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

P.272)

The illustration shows an image of

detectable objects.

■

Cancelation of the pre-collision

braking

If either of the following occur while

the pre-collision braking function is

operating, 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 possibility of a colli-

sion

●

In some situations such as the fol-

lowing, the system may determine

that there is a possibility of a fron-

tal collision and operate.

• When passing a detectable

object, etc.

• When changing lanes while over-

taking 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 winding road

• When rapidly closing on a detect-

able 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

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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272

4-5. Using the driving support systems

the entrance of a curve

• When there are patterns or paint

in front of your vehicle that may be

mistaken for a detectable object

• When the front of your vehicle is

hit by water, snow, dust, etc.

• 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

• 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 sur-

rounded 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

• 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 elec-

trical noise may be present

■

Situations in which the system

may not operate properly

●

In some situations such as the fol-

lowing, an object may not be

detected by the radar sensor and

front camera, preventing the sys-

tem from operating properly:

• When a detectable object is

approaching your vehicle

• When your vehicle or a detectable

object is wobbling

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273

4-5. Using the driving support systems

ing

• If a detectable object makes an

abrupt maneuver (such as sudden

swerving, acceleration or deceler-

ation)

• 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.

• 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

brightness as its surroundings

• If a detectable object cuts or sud-

denly emerges in front of your

vehicle

• When the front of your vehicle is

hit by water, snow, dust, etc.

• When a very bright light ahead,

such as the sun or the headlights

of oncoming traffic, shines directly

into the front camera

• When approaching the side or

front of a vehicle ahead

• If a vehicle ahead is a motorcycle

• If a vehicle ahead is narrow, such

as a personal mobility vehicle

• If a preceding vehicle has a small

rear end, such as an unloaded

truck

• If a 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)

• If a pedestrian/bicyclist is wearing

oversized clothing (a rain coat,

long skirt, etc.), making their sil-

houette obscure

• If a pedestrian is bending forward

or squatting or bicyclist is bending

forward

• If a pedestrian/bicyclist is moving

fast

• If a pedestrian is pushing a

stroller, wheelchair, bicycle or

other vehicle

• When driving in inclement weather

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274

4-5. Using the driving support systems

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 sur-

roundings

• When driving in a place where the

surrounding brightness changes

suddenly, 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 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

●

In some situations such as the fol-

lowing, sufficient braking force

may not be obtained, preventing

the system from performing prop-

erly:

• 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 main-

tained (brakes or tires are exces-

sively worn, improper tire inflation

pressure, etc.)

• When the vehicle is being driven

on a gravel road or other slippery

surface

■

If VSC is disabled

●

If VSC is disabled (



P.336), 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-Colli-

sion Brake System Unavailable”

will be displayed on the multi-

information display.

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275

4-5. Using the driving support systems

ing

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 con-
trol 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 cam-

era. Additionally, 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 automatically drive the vehi-

cle 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 atten-

tion to the surrounding condi-

tions 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 care-

ful attention may lead to an

accident, resulting in death or

serious injury.

●

When not using the LTA sys-

tem, 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 sur-

face which is slippery due to

rainy weather, fallen snow,

freezing, etc.

●

Vehicle is driven on a snow-cov-

ered 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.

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276

4-5. Using the driving support systems

WARNING

●

Vehicle is driven in a construc-

tion zone.

●

A spare tire, tire chains, etc. are

equipped.

●

When the tires have been

excessively worn, or when the

tire inflation pressure is low.

●

When your vehicle is towing a

trailer or during emergency tow-

ing

■

Preventing LTA system mal-

functions and operations per-

formed by mistake

●

Do not modify the headlights or

place stickers, etc. on the sur-

face 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.

■

Conditions in which functions

may not operate properly

In the following situations, the

functions may not operate prop-

erly 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 dis-

play is displayed (



P.281) and

the preceding vehicle changes

lanes. (Your vehicle may follow

the preceding vehicle and also

change lanes.)

●

When the follow-up cruising dis-

play is displayed (



P.281) and

the preceding vehicle is sway-

ing. (Your vehicle may sway

accordingly and depart from the

lane.)

●

When the follow-up cruising dis-

play is displayed (



P.281) and

the preceding vehicle departs

from its lane. (Your vehicle may

follow the preceding vehicle and

depart from the lane.)

●

When the follow-up cruising dis-

play is displayed (



P.281) and

the preceding vehicle is being

driven extremely close to the

left/right lane line. (Your vehicle

may follow the preceding vehi-

cle and depart from the lane.)

●

Vehicle is being driven around a

sharp curve.

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277

4-5. Using the driving support systems

ing

WARNING

●

Objects or patterns that could

be mistaken for white (yellow)

lines are present on the side of

the road (guardrails, reflective

poles, etc.).

●

Vehicle is driven where the road

diverges, merges, etc.

●

Repair marks of asphalt, white

(yellow) 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 intersec-

tion, 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 sur-

face 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 wind-

ing road.

●

The vehicle is driven on an

unpaved or rough road.

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278

4-5. Using the driving support systems

■

Lane departure alert func-
tion

When the system determines

that the vehicle might depart
from its lane or course

, a warn-

ing is displayed on the multi-
information display, and either a
warning buzzer will sound or the
steering wheel will vibrate to
alert the driver.

When the warning buzzer sounds
or the steering wheel vibrates,
check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane.
Vehicle with BSM: When the sys-
tem determines that the vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking vehicle in the adjacent
lane is high, the lane departure
alert will operate even if the turn
signals are operating.

: Boundary between asphalt and

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

WARNING

●

The traffic lane is excessively

narrow or wide.

●

The vehicle is extremely tilted

due to carrying heavy luggage

or having improper tire pres-

sure.

●

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 headlight is dim due to

its lens being dirty or it being

misaligned.

●

The vehicle is struck by a cross-

wind.

●

The vehicle is affected by wind

from a vehicle driven in a

nearby lane.

●

The vehicle has just changed

lanes or crossed an intersec-

tion.

●

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.

Functions included in
LTA system

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279

4-5. Using the driving support systems

ing

■

Steering assist function

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

, the sys-

tem provides assistance as nec-
essary 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 steer-
ing 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 can-
celed.
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

■

Vehicle sway warning func-
tion

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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281

4-5. Using the driving support systems

ing

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-informa-
tion display is switched to the driv-
ing support system information
display.
Indicates that steering wheel assis-
tance of the steering assist function

or lane centering function is operat-
ing.
Both outer sides of the lane are dis-
played: Indicates that steering
wheel assist of the lane centering
function is operating.
One outer side of the lane is dis-
played: 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).

Follow-up cruising display

Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
display.
Indicates that steering assist of the
lane centering function is operating
by monitoring the position of a pre-
ceding vehicle.
When the follow-up cruising display
is displayed, if the preceding vehi-
cle moves, your vehicle may move
in the same way. Always pay care-
ful attention to your surroundings
and operate the steering wheel as
necessary to correct the path of the
vehicle and ensure safety.

Lane departure alert function
display

Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
display.

Indications on multi-infor-
mation display

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282

4-5. Using the driving support systems



Inside of displayed lines is
white

Indicates that the system is recog-
nizing white (yellow) lines or a
course

. When the vehicle departs

from its lane, the white line dis-
played on the side the vehicle
departs from flashes orange.



Inside of displayed lines is
black

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

or is temporarily can-

celed.

: Boundary between asphalt and

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

■

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.

• System recognizes white (yellow)

lane lines or a course

. (When a

white [yellow] line or course

recognized on only one side, the

system will operate only for the

recognized side.)

• Width of traffic lane is approxi-

mately 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

operated)

• Vehicle is not being driven around

a sharp curve.

• No system malfunctions are

detected. (

P.285)

:The function operates even if the

vehicle speed is less than
approximately 32 mph (50 km/h)
when the lane centering function
is operating.

: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
addition to the operation conditions
for the lane departure alert function.
• Setting for “Steering Assist” in the

screen of the multi-information

display is set to “ON”. (

• 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.284)

●

Vehicle sway warning function

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283

4-5. Using the driving support systems

ing

This function operates when all of
the following conditions are met.
• Setting for “Sway Warning” in the

screen of the multi-information

display is set to “ON”. (



• Vehicle speed is approximately 32

mph (50 km/h) or more.

• Width of traffic lane is approxi-

mately 9.8 ft. (3 m) or more.

• No system malfunctions are

detected. (



P.285)

●

Lane centering function

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

• Setting for “Steering Assist” and

“Lane Center” in the

screen of

the multi-information display are

set to “ON”. (



• This function recognizes white

(yellow) lane lines or the position

of a preceding 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 con-

trol mode.

• Width of traffic lane is approxi-

mately 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.285)

• 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.284)

• The vehicle is being driven in the

center of a lane.

• Steering assist function is not

operating.

■

Temporary cancelation of func-

tions

●

When operation conditions are no

longer met, a function may be

temporarily canceled. However,

when the operation conditions are

met again, operation of the func-

tion is automatically restored.

(



P.282)

●

If the operation conditions

(



P.282) are no longer met while

the lane centering function is

operating, the steering wheel may

vibrate and the buzzer may sound

to indicate that the function has

been temporarily canceled. How-

ever, if the “Steering wheel vibra-

tion” customization setting is set to

“On”, the system will notify the

driver by vibrating the steering

wheel instead of sounding the

buzzer.

■

Steering assist function/lane

centering function

●

Depending on the vehicle speed,

lane departure situation, road con-

ditions, etc., the driver may not

feel the function is operating or

the function may not operate at

all.

●

The steering control of the func-

tion is overridden by the driver’s

steering wheel operation.

●

Do not attempt to test the opera-

tion of the steering assist function.

■

Lane departure alert function

●

The warning buzzer may be diffi-

cult to hear due to external noise,

audio playback, etc. Also, it may

be difficult to feel steering wheel

vibrations due to the road condi-

tions, etc.

