly.
If late is selected, emergency steering assist would not operate in
case of an emergency.

Early
Middle

This is the default setting.

Late

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Operational conditions for each pre-collision function

The pre-collision system is enabled and the system determines that the pos-
sibility of a frontal collision with a detected object is high.
The system may not operate in the following situations:

• If a battery terminal has been disconnected and reconnected and then

the vehicle has not been driven for a certain amount of time

• If the shift lever is in R
• When the VSC OFF indicator is illuminated (only the pre-collision warning

function will be operational)

The operation speeds and operation cancellation for each function is listed
below.

●

Pre-collision warning

●

Pre-collision brake assist

●

Pre-collision braking

If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:

• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Vehicles

Approx. 7 to 110 mph (10

to 180 km/h)

Approx. 7 to 110 mph (10

to 180 km/h)

Bicyclists and

pedestrians

Approx. 7 to 50 mph (10

to 80 km/h)

Approx. 7 to 50 mph (10

to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Vehicles

Approx. 20 to 110 mph (30

to 180 km/h)

Approx. 20 to 110 mph (30

to 180 km/h)

Bicyclists and

pedestrians

Approx. 20 to 50 mph (30

to 80 km/h)

Approx. 20 to 50 mph (30

to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Vehicles

Approx. 7 to 110 mph (10

to 180 km/h)

Approx. 7 to 110 mph (10

to 180 km/h)

Bicyclists and

pedestrians

Approx. 7 to 50 mph (10

to 80 km/h)

Approx. 7 to 50 mph (10

to 80 km/h)

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Emergency steering assist
When the turn signal lights are flashing, emergency steering assist will not
operate in case of an emergency.

If any of the following occur while the emergency steering assist function is
operating, it will be canceled:

• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
• The brake pedal is depressed.

●

Intersection right/left turn assistance (pre-collision warning)
When the turn signal lights are not flashing, support for turning left or right
at an intersection which targets oncoming vehicles does not work.

●

Intersection right/left turn assistance (pre-collision braking)
When the turn signal lights are not flashing, support for turning left or right
at an intersection which targets oncoming vehicles does not work.

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Pedestrians

Approx. 25 to 50 mph (40

to 80 km/h)

Approx. 25 to 50 mph (40

to 80 km/h)

Detectable

objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your

vehicle and object

Vehicles

Approx. 7 to

15 mph (10 to

25 km/h)

Approx. 20 to

35 mph (30 to

55 km/h)

Approx. 25 to

50 mph (40 to

80 km/h)

Pedestrians

Approx. 7 to

15 mph (10 to

25 km/h)

-

Approx. 7 to 15 mph

(10 to 25 km/h)

Detectable

objects

Vehicle speed

Oncoming vehicle

speed

Relative speed

between your

vehicle and object

Vehicles

Approx. 10 to

15 mph (15 to

25 km/h)

Approx. 20 to

28 mph (30 to

45 km/h)

Approx. 28 to

43 mph (45 to

70 km/h)

Pedestrians

Approx. 7 to

15 mph (10 to

25 km/h)

-

Approx. 7 to 15 mph

(10 to 25 km/h)

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Object detection function

■

Conditions under which the system may operate even if there is no pos-
sibility of a collision

●

In some situations such as the following, the system may determine that
there is a possibility of a frontal collision and operate.
• When passing a detectable object, etc.
• When changing lanes while overtaking a detectable object, etc.

• When rapidly closing on a detectable object, etc.
• When approaching objects on the roadside, such as detectable objects,

guardrails, utility poles, trees, or walls

• When there are patterns or paint in front of your vehicle that may be mis-

taken for a detectable object

• When the front of your vehicle is hit by water, snow, dust, etc.

The system detects objects based on
their size, profile, motion, etc. However,
an object may not be detected depending
on the surrounding brightness and the
motion, posture, and angle of the
detected object, preventing the system
from operating properly. (



P. 242)

The illustration shows an image of detect-
able objects.

