Toyota Prius (2021 year). Manual in english - part 5

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4-3. Operating the lights and wipers

■

Temporarily lowering sensor sensitivity

The sensitivity of the sensor can be temporarily lowered.

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

• The headlight switch is in the 

 or 

 position.

• The headlight switch lever is in high beam position.
• Automatic High Beam switch is on.
Turn the power switch to ON mode.
Within 60 seconds after step  , 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 Toy-
ota dealer.

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4

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Fog light switch





Type A

Turns the fog lights off

Turns the fog lights on



: If equipped

The fog lights offer improved visibility in difficult driving condi-
tions, such as in rain and fog.

Operating instructions

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2

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4-3. Operating the lights and wipers



Type B

Turns the fog lights off

Turns the fog lights on

■

Fog lights can be used when

The headlights are on in low beam.

1

2

NOTICE

■

To prevent 12-volt battery discharge

Do not leave the lights on longer than necessary when the hybrid system is
off.

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Windshield wipers and washer

Operating the 

 lever operates the wipers or washer as follows.

■

Intermittent  windshield  wipers  with  interval  adjuster  (if
equipped)



Type A

Off

Intermittent operation

Low speed operation

High speed operation

Temporary operation



Type B

Off

Intermittent operation

Low speed operation

High speed operation

Temporary operation

Operating the wiper lever

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5

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3

4

5

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4-3. Operating the lights and wipers

Wiper  intervals  can  be  adjusted  when  intermittent  operation  is
selected.

Increases  the  intermittent
windshield wiper frequency 
Decreases  the  intermittent
windshield wiper frequency

Washer/wiper 

dual

operation

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

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7

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■

Rain-sensing windshield wipers (if equipped)



Type A

Off

Rain-sensing  opera-

tion

Low speed operation

High speed operation

Temporary operation



Type B

Off

Rain-sensing operation

Low speed operation

High speed operation

Temporary operation

When 

 is selected, the wipers will operate automatically when the

sensor detects falling rain. The system automatically adjusts wiper tim-
ing in accordance with rain volume and vehicle speed. 

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3

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5

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3

4

5

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The sensor sensitivity can be adjusted when 

 is selected.

Increases the sensitivity
Decreases the sensitivity

Washer/wiper 

dual

operation

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

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■

The windshield wipers and washer can be operated when

The power switch is in ON mode.

■

Dripping prevention wiper sweep (vehicles with rain-sensing windshield
wipers)

After  washing  and  wiping  operation  several  times,  the  wipers  operate  one
more time after a short delay to prevent dripping. However, this function will
not operate while driving.

■

Raindrop sensor (vehicles with rain-sensing windshield wipers)

●

If the wiper switch is turned to the 

 position while the power switch is in

ON  mode,  the  wipers  will  operate  once  to  show  that AUTO  mode  is  acti-
vated.

●

If the wiper sensitivity is adjusted to higher, the wiper may operate once to
indicate the change of sensitivity.

●

If the temperature of the raindrop sensor is 185



F (85



C) or higher, or 5°F

(-15°C) or lower, automatic operation may not occur. In this case, operate
the wipers in any mode other than AUTO mode.

■

If no windshield washer fluid sprays

Check that the washer nozzles are not blocked, if there is washer fluid in the
washer fluid tank.

■

Customization

Settings of AUTO mode operation can be changed. (Customizable features:



P. 690)

●

The raindrop sensor judges the amount
of raindrops. 
An optical sensor is adopted. It may not
operate properly when sunlight from the
rising or setting of the sun intermittently
strikes  the  windshield,  or  if  bugs,  etc.
are present on the windshield.

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WARNING

■

Caution regarding the use of windshield wipers in AUTO mode (vehi-
cles with rain-sensing windshield wipers)

The windshield wipers may operate unexpectedly if the sensor is touched or
the windshield is subject to vibration in AUTO mode. Take care that your fin-
gers, etc. do not become caught in the windshield wipers.