●

If the edge of the course

is not

clear or straight, the lane depar-

ture alert function may not oper-

ate.

●

Vehicle with BSM: It may not be

possible for the system to deter-

mine if there is a danger of a colli-

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284

4-5. Using the driving support systems

sion with a vehicle in an adjacent

lane.

●

Do not attempt to test the opera-

tion of the lane departure alert

function.

: Boundary between asphalt and

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

■

Hands off steering wheel warn-

ing

In the following situations, a warning

message urging the driver to hold

the steering wheel and the symbol

shown in the illustration are dis-

played on the multi-information dis-

play to warn the driver. The warning

stops when the system determines

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 the

driver is not holding the steering

wheel while the lane centering

function 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 con-
tinuously operates the steering
wheel only a small amount.
The buzzer also sounds even if the
alert type is set to “Steering wheel
vibration”.

●

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 driv-
ing around a curve, warnings will
occur earlier than during straight-
lane driving.

●

When the system determines that

the driver is driving without hold-

ing the steering wheel while the

steering wheel assist of the steer-

ing assist function is operating.

If the driver continues to keep their
hands off of the steering wheel and
the steering wheel assist is operat-
ing, the buzzer sounds and the
driver is warned. Each time the
buzzer sounds, the continuing time
of the buzzer becomes longer.
The buzzer also sounds even if the
alert type is set to “Steering wheel
vibration”.

■

Vehicle sway warning function

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 dis-

play.

Depending on the vehicle and road

conditions, the warning may not

operate.

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285

4-5. Using the driving support systems

ing

■

Warning message

If the following warning message is

displayed on the multi-information

display and the LTA indicator illumi-

nates in orange, follow the appropri-

ate troubleshooting 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
operation range. Drive slower.

■

Customization

Function settings can be changed.

(

P.549)

: If equipped

RSA (Road Sign

Assist)

The RSA system recognizes
specific 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 recog-
nized road signs, it notifies
the driver through a visual
notification and notification
buzzer.

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 replace-

ment for a driver’s own vision and

awareness. Drive safely by

always paying careful attention to

the traffic rules.

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286

4-5. Using the driving support systems

When the front camera recog-
nizes a sign, the sign will be dis-
played on the multi-information
display.



When the driving support sys-
tem information display is
selected, a maximum of 3
signs can be displayed.
(



When a tab other than the
driving support system infor-
mation display is selected, the
following types of road signs
will be displayed. (

• Speed limit sign
• Do Not Enter sign (when notifica-

tion 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 blinking signs, are recog-
nized.

A non-official or a recently intro-
duced traffic sign may not be recog-
nized.

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



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



When the RSA system recog-

Indication on the multi-
information display

Supported types of road
signs

Speed limit

Do Not Enter

Stop

Yield

Notification function

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287

4-5. Using the driving support systems

ing

nizes a do not enter sign and
determines 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.112

■

Automatic turn-off of RSA sign

display

In the following situations, a dis-

played speed limit sign and/or do

not enter sign will stop being dis-

played 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

automatically:

●

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 func-

tion may not operate or detect

correctly

In the following situations, RSA

does not operate normally and may

not recognize 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 cam-

era.

●

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.

●

A sign resembling a system com-

patible sign is recognized.

●

Side road speed signs may be

detected and displayed (if posi-

tioned 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

positioned 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 naviga-

tion 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 dis-

played on the multi-information dis-

play, the same sign displays again

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288

4-5. Using the driving support systems

when the power switch is turned to

ON.

■

Customization

Some functions can be customized.

(Customizable features:



P.549)

■

Meter display

Multi-information display

Set speed

Dynamic radar cruise

control with full-speed

range

In vehicle-to-vehicle dis-
tance control mode, the
vehicle automatically accel-
erates, decelerates and
stops to match the speed
changes of the preceding
vehicle even if the accelera-
tor 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 freeways
and highways.



Vehicle-to-vehicle distance
control mode (

P.291)



Constant speed control
mode (

P.296)

System Components

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289

4-5. Using the driving support systems

ing

Indicators

■

Operation switches

Vehicle-to-vehicle distance
switch

“+RES” switch

Cruise control main switch

Cancel switch

“-SET” switch

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 pay-

ing careful attention to your sur-

roundings.

●

The dynamic radar cruise con-

trol with full-speed range pro-

vides 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.298

• Conditions under which the

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly:



P.298

●

Set the speed appropriately

depending on the speed limit,

traffic flow, road conditions,

weather conditions, etc. The

driver is responsible for check-

ing the set speed.

●

Even when the system is func-

tioning normally, the condition

of the preceding vehicle as

detected by the system may dif-

fer from the condition observed

by the driver. Therefore, the

driver must always remain alert,

assess the danger of each situ-

ation and drive safely. Relying

solely on this system or assum-

ing 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 cruise

control main switch when not in

use.

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290

4-5. Using the driving support systems

WARNING

■

Cautions regarding the driv-

ing assist systems

Observe the following precau-

tions, 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 mechanism that
allows careless or inattentive driv-
ing, 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 vehi-
cle’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 necessary for the
driver to remain vigilant and to
determine whether or not there is
a possibility of danger in any
given situation.

●

Assisting the driver to operate

the vehicle

The dynamic radar cruise control
with full-speed range does not
include functions which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of danger, the driver
must take immediate and direct
control of the vehicle and act
appropriately in order to ensure
the safety of all involved.

■

Situations unsuitable for

dynamic radar cruise control

with full-speed range

Do not use dynamic radar cruise

control with full-speed range in

any of the following situations.

Doing so may result in inappropri-

ate speed control and could

cause an accident resulting in

death or serious injury.

●

Roads where there are pedes-

trians, 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

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291

4-5. Using the driving support systems

ing

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.

WARNING

●

When weather conditions are

bad enough that they may pre-

vent the sensors from detecting

correctly (fog, snow, sandstorm,

heavy rain, etc.)

●

When there is rain, snow, etc.

on the front surface of the radar

or front camera

●

In traffic conditions that require

frequent repeated acceleration

and deceleration

●

When your vehicle is towing a

trailer or during emergency tow-

ing

●

When an approach warning

buzzer is heard often

Driving in vehicle-to-vehicle distance control mode

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292

4-5. Using the driving support systems

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 nec-
essary, 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, pressing the
“+RES” switch or depressing the accelerator pedal (start-off operation) will
resume follow-up cruising. If the start-off operation is not performed, system
control continues to keep your vehicle stopped.
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 accel-
erate 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.

Press the cruise control main

switch 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 switch

Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

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293

4-5. Using the driving support systems

ing

again to deactivate the cruise con-

trol.
If the cruise control main switch is

pressed and held for 1.5 seconds

or more, the system turns on in

constant speed control mode.

(

P.296)

Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 20 mph [30 km/h])
and press the “-SET” switch
to set the speed.

Cruise control “SET” indicator will

come on.
The vehicle speed at the moment

the switch is released becomes the

set speed.



Adjusting the set speed by the
switch

To change the set speed, press

the “+RES” or “-SET” switch
until the desired set speed is
displayed.

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: Press the switch.
Large adjustment: Press and hold
the switch to change the speed,
and release when the desired
speed is reached.

In the vehicle-to-vehicle dis-
tance control mode, the set
speed will be increased or
decreased as follows:



For the U.S. mainland and
Hawaii

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

or 1 km/h (0.6 mph)

each

time the switch is pressed
Large adjustment: Increases or
decreases in 1 mph (1.6 km/h)

1 km/h (0.6 mph)

increments for

as long as the switch is held



Except for the U.S. mainland
and Hawaii

Fine adjustment: By 1 mph (1.6

Adjusting the set speed

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294

4-5. Using the driving support systems

km/h)

or 1 km/h (0.6 mph)

each

time the switch is pressed
Large adjustment: Increases or
decreases in 5 mph (8 km/h)

or 5

km/h (3.1 mph)

increments for as

long as the switch is held

In the constant speed control
mode (

P.296), the set speed

will be increased or decreased
as follows:

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

or 1 km/h (0.6 mph)

each

time the switch is pressed
Large adjustment: The speed will
continue to change while the switch
is held.

:When the set speed is shown in

“MPH”

:When the set speed is shown in

“km/h”



Increasing the set speed by
the accelerator pedal

Accelerate with accelerator
pedal operation to the
desired vehicle speed

Press the “-SET” switch

Pressing the switch changes the
vehicle-to-vehicle distance as
follows:

Long

Medium

Short

If a vehicle is running ahead of you,
the preceding vehicle mark

will

also be displayed.

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

Changing the vehicle-to-
vehicle distance (vehicle-
to-vehicle distance con-
trol mode)

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

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295

4-5. Using the driving support systems

ing

After the vehicle ahead of you
starts off, press the “+RES”
switch.
Your vehicle will also resume
follow-up cruising if the acceler-
ator pedal is depressed after the
vehicle ahead of you starts off.

Pressing the cancel switch
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.)

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

When your vehicle is too close
to a vehicle ahead, and suffi-
cient automatic deceleration via
the cruise control is not possi-
ble, the display will flash and the
buzzer will sound to alert the
driver. An example of this would
be if another driver cuts in front
of you while you are following a
vehicle. Depress the brake
pedal to ensure an appropriate
vehicle-to-vehicle distance.

Distance options

Vehicle-to-vehi-

cle distance

Long

Approximately

160 ft. (50 m)

Medium

Approximately

130 ft. (40 m)

Short

Approximately

100 ft. (30 m)

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

Canceling and resuming
the speed control

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

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296

4-5. Using the driving support systems

■

Warnings may not occur
when

In the following instances, warn-
ings may not occur even when
the vehicle-to-vehicle distance is
small.