• When approaching a detectable

object in an adjacent lane or on the
roadside, such as when changing the
course of travel or driving on a wind-
ing road

• When there is a detectable object or

other object by the roadside at the
entrance of a curve

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• When a detectable object approaches very close and then stops before

entering the path of your vehicle

• If the front of your vehicle is raised or lowered, such as when on an

uneven or undulating road surface

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

on an iron bridge

• When there is a metal object (manhole cover, steel plate, etc.), steps, or a

protrusion in front of your vehicle

• When approaching an electric toll gate barrier, parking area barrier, or

other barrier that opens and closes

• When using an automatic car wash

• When overtaking a detectable object

that is changing lanes or making a
right/left turn

• When passing a detectable object in

an oncoming lane that is stopped to
make a right/left turn

• When passing under an object (road

sign, billboard, etc.)

• When driving through or under

objects that may contact your vehicle,
such as thick grass, tree branches, or
a banner

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• When driving through steam or smoke
• When driving near an object that reflects radio waves, such as a large

truck or guardrail

• When driving near a TV tower, broadcasting station, electric power plant,

radar equipped vehicles, etc., or other location where strong radio waves
or electrical noise may be present

• When there are many things which can reflect the radio waves of the

radar in the vicinity (tunnels, truss bridges, gravel roads, snow covered
road that have tracks, etc.)

• While making a right/left turn, when an oncoming vehicle or a crossing

pedestrian has already exited the path of your vehicle

• While making a right/left turn, closely in front of an oncoming vehicle or a

crossing pedestrian

• While making a right/left turn, when an oncoming vehicle or a crossing

pedestrian stops before entering the path of your vehicle

• While steering into the direction of oncoming traffic

■

Situations in which the system may not operate properly

●

In some situations such as the following, an object may not be detected by
the radar sensor and front camera, preventing the system from operating
properly:
• When a detectable object is approaching your vehicle
• When your vehicle or a detectable object is wobbling
• If a detectable object makes an abrupt maneuver (such as sudden swerv-

ing, acceleration or deceleration)

• When your vehicle approaches a detectable object rapidly

• When a detectable object is near a wall, fence, guardrail, manhole cover,

vehicle, steel plate on the road, etc.

• While making a right/left turn, when

an oncoming vehicle turns right/left in
front of your vehicle

• When a detectable object is not

directly in front of your vehicle

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• When a detectable object is under a structure
• When part of a detectable object is hidden by an object, such as large

baggage, an umbrella, or guardrail

• When there are many things which can reflect the radio waves of the

radar in the vicinity (tunnels, truss bridges, gravel roads, snow covered
road that have tracks, etc.)

• When there is an effect on the radio waves to the radar that is installed on

another vehicle

• When multiple detectable objects are close together
• If the sun or other light is shining directly on a detectable object
• When a detectable object is a shade of white and looks extremely bright
• When a detectable object appears to be nearly the same color or bright-

ness as its surroundings

• If a detectable object cuts or suddenly emerges in front of your vehicle
• When the front of your vehicle is hit by water, snow, dust, etc.
• When a very bright light ahead, such as the sun or the headlights of

oncoming traffic, shines directly into the front camera

• When approaching the side or front of a vehicle ahead
• If a vehicle ahead is a motorcycle
• If a vehicle ahead is narrow, such as a personal mobility vehicle
• If a preceding vehicle has a small rear end, such as an unloaded truck

• If a vehicle ahead is carrying a load which protrudes past its rear bumper

• If a vehicle ahead is irregularly shaped, such as a tractor or side car

• If a vehicle ahead is a child sized bicycle, a bicycle that is carrying a large

load, a bicycle ridden by more than one person, or a uniquely shaped

bicycle (bicycle with a child seat, tandem bicycle, etc.)