■

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 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.

■

To prevent 12-volt battery discharge

Do not leave the wipers on longer than necessary when the hybrid system
is off.

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Rear window wiper and washer



Operating the 

 switch operates the rear wiper as follows:



Type A

Off

Intermittent operation

Normal operation

Washer/wiper 

dual

operation

Pushing  the  lever  operates  the
wiper and washer.



Type B

Off

Intermittent operation

Normal operation

■

The rear window wiper and washer can be operated when

The power switch is in ON mode.

■

If no washer fluid sprays

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



: If equipped

Operating the wiper lever

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4

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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.

■

To prevent 12-volt battery discharge

Do not leave the wiper on longer than necessary when the hybrid system is
off.

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4-4. Refueling

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Opening the fuel tank cap

●

Turn  the  power  switch  off  and  ensure  that  all  the  doors  and  win-
dows are closed.

●

Confirm the type of fuel.

■

Fuel types



P. 675

■

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.

■

Gasoline price setting screen

After refueling more than approximately 1.3 gal. (5 L, 1.1 Imp.gal.) and turn-
ing the power switch to ON mode, the gasoline price setting screen will be
automatically displayed on the multi-information display. (



P. 101)

The  fuel  tank  of  your  vehicle  has  a  special  structure,  which
requires a reduction in fuel tank pressure before refueling. After
the opener switch has been pressed, it will take several seconds
until the vehicle is ready for refueling.

Before refueling the vehicle

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4-4. Refueling

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 of 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.

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Press  the  opener  to  open  the
fuel filler door.

The fuel filler door will open within
about  10  seconds  of  the  switch
being  pressed.  Before  refueling  is
possible, a message will be shown
on  the  multi-information  display  in
the  instrument  cluster  to  indicate
the  progress  of  the  fuel  filler  door
opener.

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

NOTICE

■

Refueling

●

Finish  refueling  within  30  minutes.  If  more  than  30  minutes  passes,  the
internal valve closes. In this condition, fuel may overflow during the refuel-
ing process. 
Press the fuel filler door opener switch again.

●

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.

Opening the fuel tank cap

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2

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4-4. Refueling

■

When the fuel filler door cannot be opened by pressing the inside switch

Using  the  lever  to  open  the  fuel  filler  door  may  not  allow  for  an  adequate
reduction in fuel tank pressure before refueling. To prevent fuel from spilling
out, turn the cap slowly when removing it. 
During refueling, fuel may spill out from the filler opening due to air being dis-
charged  from  inside  the  fuel  tank. Therefore,  fill  the  fuel  tank  carefully  and
slowly.

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

Pull the lever backward and check that
the fuel lid opens.

NOTICE

■

When refueling

1

2

When  refueling  your  vehicle,  make  sure
that the fuel filler door lock is not pushed
by the fuel nozzle boot, etc., as this may
cause a valve to close, possibly resulting
in a fuel spill.
If  the  fuel  filler  door  lock  has  been
pushed,  operate  the  fuel  filler  door
opener switch in the vehicle before con-
tinuing to refuel.

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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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4-5. Using the driving support systems

Toyota Safety Sense 2.0



◆

PCS (Pre-Collision System)





P. 296

◆

LTA (Lane Tracing Assist)





P. 307

◆

AHB (Automatic High Beam)





P. 268

◆

RSA (Road Sign Assist)





P. 322

◆

Dynamic radar cruise control with full-speed range





P. 326



: If equipped

The  Toyota  Safety  Sense  2.0  consists  of  the  following  drive
assist systems and contributes to a safe and comfortable driv-
ing experience:

Driving assist system

WARNING

■

Toyota Safety Sense 2.0

The Toyota Safety Sense 2.0 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

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2

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4-5. Using the driving support systems

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.

●

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

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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2

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WARNING

■

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.