When the speed of the pre-
ceding vehicle matches or
exceeds your vehicle speed



When the preceding vehicle is
traveling at an extremely slow
speed



Immediately after the cruise
control speed was set



When depressing the acceler-
ator pedal

When constant speed control
mode is selected, your vehicle
will maintain a set speed without
controlling the vehicle-to-vehi-
cle distance. Select this mode
only when vehicle-to-vehicle dis-
tance control mode does not
function correctly due to a dirty
radar, etc.

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

Immediately after the switch is

pressed, the dynamic radar cruise

control indicator will come on. After-

wards, it switches to the cruise con-

trol indicator.
Switching to constant speed control

mode is only possible when operat-

ing the switch with the cruise con-

trol off.

Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 20 mph [30 km/h])
and press the “-SET” switch
to set the speed.

Cruise control “SET” indicator will

come on.
The vehicle speed at the moment

the switch is released becomes the

set speed.
Adjusting the speed setting:



P.293

Canceling and resuming the speed

Selecting constant speed
control mode

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297

4-5. Using the driving support systems

ing

setting:



P.295

■

Dynamic radar cruise control

with full-speed range can be set

when

●

The shift lever is in D.

●

The desired set speed can be set

when the vehicle speed is approx-

imately 20 mph (30 km/h) or more.

(However, when the vehicle speed

is set while driving at below

approximately 20 mph [30 km/h],

the set speed will be set to

approximately 20 mph [30 km/h].)

■

Accelerating after setting the

vehicle speed

The vehicle can accelerate by oper-

ating the accelerator pedal. After

accelerating, the set speed

resumes. However, during vehicle-

to-vehicle distance control mode,

the vehicle speed may decrease

below the set speed in order to

maintain the distance to the preced-

ing vehicle.

■

When the vehicle stops while

follow-up cruising

●

Pressing the “+RES” switch while

the vehicle ahead stops will

resume follow-up cruising if the

vehicle ahead starts off within

approximately 3 seconds after the

switch is pressed.

●

If the vehicle ahead starts off

within 3 seconds after your vehicle

stops, follow-up cruising will be

resumed.

■

Automatic cancelation of vehi-

cle-to-vehicle distance control

mode

Vehicle-to-vehicle distance control

mode is automatically canceled in

the following situations.

●

VSC is activated.

●

TRAC is activated for a period of

time.

●

When the VSC or TRAC system is

turned off.

●

The sensor cannot detect cor-

rectly because it is covered in

some way.

●

Pre-collision braking is activated.

●

The parking brake is operated.

●

The vehicle is stopped by system

control on a steep incline.

●

The following are detected when

the vehicle has been stopped by

system control:

• The driver is not wearing a seat

belt.

• The driver’s door is opened.

• The vehicle has been stopped for

about 3 minutes

If vehicle-to-vehicle distance control
mode is automatically canceled for
any reasons other than the above,
there may be a malfunction in the
system. Contact your Toyota dealer.

■

Automatic cancelation of con-

stant speed control mode

Constant speed control mode is

automatically canceled in the follow-

ing situations:

●

Actual vehicle speed is more than

approximately 10 mph (16 km/h)

below the set vehicle speed.

●

Actual vehicle speed falls below

approximately 20 mph (30 km/h).

●

VSC is activated.

●

TRAC is activated for a period of

time.

●

When the VSC or TRAC system is

turned off.

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298

4-5. Using the driving support systems

●

Pre-collision braking is activated.

●

The parking brake is operated.

If constant speed control mode is
automatically canceled for any rea-
sons other than the above, there
may be a malfunction in the system.
Contact your Toyota dealer.

■

Brake operation

A brake operation sound may be

heard and the brake pedal response

may change, but these are not mal-

functions.

■

Warning messages and buzzers

for dynamic radar cruise con-

trol with full-speed range

Warning messages and buzzers are

used to indicate a system malfunc-

tion or to inform the driver of the

need for caution while driving. If a

warning message is shown on the

multi-information display, read the

message and follow the instructions.

(

P.265, 477)

■

When the sensor may not be

correctly detecting the vehicle

ahead

In the case of the following and

depending on the conditions, oper-

ate the brake pedal when decelera-

tion of the system is insufficient or

operate the accelerator pedal when

acceleration is required.
As the sensor may not be able to

correctly detect these types of vehi-

cles, the approach warning

(

P.295) may not be activated.

●

Vehicles that cut in suddenly

●

Vehicles traveling at low speeds

●

Vehicles that are not moving in

the same lane

●

Vehicles with small rear ends

(trailers with no load on board,

etc.)

●

Motorcycles traveling in the same

lane

●

When water or snow thrown up by

the surrounding vehicles hinders

the detecting of the sensor

●

When your vehicle is pointing

upwards (caused by a heavy load

in the luggage compartment, etc.)

●

Preceding vehicle has an

extremely high ground clearance

■

Conditions under which the

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly

In the case of the following condi-

tions, operate the brake pedal (or

accelerator pedal, depending on the

situation) as necessary.
As the sensor may not be able to

correctly detect vehicles ahead, the

system may not operate properly.

●

When the road curves or when the

lanes are narrow

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299

4-5. Using the driving support systems

ing

●

When steering wheel operation or

your position in the lane is unsta-

ble

●

When the vehicle ahead of you

decelerates suddenly

●

When driving on a road sur-

rounded by a structure, such as in

a tunnel or on a bridge

: If equipped

BSM (Blind Spot Moni-

tor)

The Blind Spot Monitor is a
system that has 2 functions:



The BSM (Blind Spot Moni-
tor) function

Assists the driver in making a
decision when changing lanes



The RCTA (Rear Cross
Traffic Alert) function

Assists the driver when back-
ing up

These functions use the
same sensors.

WARNING

■

Cautions regarding the use of

the BSM function

The driver is solely responsible for

safe driving. Always drive safely,

taking care to observe your sur-

roundings.

The BSM function is a supple-

mentary function which alerts the

driver that a vehicle is in a blind

spot of the outside rear view mir-

rors or is approaching rapidly from

behind into a blind spot. Do not

overly rely on the BSM function.

As the function cannot judge if it is

safe to change lanes, over reli-

ance could lead to an accident

resulting in death or serious

injury.
As the system may not function

correctly under certain condi-

tions, the driver’s own visual con-

firmation of safety is necessary.

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300

4-5. Using the driving support systems

Multi-information display

Turning the BSM function/RCTA
function on/off.

Outside rear view mirror indi-

cators

BSM function:
When a vehicle is detected in a
blind spot of the outside rear view
mirrors or approaching rapidly from
behind into a blind spot, the outside
rear view mirror indicator on the
detected side will illuminate. If the
turn signal lever is operated toward
the detected side, the outside rear
view mirror indicator will flash.
RCTA function:
When a vehicle approaching from
the right or left at the rear of the
vehicle is detected, both outside
rear view mirror indicators will flash.

BSM OFF indicator/RCTA
OFF indicator

When the Blind Spot Monitor is dis-
abled, the BSM OFF indicator illu-
minates.
When the RCTA function is dis-
abled, the RCTA OFF indicator illu-
minates.

Monitor screen display
(RCTA function only)

If a vehicle approaching from the
right or left at the rear of the vehicle
is detected, the RCTA icon
(



P.305) for the detected side will

be displayed.

RCTA buzzer (RCTA func-
tion only)

If a vehicle approaching from the
right or left at the rear of the vehicle
is detected, a buzzer will sound
from behind the rear seat.

WARNING

■

Cautions regarding the use of

the RCTA function

The driver is solely responsible for

safe driving. Always drive safely,

taking care to observe your sur-

roundings.
The RCTA function is only a sup-

plementary function which alerts

the driver that a vehicle is

approaching from the right or left

at the rear of the vehicle. As the

RCTA function may not function

correctly under certain condi-

tions, the driver’s own visual con-

firmation of safety is necessary.
Over reliance on this function may

lead to an accident resulting

death or serious injury.

System components

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301

4-5. Using the driving support systems

ing

The BSM function and the
RCTA function can be
enabled/disabled on the

screen of the multi-information
display. (



P.112) Each time the

power switch is turned off then
changed to ON, the BSM func-
tion//RCTA function will be
enabled automatically.

■

Outside rear view mirror indica-

tors visibility

In strong sunlight, the outside rear

view mirror indicator may be difficult

to see.

■

Hearing the RCTA buzzer

The RCTA buzzer may be difficult to

hear over loud noises such as high

audio volume.

■

When “Blind Spot Monitor

Unavailable” or “Rear Cross

Traffic Alert Unavailable” is

shown on the multi-information

display

The sensor voltage has become

abnormal, or water, snow, mud,

etc., may be built up in the vicinity of

the sensor area of the rear bumper.

(

P.301) will be displayed. In

P.301)

Removing the water, snow, mud,

etc., from the vicinity of the sensor

area should return it to normal.

Also, the sensor may not function

normally when used in extremely

hot or cold weather.

■

When “Blind Spot Monitor Mal-

function Visit Your Dealer” or

“Rear Cross Traffic Alert Mal-

function Visit Your Dealer” is

shown on the multi-information

display

There may be a sensor malfunction

or misaligned. Have the vehicle

inspected at a Toyota dealer.

■

Customization

Some functions can be customized.

(



P.550)

Turning the BSM func-
tion/RCTA function on/off

WARNING

■

Handling the radar sensor

Blind Spot Monitor sensors are

installed inside the left and right

sides of the rear bumper respec-

tively. Observe the following to

ensure the Blind Spot Monitor can

function correctly.

●

Keep the sensors and the sur-

rounding areas on the rear

bumper clean at all times.

If a sensor or its surrounding

area on the rear bumper is dirty

or covered with snow, the Blind

Spot Monitor may not operate

and a warning message

(



this situation, clear off the dirt or

snow and drive the vehicle with

the operation conditions of the

BSM function (

P.303) satis-

fied for approximately 10 min-

utes. If the warning message

does not disappear, have the

vehicle inspected by your

Toyota dealer.