• If a pedestrian/or the riding height of a bicyclist ahead is shorter than

approximately 3.2 ft. (1 m) or taller than approximately 6.5 ft. (2 m)

• If a preceding vehicle has a low rear

end, such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

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• If a pedestrian/bicyclist is wearing oversized clothing (a rain coat, long

skirt, etc.), making their silhouette obscure

• If a pedestrian is bending forward or squatting or bicyclist is bending for-

ward

• If a pedestrian/bicyclist is moving fast

• If a pedestrian is pushing a stroller, wheelchair, bicycle or other vehicle

• When driving in inclement weather such as heavy rain, fog, snow or a

sandstorm

• When driving through steam or smoke

• When the surrounding area is dim, such as at dawn or dusk, or while at

night or in a tunnel, making a detectable object appear to be nearly the

same color as its surroundings

• When driving in a place where the surrounding brightness changes sud-

denly, such as at the entrance or exit of a tunnel

• After the engine has started the vehicle has not been driven for a certain

amount of time

• While making a left/right turn and for a few seconds after making a left/

right turn

• While driving on a curve and for a few seconds after driving on a curve

• If your vehicle is skidding

• If the wheels are misaligned

• If a wiper blade is blocking the front camera

• The vehicle is being driven at extremely high speeds

• When driving on a hill

• If the radar sensor or front camera is misaligned

• When driving in a traffic lane separated by more than one lane where

oncoming vehicles are driving while making a right/left turn

• If the front of the vehicle is raised or

lowered

• When largely out of place with the

opposite facing targeted oncoming
vehicle during a right/left turn

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●

In addition to the above, in some situations, such as the following, the emer-

gency steering assist may not operate.
• When the white (yellow) lane lines are difficult to see, such as when they

are faint, diverging/merging, or a shadow is cast upon them

• When the lane is wider or narrower than normal

• When there is a light and dark pattern on the road surface, such as due to

road repairs

• When a pedestrian is detected near the centerline of the vehicle

• When the target is too close

• When there is insufficient safe or unobstructed space for the vehicle to be

steered into

• If oncoming vehicle is present

• If VSC function is operating

●

In some situations such as the following, sufficient braking force or steering

force may not be obtained, preventing the system from performing properly:
• If the braking functions cannot operate to their full extent, such as when

the brake parts are extremely cold, extremely hot, or wet

• If the vehicle is not properly maintained (brakes or tires are excessively

worn, improper tire inflation pressure, etc.)

• When the vehicle is being driven on a gravel road or other slippery sur-

face

• When the road surface has deep wheel tracks

• When driving on a hill road

• When driving on a road that has inclines to the left or right

■

If VSC is disabled

●

If VSC is disabled (



P. 302), the pre-collision brake assist and pre-collision

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 dis-

play.

• While making a right/left turn, when a

pedestrian approaches from behind
or side of your vehicle

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LTA (Lane Tracing Assist)

While driving on a road with clear white (yellow) lane lines, the LTA
system warns the driver if the vehicle may deviate from the current
lane or course

*,

and also can slightly operate the steering wheel to

help avoid deviation from the lane or course

*

. Also, while the dynamic

radar cruise control with full-speed range is operating, this system will
operate the steering wheel to maintain the vehicle’s lane position.
The LTA system recognizes white
(yellow) lane lines or a course

*

using the front camera. Addition-
ally, it detects preceding vehicles
using the front camera and radar.

*

: Boundary between asphalt and the

side of the road, such as grass, soil,
or a curb

Summary of functions

WARNING

■

Before using LTA system

●

Do not rely solely upon the LTA system. The LTA 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.

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WARNING

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Situations unsuitable for LTA system

In the following situations, use the LTA switch to turn the system off. Failure
to do so may lead to an accident, resulting in death or serious injury.

●

Vehicle is driven on a road surface which is slippery due to rainy weather,
fallen snow, freezing, etc.

●

Vehicle is driven on a snow-covered road.

