Toyota C-HR (2022 year). Manual in english — page 8
4-5. Using the driving support systems
229
■ 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
Using the wiper and A/C function, remove
(fogged up, covered with con-
the dirt and other attached matter.
densation, ice, etc.), or other for-
(P. 315)
eign matter
If the front camera is hot, such as after the
vehicle had been parked in the sun, use
the air conditioning system to decrease
4
the temperature around the front camera.
If a sunshade was used when the vehicle
When the temperature around
was parked, depending on its type, the
the front camera is outside of
sunlight reflected from the surface of the
the operational range, such as
sunshade may cause the temperature of
when the vehicle is in the sun or
the front camera to become excessively
in an extremely cold environ-
high.
ment
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
Close the hood, remove the sticker, etc. to
sticker is attached to the part of
clear the obstruction.
the windshield in front of the
front camera.
When “Pre-Collision System
Check whether there is attached materi-
Radar in self calibration Unavail-
als on the radar and radar cover, and if
able See owner’s manual.” is
there is, remove it.
displayed.
230
4-5. Using the driving support systems
● 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.
4-5. Using the driving support systems
231
PCS (Pre-Collision System)
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)
4
Detectable objects
The system can detect the following (The detectable objects differs
depending on the function.):
● Vehicles
● Bicyclists
● Pedestrians
232
4-5. Using the driving support systems
System functions
■ 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.
4-5. Using the driving support systems
233
■ 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
4
● 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.)
234
4-5. Using the driving support systems
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.
4-5. Using the driving support systems
235
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.
4
• 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
236
4-5. Using the driving support systems
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
■ 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.
4-5. Using the driving support systems
237
■ 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
4
238
4-5. Using the driving support systems
■ 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
Relative speed between
Detectable objects
Vehicle speed
your vehicle and object
Approx. 7 to 110 mph (10
Approx. 7 to 110 mph (10
Vehicles
to 180 km/h)
to 180 km/h)
Bicyclists and
Approx. 7 to 50 mph (10
Approx. 7 to 50 mph (10
pedestrians
to 80 km/h)
to 80 km/h)
● Pre-collision brake assist
Relative speed between
Detectable objects
Vehicle speed
your vehicle and object
Approx. 20 to 110 mph (30
Approx. 20 to 110 mph (30
Vehicles
to 180 km/h)
to 180 km/h)
Bicyclists and
Approx. 20 to 50 mph (30
Approx. 20 to 50 mph (30
pedestrians
to 80 km/h)
to 80 km/h)
● Pre-collision braking
Relative speed between
Detectable objects
Vehicle speed
your vehicle and object
Approx. 7 to 110 mph (10
Approx. 7 to 110 mph (10
Vehicles
to 180 km/h)
to 180 km/h)
Bicyclists and
Approx. 7 to 50 mph (10
Approx. 7 to 50 mph (10
pedestrians
to 80 km/h)
to 80 km/h)
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.
4-5. Using the driving support systems
239
● Emergency steering assist
When the turn signal lights are flashing, emergency steering assist will not
operate in case of an emergency.
Relative speed between
Detectable objects
Vehicle speed
your vehicle and object
Approx. 25 to 50 mph (40
Approx. 25 to 50 mph (40
Pedestrians
to 80 km/h)
to 80 km/h)
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.
4
Relative speed
Detectable
Oncoming vehicle
Vehicle speed
between your
objects
speed
vehicle and object
Approx. 7 to
Approx. 20 to
Approx. 25 to
Vehicles
15 mph (10 to
35 mph (30 to
50 mph (40 to
25 km/h)
55 km/h)
80 km/h)
Approx. 7 to
Approx. 7 to 15 mph
Pedestrians
15 mph (10 to
-
(10 to 25 km/h)
25 km/h)
● 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.
Relative speed
Detectable
Oncoming vehicle
Vehicle speed
between your
objects
speed
vehicle and object
Approx. 10 to
Approx. 20 to
Approx. 28 to
Vehicles
15 mph (15 to
28 mph (30 to
43 mph (45 to
25 km/h)
45 km/h)
70 km/h)
Approx. 7 to
Approx. 7 to 15 mph
Pedestrians
15 mph (10 to
-
(10 to 25 km/h)
25 km/h)
240
4-5. Using the driving support systems
■ Object detection function
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.
■ 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 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 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 is a detectable object or
other object by the roadside at the
entrance of a curve
• 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.
4-5. Using the driving support systems
241
• 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 a detectable object approaches very close and then stops before
entering the path of your vehicle
4
• 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 passing under an object (road
sign, billboard, etc.)
• When approaching an electric toll gate barrier, parking area barrier, or
other barrier that opens and closes
• When using an automatic car wash
• When driving through or under
objects that may contact your vehicle,
such as thick grass, tree branches, or
a banner
242
4-5. Using the driving support systems
• 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 making a right/left turn, when
an oncoming vehicle turns right/left in
front 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 not
directly in front of your vehicle
• When a detectable object is near a wall, fence, guardrail, manhole cover,
vehicle, steel plate on the road, etc.
4-5. Using the driving support systems
243
• 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
4
• 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 preceding vehicle has a low rear
end, such as a low bed trailer
• If a vehicle ahead has extremely high
ground clearance
• 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)
244
4-5. Using the driving support systems
• 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 front of the vehicle is raised or
lowered
• 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
• When largely out of place with the
opposite facing targeted oncoming
vehicle during a right/left turn
4-5. Using the driving support systems
245
• While making a right/left turn, when a
pedestrian approaches from behind
or side of your vehicle
● 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
4
• 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. 303), 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.
246
4-5. Using the driving support systems
LTA (Lane Tracing Assist)
Summary of functions
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
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.
4-5. Using the driving support systems
247
WARNING
■ 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
4
■ 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.
248
4-5. Using the driving support systems
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 preceding
vehicle changes lanes.
(Your vehicle
may follow the preceding vehicle and
also change lanes.)
● 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.
●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.).
4-5. Using the driving support systems
249
WARNING
● Vehicle is driven where the road
diverges, merges, etc.
●Repair marks of asphalt, white (yellow)
4
lines, etc. are present due to road
repair.
● 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.
250
4-5. Using the driving support systems
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.
4-5. Using the driving support systems
251
Functions included in LTA system
■ 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-
4
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
252
4-5. Using the driving support systems
■ 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
4-5. Using the driving support systems
253
■ 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.
4
■ 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.
254
4-5. Using the driving support systems
LTA system setting
■ 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.
Lane centering function ON
Lane centering function OFF
LTA
LTA
Steering Assist Active
Steering Assist
Lane Centering Active
active.
■ 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.
4-5. Using the driving support systems
255
Indications on multi-information display
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.
4
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).
256
4-5. Using the driving support systems
Lane departure alert function display
Displayed when the multi-information display is switched to the driving
assist system information display.
Inside of displayed lines is
Inside of displayed lines is
white
black
Indicates that the system is recog-
Indicates that the system is not
nizing white
(yellow) lines or a
able to recognize white (yellow)
course*. When the vehicle
lines or a course* or is temporar-
departs from its lane, the white
ily canceled.
line displayed on the side the
vehicle departs from flashes
orange.
*: 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.
4-5. Using the driving support systems
257
■ 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.
4
*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)
258
4-5. Using the driving support systems
● 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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