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302

4-5. Using the driving support systems

■

Vehicles that can be detected by the Blind Spot Monitor

The BSM function uses radar sensors to detect the following vehi-
cles traveling in adjacent lanes and advises the driver of the pres-
ence of such vehicles via the indicators on the outside rear view
mirrors.

WARNING

●

Do not subject a sensor or its

surrounding area on the rear

bumper to a strong impact.

If a sensor is moved even

slightly off position, the system

may malfunction and vehicles

may not be detected correctly.

In the following situations, have

your vehicle inspected by your

Toyota dealer.

• A sensor or its surrounding area

is subject to a strong impact.

• If the surrounding area of a sen-

sor is scratched or dented, or

part of them has become dis-

connected.

●

Do not disassemble the sensor.

●

Do not attach accessories,

stickers (including transparent

stickers), aluminum tape, etc. to

a sensor or its surrounding area

on the rear bumper.

●

Do not modify the sensor or sur-

rounding area on the rear

bumper.

●

If a sensor or the rear bumper

needs to be removed/installed

or replaced, contact your

Toyota dealer.

●

Do not paint the rear bumper

any color other than an official

Toyota color.

The Blind Spot Monitor function

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303

4-5. Using the driving support systems

ing

Vehicles that are traveling in areas that are not visible using the
outside rear view mirrors (the blind spots)

Vehicles that are approaching rapidly from behind in areas that
are not visible using the outside rear view mirrors (the blind spots)

■

The BSM function detection areas

The areas that vehicles can be detected in are outlined below.

The range of each detection area is:

Approximately 1.6 ft. (0.5 m) to 11.5 ft. (3.5 m) from either side of
the vehicle

The area between the side of the vehicle and 1.6 ft. (0.5 m) from the side of
the vehicle cannot be detected.

Approximately 3.3 ft. (1 m) forward of the rear bumper

Approximately 9.8 ft. (3 m) from the rear bumper

Approximately 9.8 ft. (3 m) to 197 ft. (60 m) from the rear bumper

The greater the difference in speed between your vehicle and the detected
vehicle is, the farther away the vehicle will be detected, causing the outside
rear view mirror indicator to illuminate or flash.

■

The BSM function is operational

when

The BSM function is operational

when all of the following conditions

are met:

●

The BSM function is on.

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304

4-5. Using the driving support systems

●

The shift lever is in a position

other than R.

●

The vehicle speed is greater than

approximately 10 mph (16 km/h).

■

The BSM function will detect a

vehicle when

The BSM function will detect a vehi-

cle present in the detection area in

the following situations:

●

A vehicle in an adjacent lane over-

takes your vehicle.

●

You overtake a vehicle in an adja-

cent lane slowly.

●

Another vehicle enters the detec-

tion area when it changes lanes.

■

Conditions under which the

BSM function will not detect a

vehicle

The BSM function is not designed to

detect the following types of vehi-

cles and/or objects:

●

Small motorcycles, bicycles,
pedestrians, etc.

●

Vehicles traveling in the opposite

direction

●

Guardrails, walls, signs, parked

vehicles and similar stationary
objects

●

Following vehicles that are in the
same lane

●

Vehicles traveling 2 lanes away
from your vehicle

●

Vehicles which are being over-

taken rapidly by your vehicle

: Depending on the conditions,

detection of a vehicle and/or
object may occur.

■

Conditions under which the

BSM function may not function

correctly

●

The BSM function may not detect

vehicles correctly in the following

situations:

• When the sensor is misaligned

due to a strong impact to the sen-

sor or its surrounding area

• When mud, snow, ice, a sticker,

etc. is covering the sensor or sur-

rounding area on the rear bumper

• When driving on a road surface

that is wet with standing water

during bad weather, such as

heavy rain, snow, or fog

• When multiple vehicles are

approaching with only a small gap

between each vehicle

• When the distance between your

vehicle and a following vehicle is

short

• When there is a significant differ-

ence in speed between your vehi-

cle and the vehicle that enters the

detection area

• When the difference in speed

between your vehicle and another

vehicle is changing

• When a vehicle enters a detection

area traveling at about the same

speed as your vehicle

• As your vehicle starts from a stop,

a vehicle remains in the detection

area

• When driving up and down con-

secutive steep inclines, such as

hills, dips in the road, etc.

• When driving on roads with sharp

bends, consecutive curves, or

uneven surfaces

• When vehicle lanes are wide, or

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305

4-5. Using the driving support systems

ing

when driving on the edge of a

lane, and the vehicle in an adja-

cent lane is far away from your

vehicle

• When an accessory (such as a

hitch-mounted bicycle carrier) is

installed to the rear of the vehicle

• When the vehicle is heavily

loaded in the luggage compart-

ment

• When there is a significant differ-

ence in height between your vehi-

cle and the vehicle that enters the

detection area

• Immediately after the BSM func-

tion/RCTA function are turned on

• When towing a trailer

●

Instances of the BSM function

unnecessarily detecting a vehicle

and/or object may increase in the

following situations:

• When the sensor is misaligned

due to a strong impact to the sen-

sor or its surrounding area

• When the distance between your

vehicle and a guardrail, wall, etc.

that enters the detection area is

short

• When driving up and down con-

secutive steep inclines, such as

hills, dips in the road, etc.

• When vehicle lanes are narrow, or

when driving on the edge of a

lane, and a vehicle traveling in a

lane other than the adjacent lanes

enters the detection area

• When driving on roads with sharp

bends, consecutive curves, or

uneven surfaces

• When the tires are slipping or

spinning

• When the distance between your

vehicle and a following vehicle is

short

• When an accessory (such as a

hitch-mounted bicycle carrier) is

installed to the rear of the vehicle

• When the vehicle throws up water

or snow behind.

■

Operation of the RCTA
function

The RCTA function uses radar
sensors to detect vehicles
approaching from the right or left
at the rear of the vehicle and
alerts the driver of the presence
of such vehicles by flashing the
outside rear view mirror indica-
tors and sounding a buzzer.

Approaching vehicles

Detection areas

■

RCTA icon display (if
equipped)

When a vehicle approaching
from the right or left at the rear
of the vehicle is detected, the
following will be displayed on
the audio system screen.



When the Toyota parking
assist monitor (if equipped) is
displayed

The Rear Cross Traffic
Alert function (if
equipped)

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306

4-5. Using the driving support systems



When the panoramic view
monitor (if equipped) is dis-
played

: The RCTA function is malfunc-

tioning (



P.301)

■

The RCTA function detec-
tion areas

The areas that vehicles can be
detected in are outlined below.

The buzzer can alert the driver of
faster vehicles approaching from
farther away.

Example:

■

The RCTA function is opera-

tional when

The RCTA function operates when

all of the following conditions are

met:

●

The RCTA function is on.

●

The shift lever is in R.

●

The vehicle speed is less than

approximately 5 mph (8 km/h).

●

The approaching vehicle speed is

between approximately 5 mph (8

km/h) and 17 mph (28 km/h).

■

Setting the buzzer volume

The buzzer volume can be adjusted

on the multi-information display.

(



■

Conditions under which the

RCTA function will not detect a

vehicle

The RCTA function is not designed

to detect the following types of vehi-

cles and/or objects.

●

Vehicles approaching from

directly behind

●

Vehicles backing up in a parking

space next to your vehicle

●

Vehicles that the sensors cannot

detect due to obstructions

Approach-

ing vehicle

Speed

Approxi-

mate

alert dis-

tance

Fast

18 mph

(28 km/h)

65 ft. (20

Slow

5 mph (8

km/h)

18 ft. (5.5

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307

4-5. Using the driving support systems

ing

●

Guardrails, walls, signs, parked

vehicles and similar stationary
objects

●

Small motorcycles, bicycles,
pedestrians, etc.

●

Vehicles moving away from your

vehicle

●

Vehicles approaching from the

parking spaces next to your vehi-
cle

: Depending on conditions, detec-

tion of a vehicle and/or object may
occur.

■

Conditions under which the

RCTA function may not func-

tion correctly

●

The RCTA function may not

detect vehicles correctly in the fol-

lowing situations:

• When the sensor is misaligned

due to a strong impact to the sen-

sor or its surrounding area

• When mud, snow, ice, a sticker,

etc. is covering the sensor or sur-

rounding area on the rear bumper

• When driving on a road surface

that is wet with standing water

during bad weather, such as

heavy rain, snow, or fog

• When multiple vehicles are

approaching with only a small gap

between each vehicle

• When a vehicle is approaching at

high speed

• When parking on a steep incline,

such as hills, a dip in the road, etc.

• When an accessory (such as a

hitch-mounted bicycle carrier) is

installed to the rear of the vehicle

• When backing up on a slope with

a sharp change in grade

• When backing out of a shallow

angle parking spot

• Immediately after the RCTA func-

tion is turned on

• Immediately after the hybrid sys-

tem is started with the RCTA func-

tion on

• When towing a trailer

• When the sensors cannot detect a

vehicle due to obstructions

●

Instances of the RCTA function

unnecessary detecting a vehicle

and/or object may increase in the

following situations:

• When a vehicle passes by the

side of your vehicle

• When the parking space faces a

street and vehicles are being

-------------------------------------------------------------------------------------------------------------------------------------------------------------

308

4-5. Using the driving support systems

driven on the street

• When the distance between your

vehicle and metal objects, such as

a guardrail, wall, sign, or parked

vehicle, which may reflect electri-

cal waves toward the rear of the

vehicle, is short

• When an accessory (such as a

hitch-mounted bicycle carrier) is

installed to the rear of the vehicle

: If equipped

■

Location and types of sen-
sors

Front corner sensors

Front center sensors

Rear corner sensors

Rear center sensors

■

Display (Multi-information
display)

When the sensors detect an
object, such as a wall, a graphic
is shown on the multi-informa-

Intuitive parking

assist

The distance from your
vehicle to objects, such as a
wall, when parallel parking
or maneuvering into a
garage is measured by the
sensors and communicated
via the multi-information
display, audio system
screen and a buzzer. Always
check the surrounding area
when using this system.