●

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

●

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

●

Vehicle is driven in a construction zone.

●

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

●

When the tires have been excessively worn, or when the tire inflation pres-
sure is low.

●

During emergency towing

■

Preventing LTA 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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WARNING

■

Conditions in which functions may not operate properly

In the following situations, the functions may not operate properly and the
vehicle may depart from its lane. Drive safely by always paying careful
attention to your surroundings and operate the steering wheel to correct the
path of the vehicle without relying solely on the functions.

●

When the follow-up cruising display is displayed (



P. 255) and the pre-

ceding vehicle is swaying. (Your vehicle may sway accordingly and depart
from the lane.)

●

When the follow-up cruising display is displayed (



P. 255) and the pre-

ceding vehicle departs from its lane. (Your vehicle may follow the preced-
ing vehicle and depart from the lane.)

●

When the follow-up cruising display is displayed (



P. 255) and the pre-

ceding vehicle is being driven extremely close to the left/right lane line.
(Your vehicle may follow the preceding vehicle and depart from the lane.)

●

Vehicle is being driven around a sharp curve.

●

When the follow-up cruising display is
displayed (



P. 255) and the preceding

vehicle changes lanes. (Your vehicle
may follow the preceding vehicle and
also change lanes.)

●

Objects or patterns that could be mis-
taken for white (yellow) lines are pres-
ent on the side of the road (guardrails,
reflective poles, etc.).

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WARNING

●

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.

●

Vehicle is driven where the road
diverges, merges, etc.

●

Repair marks of asphalt, white (yellow)
lines, etc. are present due to road
repair.

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WARNING

●

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.

●

If the edge of the road is not clear or straight.

●

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 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 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).

●

When driving in a tunnel or at night with the headlights off or when a head-
light is dim due to its lens being dirty or it being misaligned.

●

The vehicle is struck by a crosswind.

●

The vehicle is affected by wind from a vehicle driven in a nearby lane.

●

The vehicle has just changed lanes or crossed an intersection.

●

Tires which differ by structure, manufacturer, brand or tread pattern are
used.

●

When tires of a size other than specified are installed.

●

Snow tires, etc. are equipped.

●

The vehicle is being driven at extremely high speeds.

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Lane departure alert function

When the system determines
that the vehicle might depart
from its lane or course

*

, a

warning is displayed on the
multi-information display, and a
warning buzzer will sound to
alert the driver.

When the warning buzzer sounds,
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

Functions included in LTA system

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Steering assist function

When the system determines
that the vehicle might depart
from its lane or course

*

, the

system provides assistance as
necessary 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

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■

Vehicle sway warning function

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 con-
trol with full-speed range is not
operating, the lane centering
function does not operate.
In situations where the white
(yellow) lane lines are difficult to
see or are not visible, such as
when in a traffic jam, this func-
tion will operate to help follow a
preceding vehicle by monitoring
the position of the preceding
vehicle.

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■

Turning the lane centering function ON/OFF

Press the LTA switch.

The lane centering function will change between ON/OFF each time the
switch is pressed.
The current setting will be displayed on the multi-information display.

■

Turning the LTA system OFF

Press and hold the LTA switch

The LTA indicator light turns off when the LTA is turned OFF.
Press the switch again to turn the system on.
When the LTA system is turned on or off, operation of the LTA system con-
tinues in the same condition the next time the engine started.
However, the lane centering function keeps either the ON/OFF state prior
to the engine switch being turned off.

LTA system setting



Lane centering function ON



Lane centering function OFF

LTA

Steering Assist Active

Lane Centering Active

LTA

Steering Assist

active.

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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-information display is switched to the driving
assist system information display.
Indicates that steering wheel assistance of the steering assist function or
lane centering function is operating.
Both outer sides of the lane are displayed: Indicates that steering wheel
assist of the lane centering function is operating.
One outer side of the lane is displayed: 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).