●

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. 440, 450)

●

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 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
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)

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WARNING

●

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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■

Certifications



For  vehicles  sold in  the U.S.A.,  Hawaii, American Samoa,  Guam,  Saipan
and Puerto Rico

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

For vehicles sold in Canada

■

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.

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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

Situation

Actions

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

To clean the part of the windshield in front
of  the  front  camera,  use  the  windshield
wipers or the windshield defogger of the
air conditioning system (



P. 440, 450).

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 vehi-
cle was parked, depending on its type,
the  sunlight  reflected  from  the  surface
of  the  sunshade  may  cause  the  tem-
perature 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
system  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.

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PCS (Pre-Collision System)



The system can detect the following:

●

Vehicles

●

Bicyclists

●

Pedestrians



: If equipped

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



P. 296) 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. 300)

Detectable objects

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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.

System functions

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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. 302

• Conditions under which the system may not operate properly: 



P. 304

●

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

■

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 hybrid system on 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

●

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

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■

Enabling/disabling the pre-collision system

The pre-collision system can be enabled/disabled on 

 (



P. 151)

of the multi-information display.

The  system  is  automatically  enabled  each  time  the  power  switch  is
turned to ON mode.

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

■

Changing the pre-collision warning timing

The pre-collision warning timing can be changed on 

 (



P. 151)

of the multi-information display.

The warning timing setting is retained when the power 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).

Early
Middle

This is the default setting.

Late

Changing settings of the pre-collision system

1

2

3

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■

Operational conditions

The pre-collision system is enabled and the system determines that the pos-
sibility of a frontal collision with a detected object is high.
Each function is operational at the following speed

●

Pre-collision warning

●

Pre-collision brake assist

●

Pre-collision braking

The system may not operate in the following situations:

●

If  a  12-volt  battery  terminal  has  been  disconnected  and  reconnected  and
then the vehicle has not been driven for a certain amount of time

●

If the shift position is in R

●

When the VSC OFF indicator is illuminated (only the pre-collision warning
function will be operational)

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  pedestri-
ans

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  pedestri-
ans

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  pedestri-
ans

Approx.  7  to  50  mph
(10 to 80 km/h)

Approx.  7  to  50  mph
(10 to 80 km/h)

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■

Object detection function

■

Cancelation of the 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.

■

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

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. 304) 

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

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• 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.

• 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  there  is  a  detectable  object  or

other  object  by  the  roadside  at  the
entrance of a curve

• 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.)

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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,

or  other  location  where  strong  radio  waves  or  electrical  noise  may  be
present

■

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.

• 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 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

• When  driving  through  or  under

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

• When  a  detectable  object  is  not

directly in front of your vehicle

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• 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  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 hybrid system 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 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 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

●

In some situations such as the following, sufficient braking 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

■

If VSC is disabled

●

If VSC is disabled (



P. 422), 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 display.

• If the front of  the vehicle  is  raised  or

lowered

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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



: If equipped

Summary of functions

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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.

●

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

■

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. 317)  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. 317)  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. 317)  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. 317) 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.

●

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.

●

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 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  oper-
ate  the  steering  wheel  to  move
the vehicle back to the center of
the lane.

*

: 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.

If  the  system  detects  that  the
steering  wheel  has  not  been
operated  for  a  fixed  amount  of
time or the steering wheel is not
being  firmly  gripped,  a  warning
is  displayed  on  the  multi-infor-
mation  display  and  the  function
is temporarily canceled.

*

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

a curb

■

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.

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■

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. 
If the system detects that the steering wheel has not been operated for
a fixed amount of time or the steering wheel is not being firmly gripped,
a warning is displayed on the multi-information display and the function
is temporarily canceled. 

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Press  the  LTA  switch  to  turn  the
LTA system on.