System components

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309

4-5. Using the driving support systems

ing

tion display depending on the
position and distance to the
object.

Front corner sensor detection

Front center sensor detec-
tion

Rear corner sensor detec-
tion

Rear center sensor detec-
tion

:Displayed when the shift lever is

in a driving position

:Displayed when the shift lever is

in R

■

Display (audio system
screen)

When the sensors detect an
object, such as a wall, a graphic
is shown on the navigation sys-
tem (if equipped) or multimedia
system (if equipped) screen
depending on the position and
distance to the object.



When the Toyota parking
assist monitor (if equipped) is
displayed

A simplified image is displayed on
the upper corner of the screen
when an obstacle is detected.



When the panoramic view
monitor (if equipped) is dis-
played



Panoramic view

A graphic is shown when the
panoramic view monitor is dis-
played.

: A simplified image is displayed on

the upper corner of the screen
when an obstacle is detected
while magnified display is shown.

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310

4-5. Using the driving support systems



Except panoramic view

A simplified image is displayed
on the upper corner of the
screen when an obstacle is
detected.

The Intuitive parking assist can
be enabled/disabled on the

screen of the multi-information
display. (



When the intuitive parking assist
function is disabled, the intuitive
parking assist OFF indicator
(

P.95) illuminates on the multi-

information display.

To re-enable the system, select

on the multi-information display,
select

and turn it on.

If the system is disabled, it will
remain off even if the power switch
is turned to ON after the power
switch has been turned off.

Turning intuitive parking
assist on/off

WARNING

■

Intuitive parking assist pre-

cautions

Observe the following precau-

tions.

Failing to do so may result in the

vehicle being unable to be driven

safely and possibly cause an acci-

dent.

●

Do not use the sensor at

speeds in excess of approxi-

mately 6 mph (10 km/h).

●

The sensors’ detection areas

and reaction times are limited.

When moving forward or revers-

ing, check the areas surround-

ing the vehicle (especially the

sides of the vehicle) for safety,

and drive slowly, using the

brake to control the vehicle’s

speed.

●

Do not install accessories near

the bumpers as those areas are

within the sensors’ detection

areas.

●

The area directly under the

bumpers is not detected.

Thin posts or objects lower than

the sensor may not be detected

when approached, even if they

have been detected once.

■

When to disable the function

In the following situations, disable

the function as it may operate

even though there is no possibility

of a collision.

●

The vehicle is equipped with a

commercial fender pole, wire-

less antenna or fog lights.

●

The front or rear bumper or a

sensor receives a strong

impact.

●

A non-genuine Toyota suspen-

sion (lowered suspension, etc.)

is installed.

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311

4-5. Using the driving support systems

ing

■

The system can be operated

when

●

The power switch is in ON.

●

Intuitive parking assist function is

on.

●

The vehicle speed is less than

about 6 mph (10 km/h).

●

The shift lever is in a position

other than P.

■

If “Parking Assist Unavailable

Clean Parking Assist Sensor” is

displayed on the multi-informa-

tion display

A sensor may be covered with ice,

snow, dirt, etc. Remove the ice,

snow, dirt, etc., from the sensor to

return the system to normal.
Also, due to ice forming on a sensor

at low temperatures, a warning

message may be displayed or the

sensor may not be able to detect an

object. Once the ice melts, the sys-

tem will return to normal.
If a warning message is displayed

even if the sensor is clean, there

may be a sensor malfunction. Have

the vehicle inspected by your

Toyota dealer.

■

If “Parking Assist Unavailable”

is displayed on the multi-infor-

mation display

Water may be continuously flowing

over the sensor surface, such as in

a heavy rain. When the system

determines that it is normal, the sys-

tem will return to normal.

■

Sensor detection information

●

The sensor’s detection areas are

limited to the areas around the

vehicle’s front and rear bumpers.

●

The following situations may occur

during use.

• Depending on the shape of the

object and other factors, the

detection distance may shorten,

or detection may be impossible.

• Detection may be impossible if

static objects draw too close to the

WARNING

●

A backlit license plate is

installed.

■

When using the intuitive park-

ing assist

In the following situations, the

system may not function correctly

due to a sensor malfunction, etc.

Have the vehicle checked by your

Toyota dealer.

●

The intuitive parking assist

operation display flashes or

shows continuously, and a

buzzer sounds when no objects

are detected.

●

If the area around a sensor col-

lides with something, or is sub-

jected to strong impact.

●

If the bumper or grille collides

with something.

●

If the display flashes or is dis-

played continuously and a

buzzer does not sound, except

when the mute function has

been turned on.

■

Notes when washing the vehi-

cle

Do not apply intensive bursts of

water or steam to the sensor

area.
Doing so may result in the sensor

malfunctioning.

●

When using a high pressure

washer to wash the vehicle, do

not spray the sensors directly,

as doing so may cause a sensor

to malfunction.

●

When using steam to clean the

vehicle, do not direct steam too

close to the sensors as doing so

may cause a sensor to malfunc-

tion.

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312

4-5. Using the driving support systems

sensor.

• There will be a short delay

between static object detection

and display (warning buzzer

sounds). Even at low speeds,

there is a possibility that the object

will come within approximately

11.9 in. (30 cm) before the display

is shown and the warning buzzer

sounds.

• It might be difficult to hear the

buzzer due to the volume of the

audio system or air flow noise of

the air conditioning system.

• It may be difficult to hear the

sound of this system due to the

buzzers of other systems.

■

Conditions under which the

function may not function cor-

rectly

Certain vehicle conditions and the

surrounding environment may affect

the ability of a sensor to correctly

detect objects. Particular instances

where this may occur are listed

below.

●

There is dirt, snow or ice on a sen-

sor. (Cleaning the sensors will

resolve this problem.)

●

A sensor is frozen. (Thawing the

area will resolve this problem.)

In especially cold weather, if a

sensor is frozen the sensor dis-

play may be displayed abnor-

mally, or objects, such as a wall,

may not be detected.

●

A sensor is covered in any way.

●

When a sensor or the area around

a sensor is extremely hot or cold.

●

On an extremely bumpy road, on

an incline, on gravel, or on grass.

●

The vicinity of the vehicle is noisy

due to vehicle horns, motorcycle

engines, air brakes of large vehi-

cles, or other loud noises produc-

ing ultrasonic waves.

●

There is another vehicle equipped

with parking assist sensors in the

vicinity.

●

A sensor is coated with a sheet of

spray or heavy rain.

●

If a sensor is hit by a large amount

of water, such as when driving on

a flooded road.

●

If the vehicle is significantly tilted.

●

The vehicle is approaching a tall

or curved curb.

●

If objects draw too close to the

sensor.

■

Objects which may not be prop-

erly detected

The shape of the object may pre-

vent the sensor from detecting it.

Pay particular attention to the fol-

lowing objects:

●

Wires, fences, ropes, etc.

●

Cotton, snow and other materials

that absorb sound waves

●

Sharply-angled objects

●

Low objects

●

Tall objects with upper sections

projecting outwards in the direc-

tion of your vehicle

People may not be detected if they

are wearing certain types of cloth-

ing.

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313

4-5. Using the driving support systems

ing

■

Detection range of the sen-
sors

Approximately 3.3 ft. (100
cm)

Approximately 4.9 ft. (150
cm)

Approximately 2.0 ft. (60 cm)

The diagram shows the detection
range of the sensors. Note that the
sensors cannot detect objects that
are extremely close to the vehicle.
The range of the sensors may
change depending on the shape of
the object, etc.

■

Distance display

When an object is detected by a
sensor, the approximate dis-
tance to the object will be dis-
played on the multi-information
display and audio system
screen. (As the distance to the
object becomes short, the dis-
tance segments may blink.)

The images may differ from that
shown in the illustrations.



Approximate distance to
object 4.9 ft. (150 cm) to 2.0
ft. (60 cm)

(Rear center sen-

sor)

: Automatic buzzer mute function

is enabled. (



Approximate distance to
object: 3.3 ft. (100 cm) to 2.0
ft. (60 cm)

(Front center sen-

sor)

: Automatic buzzer mute function

is enabled. (



Approximate distance to
object: 2.0 ft. (60 cm) to 1.5 ft.
(45 cm)

: Automatic buzzer mute function

is enabled. (

Sensor detection display,
object distance

Multi-information

display

Audio system

screen

Multi-information

display

Audio system

screen

Multi-information

display

Audio system

screen

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314

4-5. Using the driving support systems



Approximate distance to
object: 1.5 ft. (45 cm) to 1.0 ft.
(30 cm)

: Automatic buzzer mute function

is enabled. (





Approximate distance to
object: 1.0 ft. (30 cm) to 0.5 ft.
(15 cm)

:Automatic buzzer mute function

is disabled. (

:The distance segments will blink

slowly.



Approximate distance to
object: Less than 0.5 ft. (15
cm)

:Automatic buzzer mute function

is disabled. (

:The distance segments will blink

rapidly.

■

Buzzer operation and dis-
tance to an object

A buzzer sounds when the sen-
sors are operating.



The buzzer beeps faster as
the vehicle approaches an
object. When the vehicle
comes within approximately
1.0 ft. (30 cm) of the object,
the buzzer sounds continu-
ously.



When 2 or more sensors
simultaneously detect a static
object, the buzzer sounds for
the nearest object. If one or
more objects come within
approximately 1.0 ft. (30 cm)
of the vehicle, the buzzer will
repeat a long tone, followed
by fast beeps.