Indications on multi-information display

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Lane departure alert function display

Displayed when the multi-information display is switched to the driving
assist system information display.

*

: Boundary between asphalt and the side of the road, such as grass, soil, or

a curb

Follow-up cruising display
Displayed when the multi-information display is switched to the
driving assist system information display.

Indicates that steering assist of the lane centering function is operating by
monitoring the position of a preceding vehicle.
When the follow-up cruising display is displayed, if the preceding vehicle
moves, your vehicle may move in the same way. Always pay careful atten-
tion to your surroundings and operate the steering wheel as necessary to
correct the path of the vehicle and ensure safety.



Inside of displayed lines is
white



Inside of displayed lines is
black

Indicates that the system is recog-
nizing 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.

Indicates that the system is not
able to recognize white (yellow)
lines or a course

*

or is temporar-

ily 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.
• 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 approximately 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 oper-
ated)

• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. (



P. 260)

*

1

: The function operates even if the vehicle speed is less than approxi-

mately 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 addi-
tion 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.
• Hands off steering wheel warning is not displayed. (



P. 259)

●

Vehicle sway warning function
This function operates when all of the following conditions are met.

• Setting for “Sway Warning” in

on the multi-information display is set

to “ON”. (



P. 507)

• 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. 260)

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●

Lane centering function
This function operates when all of the following conditions are met.
• LTA is turned on.

• Setting for “Lane Centering” in

of the multi-information display is set

to “ON”. (



P. 507)

• This function recognizes white (yellow) lane lines or the position of a pre-

ceding 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 control mode.

• Width of traffic lane is approximately 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. (



P. 260)

• 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. (



P. 259)

• The vehicle is being driven in the center of a lane.
• Steering assist function is not operating.

■

Temporary cancelation of functions

●

When operation conditions are no longer met, a function may be temporarily
canceled. However, when the operation conditions are met again, operation
of the function is automatically restored. (



P. 257)

●

If the operation conditions (



P. 258) are no longer met while the lane cen-

tering function is operating, the buzzer may sound to indicate that the func-
tion has been temporarily canceled.

■

Steering assist function/lane centering function

●

Depending on the vehicle speed, lane departure situation, road conditions,
etc., the driver may not feel the function is operating or the function may not
operate at all.

●

The steering control of the function is overridden by the driver’s steering
wheel operation.

●

Do not attempt to test the operation of the steering assist function.

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Lane departure alert function

●

The warning buzzer may be difficult to hear due to external noise, audio
playback, etc.

●

If the edge of the course* is not clear or straight, the lane departure alert
function may not operate.

●

Vehicle with BSM: It may not be possible for the system to determine if there
is a danger of a collision with a vehicle in an adjacent lane.

●

Do not attempt to test the operation 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 warning

●

When the system determines that the driver is driving without holding the
steering wheel while the system 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 continu-
ously operates the steering wheel only a small amount.

●

When the system determines that the vehicle may deviate from the lane
while driving around a curve while the lane centering function is operating.
Depending on the vehicle condition and road conditions, the warning may
not operate. Also, if the system determines that the vehicle is driving
around a curve, warnings will occur earlier than during straight-lane driving.

●

When the system determines that the driver is driving without holding the
steering wheel while the steering wheel assist of the steering assist function
is operating.
If the driver continues to keep their hands off of the steering wheel and the
steering wheel assist is operating, the buzzer sounds and the driver is
warned. Each time the buzzer sounds, the continuing time of the buzzer
becomes longer.

In the following situations, a warning mes-
sage urging the driver to hold the steering
wheel and the symbol shown in the illus-
tration are displayed on the multi-informa-
tion display to warn the driver. The
warning stops when the system deter-
mines that the driver holds the steering
wheel. Always keep your hands on the
steering wheel when using this system,
regardless of warnings.

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■

Vehicle sway warning function

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 illuminates in orange, follow the appropriate trouble-
shooting 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 opera-
tion range. Drive slower.