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

Turning LTA system on

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LTA indicator
The illumination condition of the
indicator  informs  the  driver  of
the system operation status. 
Illuminated  in  green:  LTA  sys-
tem is operating. 
Flashing  in  orange:  Lane
departure alert function is oper-
ating. 
Steering  control  indicator  and  operation  display  of  steering  wheel
operation support
When that steering wheel assistance of the steering assist function
or lane centering function is operating, the indicator illuminates and
the operation display on the multi-information display is turned on.
Lane departure alert function display
Displayed  when  the  multi-information  display  is  switched  to  the
driving assist system information screen.

*

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

a curb

Indications on combination meter

1

2

3



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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Follow-up cruising display

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

■

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



P. 321)

*

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.

• Setting  for 

  (“LTA  Steering Assist  Mode”)  in 

  of  the  multi-

information display is set to “On”. (



P. 124)

• 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. 320)

4

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●

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

• Setting for 

 (“Lane Sway Warning Status”) in 

 of the multi-

information display is set to “On”. (



P. 124)

• 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. 321)

●

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

 (“LTA Steering Assist Mode”) and 

 (“Center

Trace”) in 

 of the multi-information display are set to “On”. (



P. 124)

• 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. 321)

• 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. 320)

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

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■

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. 317)

●

If the operation conditions (



P. 318) 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.

■

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.

●

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

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■

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.

■

Vehicle sway warning function

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.

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.
Depending on the vehicle and road condi-
tions, the warning may not operate.

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■

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. 151)

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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 main display or multi-information display.

●

When the driving assist system
information is selected in multi-
information display, a maximum
of 2 signs can be displayed on
the  multi-information  display.
(



P. 124)

●

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



P. 115)

• Speed limit sign
• Do  Not  Enter  sign  (when

notification is necessary)

If signs other than speed limit signs are recognized, they will be displayed
in an overlapping stack under the current speed limit sign.

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.

Indication on the main display or multi-information display

Supported types of road signs

Speed limit

Do Not Enter

Stop

Yield

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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.

■

Setting procedure



P. 151

■

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.

●

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.

Notification function

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●

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 power switch was last turned off while a speed limit sign was displayed
on the main display or multi-information display, the same sign displays again
when the power switch is turned to ON mode.

■

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 features: 



P. 690)

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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. 330)

●

Constant speed control mode (



P. 337)

Vehicle-to-vehicle 

distance

switch
Indicators
Multi-information display
Set speed
Cruise control switch



: If equipped

Summary of functions

System Components

1

2

3

4

5

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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. 340

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

may not function correctly: 



P. 341

●

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.

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WARNING

■

Cautions regarding the driving assist systems

Observe the following precautions, as there are limitations to the assistance
provided by the system.
Failure to do so may cause an accident resulting in death or serious injury.

●

Assisting the driver to measure following distance
The dynamic radar cruise control 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.

●

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.

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WARNING

■

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-vehi-
cle  distance  can  also  be  set  by  operating  the  vehicle-to-vehicle
distance switch.

When  driving  on  downhill  slopes,  the  vehicle-to-vehicle  distance  may
become shorter.

Driving in vehicle-to-vehicle distance control mode

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Example of constant speed cruising
When there are no vehicles ahead

The vehicle travels at the speed set by the driver.

Example of deceleration cruising and follow-up cruising
When  a  preceding  vehicle  driving  slower  than  the  set  speed
appears

When a vehicle is detected running ahead of you, the system automatically
decelerates  your  vehicle.  When  a  greater  reduction  in  vehicle  speed  is
necessary, the system applies the brakes (the stop lights will come on at
this time). The system will respond to changes in the speed of the vehicle
ahead in order to maintain the vehicle-to-vehicle distance set by the driver.
Approach  warning  warns  you  when  the  system  cannot  decelerate  suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also stop (vehicle is
stopped by system control). After the vehicle ahead starts off, pushing the
cruise control lever up or depressing the accelerator pedal (start-off opera-
tion)  will  resume  follow-up  cruising.  If  the  start-off  operation  is  not  per-
formed, system control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an over-
taking  lane  while  driving  at  50  mph  (80  km/h)  or  more,  the  vehicle  will
accelerate to help to overtake a passing vehicle.
The  system’s  identification  of  what  is  an  overtaking  lane  may  be  deter-
mined solely based on the location of the steering wheel in the vehicle (left
side driver position versus right side driver position.) If the vehicle is driven
to a region where the overtaking lane is on a different side from where the
vehicle is normally driven, the vehicle may accelerate when the turn signal
lever is operated in the opposite direction to the overtaking lane (e.g., if the
driver normally operates the vehicle in a region where the overtaking lane
is to the right but then drives to a region where the overtaking lane is to the
left, the vehicle may accelerate when the right turn signal is activated).