Even when the sensors are
operating, the buzzer will be
muted in some situations.
(automatic buzzer mute func-
tion)

■

Muting the buzzer sound

●

Automatic buzzer mute function

Even when the sensors are operat-
ing, the buzzer will be muted in the
following situations:
• The distance between the vehicle

and the detected object does not

become shorter (except when the

distance between the vehicle and

object is 1.0 ft. [30 cm] or less).

• Your vehicle is moving away from

the object.

• There are no detectable objects

entering the path of your vehicle.

Multi-information

display

Audio system

screen

Multi-information

display

Audio system

screen

Multi-information

display

Audio system

screen

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315

4-5. Using the driving support systems

ing

However, if another object is
detected or the situation changes
while the buzzer is muted, the
buzzer begins sounding again.

●

To mute the buzzer sound

The buzzer can be temporarily
muted by pressing “OK” of the meter
control switches while a suggestion
that says mute is available is shown
on the multi-information display.

●

When the mute is canceled

Mute will be automatically canceled
in the following situations.
• When the shift position is changed

• When the vehicle speed has

reached or exceeded a certain

speed

●

When there is a malfunction in a

sensor or the system is temporar-

ily unavailable.

• When the Intuitive parking assist

is turned off once and turned on

again

• When the power switch is turned

off once and turned to ON again

■

Customization

The buzzer volume can be adjusted

on the multi-information display.

(

P.551)

: If equipped

Pedestrian detection icon

Displayed automatically when a
pedestrian is detected.

RCD OFF icon

When the RCD function is disabled,
the RCD OFF icon illuminates.
(Each time the power switch is
turned off then changed to ON, the
RCD function will be enabled auto-
matically.)

RCD (Rear Camera

Detection) function

When the vehicle is back-
ing up, the rear camera
detection function can
detect pedestrians in the
detection area behind the
vehicle. If a pedestrian is
detected, a buzzer will
sound and an icon will be
displayed on the audio sys-
tem screen to inform the
driver of the pedestrian.

Display (audio system
screen)

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316

4-5. Using the driving support systems

Use the meter control switches
to enable/disable the RCD func-
tion. (





4.2-inch display

Press

of the meter

control switches and select

Press

of the meter

control switches to select
“RCD” and then press “OK”.



7-inch display

Press

of the meter

control switches and select

Press

of the meter

control switches to select
“RCD” and then press “OK”.

ON and OFF will be switched
when “OK” is pressed.

When the RCD function is disabled,

the RCD OFF indicator (



P.95)

illuminates on the multi-information

display.

If the rear camera detection
function detects a pedestrian in
the detection area, the buzzer
and pedestrian detection will
operate as follows:

If a pedestrian is detected in
area
Buzzer: Sounds repeatedly
Pedestrian detection icon:
Blinks 3 times and then stays
on

If a pedestrian is detected in
area
Buzzer (When the vehicle is
stationary): Sounds 3 times
Buzzer (When the vehicle is
backing up, when a pedes-
trian approaches the rear of
the vehicle): Sounds repeat-
edly
Pedestrian detection icon:
Blinks 3 times and then stays
on

If the system determines that
your vehicle may collide with
a pedestrian in area
Buzzer: Sounds repeatedly
Pedestrian detection icon:
Blinks 3 times and then stays
on

Turning the RCD function
on/off

When a pedestrian is
detected

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317

4-5. Using the driving support systems

ing

■

The rear camera detection func-

tion is operational when

●

The power switch is in ON.

●

RCD function is on.

●

The shift lever is in R.

■

Setting the buzzer volume

The buzzer volume can be adjusted

on the multi-information display.

(

■

Muting the buzzer sound

The buzzer can be temporarily

muted by pressing “OK” of the meter

control switches while a suggestion

that says mute is available is shown

on the multi-information display.

■

If “Rear Camera Detection

Unavailable Remove the Dirt of

Rear Camera” is displayed on

the multi-information display

A rear camera lens may be dirty or

covered with snow or ice. In such

cases, if it is removed from the rear

camera lens, the system should

return to normal. (It may be neces-

sary to drive the vehicle for some

time before the system returns to

normal. Even after the camera

cleaning washer operated, driving

the vehicle may also be necessary.)

■

If “Rear Camera Detection

Unavailable See Owner’s Man-

ual” is displayed on the multi-

information display

●

If this message is displayed after

the 12-volt battery has been dis-

connected and reconnected, fully

turn the steering wheel to the left

and then the right on level ground.

●

If this message is displayed only

when the shift lever is in R, the

rear camera lens may be dirty.

Clean the rear camera lens.

■

Situations in which the system

may not operate properly

●

Some pedestrians, such as the

following, may not be detected by

the rear camera detection func-

tion, preventing the function from

operating properly:

• Pedestrians who are bending for-

ward or squatting

• Pedestrians who are lying down

• Pedestrians who are running

• Pedestrians who suddenly enter

the detection area

• People riding a bicycle, skate-

board, or other light vehicle

• Pedestrians wearing oversized

clothing such as a rain coat, long

skirt, etc., making their silhouette

obscure

• Pedestrians whose body is par-

tially hidden by an object, such as

a cart or umbrella

• Pedestrians which are obscured

by darkness, such as at night

●

In some situations, such as the

following, pedestrians may not be

detected by the rear camera

detection function, preventing the

function from operating properly:

• When backing up in inclement

weather (rain, snow, fog, etc.)

• When the rear camera is

obscured (dirt, snow, ice, etc. are

attached) or scratched

• When a very bright light, such as

the sun, or the headlights of

another vehicle, shines directly

into the rear camera

• When backing up in a place where

the surrounding brightness

changes suddenly, such as at the

entrance or exit of a garage or

underground parking lot

• When backing up in a dim envi-

ronment such as during dusk or in

an underground parking lot

• When the dedicated camera

cleaning washer is operating

●

Even though there are no pedes-

trians in the detection area, some

objects, such as the following,

may be detected, possibly caus-

ing the rear camera detection

function to operate.

• Three dimensional objects, such

as a pole, traffic cone, fence, or

parked vehicle

• Moving objects, such as a car or

-------------------------------------------------------------------------------------------------------------------------------------------------------------

318

4-5. Using the driving support systems

motorcycle

• Objects moving toward your vehi-

cle when backing up, such as

flags or puddles (or airborne mat-

ter, such as smoke, steam, rain, or

snow)

• Cobblestone or gravel roads, tram

rails, road repairs, white lines,

pedestrian crossings or fallen

leaves on the road

• Metal covers (gratings), such as

those used for drainage ditches

• Objects reflected in a puddle or on

a wet road surface

• The roadside or bumps on the

road

• Shadows on the road

●

In some situations, such as the

following, the rear camera detec-

tion function may operate even

though there are no pedestrians in

the detection area.

• When backing up toward the road-

side or a bump on the road

• If the vehicle is significantly tilted,

such as when carrying a heavy

load

• When backing up toward an

incline/decline

• If the suspension has been modi-

fied or tires of a size other than

specified are installed

• If the rear of the vehicle is raised

or lowered due to the carried load

• If an electronic component, such

as a backlit license plate is

installed near the rear camera

• If a bumper protector, such as an

additional trim strip, is installed to

the rear bumper

• If the orientation of the rear cam-

era has been changed due to a

collision or other impact, or

removal and installation

• When water is flowing over the

rear camera lens

• When the rear camera is

obscured (dirt, snow, ice, etc. are

attached) or scratched

• If there is a flashing light in the

detection area, such as the emer-

gency flashers of another vehicle

●

Situations in which the rear cam-

era detection function may be diffi-

cult to notice

• The buzzer may be difficult to hear

if the surrounding area is noisy,

the volume of the audio system

volume is high, the air condition-

ing system is being used, etc.

• If the temperature in the cabin is

extremely high or low, the audio

system screen may not operate

correctly.

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319

4-5. Using the driving support systems

ing

: If equipped

■

Parking Support Brake
function (static objects)



P.323

■

Parking Support Brake
function (rear-crossing
vehicles)



P.329

PKSB (Parking Sup-

port Brake)

The Parking Support Brake
system consists of the fol-
lowing functions that oper-
ate when driving at a low
speed or backing up, such
as when parking. When the
system determines that the
possibility of a collision
with a detected object is
high, a warning operates to
urge the driver to take eva-
sive action. If the system
determines that the possi-
bility of a collision with a
detected object is extremely
high, the brakes are auto-
matically applied to help
avoid the collision or help
reduce the impact of the
collision.

PKSB (Parking Support
Brake) system

WARNING

■

Limitations of the Parking

Support Brake system

Do not overly rely on the system,

as doing so may lead to an acci-

dent.
Always drive while checking the

safety of the surroundings of the

vehicle.

Depending on the vehicle and

road conditions, weather, etc., the

system may not operate.

The detection capabilities of sen-

sors and radars are limited.

Always drive while checking the

safety of the surroundings of the

vehicle.

●

The driver is solely responsible

for safe driving. Always drive

carefully, taking care to observe

your surroundings. The Parking

Support Brake system is

designed to provide support to

lessen the severity of collisions.

However, it may not operate in

some situations.

●

The Parking Support Brake sys-

tem is not designed to stop the

vehicle completely. Addition-

ally, even if the system has

stopped the vehicle, it is neces-

sary to depress the brake pedal

immediately as brake control

will be canceled after approxi-

mately 2 seconds.

●

Do not attempt to test the oper-

ation of the Parking Support

Brake system yourself.

Depending on the situations,

the system may not operate

properly, possibly leading to an

accident.

-------------------------------------------------------------------------------------------------------------------------------------------------------------

320

4-5. Using the driving support systems

The Parking Support Brake can
be enabled/disabled on the

screen of the multi-information
display. All of the Parking Sup-
port Brake functions (static
objects and rear-crossing vehi-
cles) are enabled/disabled
simultaneously. (

When the Parking Support Brake is
disabled, the PKSB OFF indicator
(

P.95) illuminates on the multi-

information display.