■

Customization

Function settings can be changed. (Customizable features:



P. 507)

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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RSA (Road Sign Assist)



The RSA system recognizes spe-
cific road signs using the front
camera to provide information to
the driver via the display.

If the system judges that the vehicle is being driven over the speed
limit, performing prohibited actions, etc., according to the recognized
road signs, it notifies the driver through a visual notification and notifi-
cation buzzer.



: If equipped

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 replacement for a driver’s
own vision and awareness. Drive safely by always paying careful attention
to the traffic rules.

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When the front camera recognizes a sign, the sign will be displayed
on the multi-information display.

●

When the driving assist system
information is selected, a maxi-
mum of 3 signs can be dis-
played. (



P. 99)

●

When a tab other than the driv-
ing assist system information is
selected, the following types of
road signs will be displayed.
(



P. 99)

• Speed limit sign
• Do Not Enter sign (when

notification 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.

Indication on the multi-information display

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The following types of road signs, including electronic signs and blink-
ing signs, are recognized.

A non-official or a recently introduced traffic sign may not be recognized.

In the following situations, the RSA system will notify the driver.

●

When the vehicle speed exceeds the speed notification threshold of
the speed limit sign displayed, the sign display will be emphasized
and a buzzer will sound.

●

When the RSA system recognizes a do not enter sign and deter-
mines 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.

Supported types of road signs

: Speed limit

: Do Not Enter

: Stop

: Yield

Notification function

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Setting procedure

Press “



” or “



” of meter control switches and select

. (



P. 100)

Press “



” or “



” of meter control switches and select

, and press

.

■

Automatic turn-off of RSA sign display

In the following situations, a displayed speed limit sign and/or do not enter
sign will stop being displayed 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 auto-
matically:

●

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 function may not operate or detect correctly

In the following situations, RSA does not operate normally and may not rec-
ognize 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 camera.

●

In inclement weather such as heavy rain, fog, snow or sand storms

●

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

●

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.

1

2

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●

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 compatible sign is recognized.

●

Side road speed signs may be detected and displayed (if positioned 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 posi-
tioned 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 speed information displayed on the meter and on the navigation system
may be different due to the navigation system using map data.

■

Speed limit sign display

If the engine switch was last turned off while a speed limit sign was displayed
on the multi-information display, the same sign displays again when the
engine switch is turned to “ON” position (vehicles without a smart key system)
or IGNITION ON mode (vehicles with a smart key system).

■

If “RSA Malfunction Visit Your Dealer” is shown

The system may be malfunctioning. Have the vehicle inspected by your Toy-
ota dealer.

■

Customization

Some functions can be customized. (Customizable feature:



P. 508)

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Dynamic radar cruise control



with full-speed

range

In vehicle-to-vehicle distance control mode, the vehicle automatically
accelerates, decelerates and stops to match the speed changes of the
preceding vehicle even if the accelerator pedal is not depressed. In
constant speed control mode, the vehicle runs at a fixed speed.
Use the dynamic radar cruise control with full-speed range on free-
ways and highways.

●

Vehicle-to-vehicle distance control mode (



P. 269)

●

Constant speed control mode (



P. 276)

Vehicle-to-vehicle

distance

switch
Multi-information display
Indicators
Set speed
Cruise control switch

Summary of functions

System Components

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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 paying careful attention to your sur-
roundings.

●

The dynamic radar cruise control with full-speed range 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. 278

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

may not function correctly:



P. 280

●

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 solely on this
system 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 with full-speed range setting to off,
using the “ON-OFF” button 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 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 mecha-
nism 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 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 neces-
sary 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 prevent or avoid collisions with vehicles 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 inappropriate speed control and could cause an acci-
dent 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

●

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 or front
camera

●

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

●

During emergency towing

●

When an approach warning buzzer is heard often

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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-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.

Driving in vehicle-to-vehicle distance control mode