Example of acceleration 
When  there  are  no  longer  any  preceding  vehicles  driving  slower
than the set speed

The system accelerates until the set speed is reached. The system then
returns to constant speed cruising.

1

2

3

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

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



P. 337)

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

Cruise  control  “SET”  indicator  will
come on.
The  vehicle  speed  at  the  moment
the  lever  is  released  becomes  the
set speed.

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

1

2

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●

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

Increases the speed

(Except  when  the  vehicle  has
been stopped by system control
in  vehicle-to-vehicle  distance
control mode)

Decreases the speed

Fine  adjustment:  Momentarily
move  the  lever  in  the  desired
direction.
Large adjustment: Hold the lever up or down to change the speed,
and release when the desired speed is reached.
In the vehicle-to-vehicle distance control mode, the set speed will
be increased or decreased as follows:



For the U.S. mainland, Hawaii

Fine adjustment: By 1 mph (1.6 km/h)

*

1

 or 1 km/h (0.6 mph)

*

2

 each time

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

*

1

 or 1 km/h

(0.6 mph)

*

2

 increments for as long as the lever is held



For Canada, Guam, Saipan and Puerto Rico

Fine adjustment: By 1 mph (1.6 km/h)

*

1

 or 1 km/h (0.6 mph)

*

2

 each time

the lever is operated
Large adjustment: Increases or decreases in 5 mph (8 km/h)

*

1

 or 5 km/h

(3.1 mph)

*

2

 increments for as long as the lever is held

In the constant speed control mode (



P. 337), the set speed will be

increased or decreased as follows:

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

*

1

  or  1  km/h  (0.6  mph)

*

2

  each

time the lever is operated
Large adjustment: The speed will continue to change while the lever is
held.

*

1

: When the set speed is shown in “MPH”

*

2

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

Adjusting the set speed

1

2

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●

Increasing the set speed by the accelerator pedal

Accelerate with accelerator pedal operation to the desired vehi-
cle speed.
Push the lever down.

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

Long
Medium
Short

The  vehicle-to-vehicle  distance  is
set  automatically  to  long  mode
when the power switch is turned to
ON mode.

Select a distance from the table below. Note that the distances shown
correspond to a vehicle speed of 50 mph (80 km/h). Vehicle-to-vehicle
distance  increases/decreases  in  accordance  with  vehicle  speed.
When the vehicle is stopped by system control, the vehicle stops at a
certain vehicle-to-vehicle distance depending on the situation.

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

1

2

Preceding 
vehicle mark

1

2

3

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

Distance options

Vehicle-to-vehicle distance

Long

Approximately 160 ft. (50 m)

Medium

Approximately 130 ft. (40 m)

Short

Approximately 100 ft. (30 m)

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After  the  vehicle  ahead  of  you
starts off, push the lever up.
Your  vehicle  will  also  resume  fol-
low-up  cruising  if  the  accelerator
pedal is depressed after the vehi-
cle ahead of you starts off.

Pulling  the  lever  toward  you
cancels the speed control.

The speed control is also canceled
when 

the 

brake 

pedal 

is

depressed.
(When  the  vehicle  has  been
stopped 

by 

system 

control,

depressing  the  brake  pedal  does
not cancel the setting.)

Pushing the lever up resumes the cruise control and returns vehicle
speed to the set speed.

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

Canceling and resuming the speed control

1

2