To re-enable the system, select

on the multi-information display,
select

and turn it on.

If the system is disabled, it will
remain off even if the power switch
is turned to ON after the power
switch has been turned off.

If the hybrid system output
restriction control or brake con-
trol operates, a buzzer will
sound and a message will be
displayed on the multi-informa-
tion display or audio system
screen to alert the driver.
On vehicles with head-up dis-
play, the head-up display will
display the same message as
the multi-information display.

Depending on the situation, hybrid
system output restriction control will
operate to either limit acceleration
or restrict output as much as possi-
ble.



Hybrid system output restric-
tion control is operating
(acceleration restriction)

Acceleration greater than a certain
amount is restricted by the system.
Audio system screen: No warning
displayed
Multi-information display: “Object
Detected Acceleration Reduced”
PKSB OFF indicator: Not illumi-
nated
Buzzer: Does not sound



Hybrid system output restric-
tion control is operating (out-
put restricted as much as
possible)

The system has determined that
stronger-than-normal brake opera-

NOTICE

■

If “Parking Support Brake

Unavailable” is displayed on

the multi-information display

and the PKSB OFF indicator

illuminates

If this message is displayed

immediately after the power

switch is changed to ON, operate

the vehicle carefully, paying atten-

tion to your surroundings. It may

be necessary to drive the vehicle

for a certain amount of time

before the system returns to nor-

mal. (If the system does not return

to normal after driving for a while,

clean the sensors and their sur-

rounding area on the bumpers.)

Enabling/Disabling the
Parking Support Brake

Display and buzzer for
hybrid system output
restriction control and
brake control

-------------------------------------------------------------------------------------------------------------------------------------------------------------

321

4-5. Using the driving support systems

ing

tion is necessary.
Audio system screen: “BRAKE!”
Multi-information display: “BRAKE!”
PKSB OFF indicator: Not illumi-
nated
Buzzer: Short beep



Brake control is operating

The system determined that emer-
gency braking is necessary.
Audio system screen: “BRAKE!”
Multi-information display: “BRAKE!”
PKSB OFF indicator: Not illumi-
nated
Buzzer: Short beep



Vehicle stopped by system
operation

The vehicle has been stopped by
brake control operation.
Audio system screen: “Press Brake
Pedal”
Multi-information display: “Switch to
Brake” (If the accelerator pedal is
not depressed, “Brake” will be dis-
played.)
PKSB OFF indicator: Illuminated
Buzzer: Short beep

If the Parking Support Brake
determines that a collision with a
detected object is possible, the
hybrid system output will be
restricted to restrain any
increase in the vehicle speed.
(Hybrid system output restriction
control: See figure 2.)
Additionally, if the accelerator

pedal continues to be
depressed, the brakes will be
applied automatically to reduce
the vehicle speed. (Brake con-
trol: See figure 3.)



Figure 1: When the PKSB
(Parking Support Brake) is not
operating

Hybrid system output

Braking force

Time



Figure 2: When hybrid system
output restriction control oper-
ates

Hybrid system output

Braking force

Time

Hybrid system output restric-
tion control begins operating

System overview

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322

4-5. Using the driving support systems

(System determines that pos-
sibility of collision with
detected object is high)



Figure 3: When hybrid system
output restriction control and
brake control operates

Hybrid system output

Braking force

Time

Hybrid system output restric-
tion control begins operating
(System determines that pos-
sibility of collision with
detected object is high)

Brake control begins operat-
ing (System determines that
possibility of collision with
detected object is extremely
high)

■

If the Parking Support Brake

has operated

If the vehicle is stopped due to oper-

ation of the Parking Support Brake,

the Parking Support Brake will be

disabled and the PKSB OFF indica-

tor will illuminate. If the Parking Sup-

port Brake operates unnecessarily,

brake control can be canceled by

depressing the brake pedal or wait-

ing for approximately 2 seconds for

it to automatically be canceled.

Then, the vehicle can be operated

by depressing the accelerator pedal.

■

Re-enabling the Parking Sup-

port Brake

To re-enable the Parking Support

Brake when it is disabled due to

operation of the Parking Support

Brake, either enable the system

again (



P.320), or turn the power

switch off and then back to ON.

Additionally, if the object becomes

no longer in the traveling direction of

the vehicle or if the traveling direc-

tion of the vehicle changes (such as

changing from moving forward to

backing up, or from backing up to

moving forward), the system will be

re-enabled automatically.

■

If “Parking Support Brake

Unavailable Remove the Dirt of

Rear Camera” is displayed on

the multi-information display

and the PKSB OFF indicator

illuminates

●

A sensor may be covered with ice,

snow, dirt, etc. In this case,

remove the ice, snow, dirt, etc.,

from the sensor to return the sys-

tem to normal. If this message is

shown even after removing dirt

from the sensor, or shown when

the sensor was not dirty to begin

with, have the vehicle inspected at

your Toyota dealer.

●

A sensor may be frozen. Once the

ice melts, the system will return to

normal.

●

Water may be continuously flow-

ing over the sensor surface, such

as in a heavy rain. When the sys-

tem determines that it is normal,

the system will return to normal.

-------------------------------------------------------------------------------------------------------------------------------------------------------------

325

4-5. Using the driving support systems

ing

WARNING

●

Do not replace a sensor with a

part other than a genuine part.

●

Do not subject a sensor or its

surrounding area to a strong

impact.

●

Do not damage the sensors,

and always keep them clean.

●

If the area around a radar sen-

sor is subjected to an impact,

the system may not operate

properly due to a sensor mal-

function. Have the vehicle

inspected by your Toyota

dealer.

■

Handling the suspension

Do not modify the suspension, as

changes to the height or inclina-

tion of the vehicle may prevent

the sensors from detecting

objects correctly or cause the sys-

tem to not operate or operate

unnecessarily.

■

If the Parking Support Brake

function (static objects) oper-

ates unnecessarily, such as

at a railroad crossing

In the event that the Parking Sup-

port Brake function (static objects)

operates unnecessarily, such as

at a railroad crossing, brake con-

trol will be canceled after approxi-

mately 2 seconds, allowing you to

proceed forward and leave the

area, brake control can also be

canceled by depressing the brake

pedal. Depressing the accelera-

tor pedal after brake control is

canceled will allow you to proceed

forward and leave the area.

■

Notes when washing the vehi-

cle

Do not apply intensive bursts of

water or steam to the sensor

area.
Doing so may result in the sensor

malfunctioning.

●

When using a high pressure

washer to wash the vehicle, do

not spray the sensors directly,

as doing so may cause a sensor

to malfunction.

●

When using steam to clean the

vehicle, do not direct steam too

close to the sensors as doing so

may cause a sensor to malfunc-

tion.

■

When to disable the Parking

Support Brake

In the following situations, disable

the Parking Support Brake as the

system may operate even though

there is no possibility of a colli-

sion.

●

When inspecting the vehicle

using a chassis roller, chassis

dynamo or free roller

●

When loading the vehicle onto a

boat, truck or other transport

vessel

●

If the suspension has been

modified or tires of a size other

than specified are installed

●

If the front of the vehicle is

raised or lowered due to the

carried load

●

When equipment that may

obstruct a sensor is installed,

such as a bumper protector (an

additional trim strip, etc.), hitch-

mounted bicycle carrier, or

snow plow

●

When using an automatic car

wash

-------------------------------------------------------------------------------------------------------------------------------------------------------------

326

4-5. Using the driving support systems

■

The Parking Support Brake

function (static object) will

operate when

The function will operate when the

PKSB OFF indicator is not illumi-

nated (



P.93, 95) and all of the fol-

lowing conditions are met:

●

Hybrid system output restriction

control

• The Parking Support Brake is

enabled.

• The vehicle speed is approxi-

mately 9 mph (15 km/h) or less.

• There is a static object in the trav-

eling direction of the vehicle and

approximately 6 to 13 ft. (2 to 4 m)

away.

• The Parking Support Brake deter-

mines that a stronger-than-nor-

mal brake operation is necessary

to avoid a collision.

●

Brake control

• Hybrid system output restriction

control is operating

• The Parking Support Brake deter-

mines that an immediate brake

operation is necessary to avoid a

collision.

■

The Parking Support Brake

function (static objects) will

stop operating when

The function will stop operating if

any of the following conditions are

met:

●

Hybrid system output restriction

control

• The Parking Support Brake is dis-

abled.

• The system determines that the

collision has become avoidable

with normal brake operation.

• The static object is no longer

approximately 6 to 13 ft. (2 to 4 m)

away from the vehicle or in the

traveling direction of the vehicle.

●

Brake control

• The Parking Support Brake is dis-

abled.

• Approximately 2 seconds have

elapsed since the vehicle was

stopped by brake control.

• The brake pedal is depressed

after the vehicle is stopped by

brake control.

• The static object is no longer

approximately 6 to 13 ft. (2 to 4 m)

away from the vehicle or in the

traveling direction of the vehicle.

■

Re-enabling the Parking Sup-

port Brake function (static

objects)



P.322

■

Detection range of the Parking

Support Brake function (static

objects)

The detection range of the Parking

Support Brake function (static

objects) differs from the detection

range of the intuitive parking assist.

(



P.313) Therefore, even if the

intuitive parking assist detects an

object and provides a warning, the

Parking Support Brake function

(static objects) may not start operat-

ing.

■

Objects that the Parking Sup-

port Brake function (static

objects) may not detect

The sensors may not be able to

detect certain objects, such as the

following:

●

Pedestrian

●

Cotton, snow, and other materials

that are poor reflectors of sonic

waves

●

Objects which are not perpendicu-

lar to the ground, are not perpen-

dicular to the traveling direction of

the vehicle, are uneven or are

waving

●

Low objects

●

Thin objects such as wires,

fences, ropes and signposts

●

Objects that are extremely close

to the bumper

●

Sharply-angled objects

●

Tall objects with upper sections

projecting outwards in the direc-

-------------------------------------------------------------------------------------------------------------------------------------------------------------

327

4-5. Using the driving support systems

ing

tion of your vehicle

■

Situations in which the Parking

Support Brake function (static

objects) may not operate

When the shift lever is in N

■

Intuitive parking assist buzzer

Regardless of whether the intuitive

parking assist system is enabled or

not (

P.310), if the Parking Support

Brake function (static objects) is

enabled (



P.320), the front or rear

sensors detect an object and brake

control and hybrid system output

restriction control are performed, the

intuitive parking assist buzzer will

sound to notify the driver of the

approximate distance to the object.

■

Situations in which the Parking

Support Brake function (static

objects) may operate even if

there is no possibility of a colli-

sion

In some situations, such as the fol-

lowing, the Parking Support Brake

function (static objects) may operate

even though there is no possibility of

a collision.

●

Vehicle surroundings

• When driving on a narrow road

• When driving on a gravel road or

in an area with tall grass

• When driving toward a banner,

flag, low-hanging branch or boom

barrier (such as those used at rail-

road crossings, toll gates and

parking lots)

• When there is a structure on the

roadside (such as when driving in

a narrow tunnel, on a narrow

bridge or on a narrow road)

• When parallel parking

• When there is a rut or hole in the

surface of the road

• When driving on a metal cover

(grating), such as those used for

drainage ditches

• When driving up or down a steep

slope

• If a sensor is hit by a large amount

of water, such as when driving on

a flooded road

• When loaded on ships or trucks

• Moving type automatic car wash

• Lift type parking area or multi-

story parking lot

• Underground parking area

• Structures on the ground (speed

bumps, cat’s eyes, etc.)

• Differences in height

• When moving straight ahead or

turning right

• Snow-melting pipes

• Devices for detecting vehicles,

such as traffic lights, devices for

detecting traffic congestion, or

devices for detecting empty

spaces in parking areas

• Railroad tracks

• H-shaped steel

• When there are vehicles on both

sides, or there is a vehicle that

resembles this vehicle

●

Weather

• If a sensor is covered with ice,

snow, dirt, etc. (when cleared, the

system will return to normal)

• If heavy rain or water strikes a

sensor

• When driving in inclement weather

such as fog, snow or a sandstorm

• When strong winds are blowing

●

Other sonic wave sources

• When vehicle horns, vehicle

detectors, motorcycle engines, air

brakes of large vehicles, the clear-

-------------------------------------------------------------------------------------------------------------------------------------------------------------

328

4-5. Using the driving support systems

ance sonar of other vehicles or

other devices which produce ultra-

sonic waves are near the vehicle

• If a sticker or an electronic compo-

nent, such as a backlit license

plate (especially fluorescent type),

fog lights, fender pole or wireless

antenna is installed near a sensor

●

Changes in the vehicle posture

• If the vehicle is significantly tilted

• If the front of the vehicle is raised

or lowered due to the carried load

• If the orientation of a sensor has

been changed due to a collision or

other impact

■

Situations in which the Parking

Support Brake function (static

objects) may not operate prop-

erly

In some situations, such as the fol-

lowing, this function may not oper-

ate properly.

●

Weather

• When a sensor or the area around

a sensor is extremely hot or cold

• When strong winds are blowing

• If a sensor is covered with ice,

snow, dirt, etc. (when cleared, the

system will return to normal)

• If heavy rain or water strikes a

sensor

• When driving in inclement weather

such as fog, snow or a sandstorm

• A sensor is frozen. (Thawing the

area will resolve this problem.)

●

Vehicle surroundings

• When an object that cannot be

detected is between the vehicle

and a detected object

• If an object such as a vehicle,

motorcycle, bicycle or pedestrian

cuts in front of the vehicle or runs

out from the side of the vehicle

• The vehicle is approaching a tall

or curved curb.

• On an extremely bumpy road, on

an incline, on gravel, or on grass.

• The objects draw too close to the

sensor.

●

Other ultrasonic waves sources

• When vehicle horns, vehicle

detectors, motorcycle engines, air

brakes of large vehicles, the clear-

ance sonar of other vehicles or

other devices which produce ultra-

sonic waves are near the vehicle

• If a sticker or an electronic compo-

nent, such as a backlit license

plate (especially fluorescent type),

fog lights, fender pole or wireless

antenna is installed near a sensor

●

Changes in the vehicle posture

• If the vehicle is significantly tilted

• If the front of the vehicle is raised

or lowered due to the carried load

• If the orientation of a sensor has

been changed due to a collision or

other impact

• When equipment that may

obstruct a sensor is installed, such

as a bumper protector (an addi-

tional trim strip, etc.), hitch-

mounted bicycle carrier, or snow

plow

• If the suspension has been modi-

fied or tires of a size other than

specified are installed

• If paint or a sticker is applied to

the sensor

-------------------------------------------------------------------------------------------------------------------------------------------------------------

329

4-5. Using the driving support systems

ing

: If equipped

This function will operate in situations such as the following if a vehi-
cle is detected in the traveling direction of the vehicle.

■

When reversing, a vehicle is approaching and the brake pedal
is not depressed, or is depressed late



P.301

Parking Support Brake function (rear-crossing

vehicles)

If a rear radar sensor detects a vehicle approaching from the
right or left at the rear of the vehicle and the system deter-
mines that the possibility of a collision is high, this function
will perform brake control to reduce the likelihood of an
impact with the approaching vehicle.

Examples of function operation

Types of sensors

WARNING

■

To ensure the Parking Sup-

port Brake (rear-crossing

vehicles) can operate prop-

erly

Observe the following precautions

regarding the rear radar sensors

(

P.301). Failure to do so may

cause a sensor to not operate

properly, and may cause an acci-

dent.

-------------------------------------------------------------------------------------------------------------------------------------------------------------

330

4-5. Using the driving support systems

■

The Parking Support Brake

function (rear-crossing vehi-

cles) will operate when

The function will operate when the

PKSB OFF indicator is not illumi-

nated (



P.93, 95) and all of the fol-

lowing conditions are met:

●

Hybrid system output restriction

control

• The Parking Support Brake is

enabled.

• The vehicle speed is approxi-

mately 9 mph (15 km/h) or less.

• Vehicles are approaching from the

right or left at the rear of the vehi-

cle at a traveling speed of more

than approximately 5 mph (8

km/h)

• The shift lever is in R.

• The Parking Support Brake deter-

mines that a stronger than normal

brake operation is necessary to

avoid a collision with an approach-

ing vehicle.

●

Brake control

• Hybrid system output restriction

control is operating

• The Parking Support Brake deter-

mines that an emergency brake

operation is necessary to avoid a

collision with an approaching vehi-

cle.

■

The Parking Support Brake

function (rear-crossing vehi-

cles) will stop operating when

The function will stop operating if

any of the following conditions are

met:

●

Hybrid system output restriction

control

• The Parking Support Brake is dis-

abled.

• The collision becomes avoidable

with normal brake operation.

• A vehicle is no longer approaching

from the right or left at the rear of

the vehicle.

●

Brake control

• The Parking Support Brake is dis-

abled.

• Approximately 2 seconds have

elapsed since the vehicle was

stopped by brake control.

• The brake pedal is depressed

after the vehicle is stopped by

brake control.

• A vehicle is no longer approaching

from the right or left at the rear of

the vehicle.

■

Re-enabling the Parking Sup-

port Brake (rear-crossing vehi-

cles)



P.322

■

Detection area of the Parking

Support Brake function (rear-

crossing vehicles)

The detection area of the Parking

Support Brake function (rear-cross-

ing vehicles) differs from the detec-

tion area of the RCTA function

(



P.306). Therefore, even if the

RCTA function detects a vehicle

and provides an alert, the Parking

Support Brake function (rear-cross-

ing vehicles) may not start operat-

ing.

WARNING

●

Do not modify, disassemble or

paint the sensors.

●

Do not replace a rear radar sen-

sor with a part other than a gen-

uine part.

●

Do not damage the rear radar

sensors, and always keep the

radar sensors and their sur-

rounding area on the bumper

clean.

●

If the area around a rear radar

sensor is subjected to an

impact, the system may not

operate properly due to a sen-

sor malfunction. Have the vehi-

cle inspected by your Toyota

dealer.

●

Observe the rear radar sensor

handling precautions. (



P.301)

-------------------------------------------------------------------------------------------------------------------------------------------------------------

331

4-5. Using the driving support systems

ing

■

Conditions under which the

Parking Support Brake func-

tion (rear-crossing vehicles)

will not detect a vehicle

The Parking Support Brake function

(rear-crossing vehicles) is not

designed to detect the following

types of vehicles and/or objects:

●

Vehicles approaching from

directly behind

●

Vehicles backing up in a parking

space next to your vehicle

●

Vehicles that the sensors cannot

detect due to obstructions

●

Vehicles which suddenly acceler-

ate or decelerate near your vehi-

cle

●

Guardrails, walls, signs, parked

vehicles and similar stationary
objects

●

Small motorcycles, bicycles,
pedestrians, etc.

●

Vehicles moving away from your

vehicle

●

Vehicles approaching from the

parking spaces next to your vehi-
cle

●

Objects which are extremely close
to a radar sensor

●

Vehicles which are approaching

from the right or left at the rear of

the vehicle at a traveling speed of

less than approximately 5 mph (8

km/h)

●

Vehicles which are approaching

from the right or left at the rear of

the vehicle at a traveling speed of

more than approximately 15 mph

(24 km/h)

: Depending on the conditions,

detection of a vehicle and/or
object may occur.

■

RCTA buzzer

Regardless of whether the RCTA

function is enabled or not (