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

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4-5. Using the driving support systems

After  the  vehicle  ahead  of  you
starts  off,  press  the  “+  RES”
switch.
Your  vehicle  will  also  resume  fol-
low-up  cruising  if  the  accelerator
pedal is depressed after the vehi-
cle ahead of you starts off.

Pressing the cancel switch can-
cels 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.

However,  when  a  vehicle  ahead  is  not  detected,  cruise  control  does  not
resume when the vehicle speed is approximately 25 mph (40 km/h) or less.

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

Canceling and resuming the speed control

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When your vehicle is too close to
a  vehicle  ahead,  and  sufficient
automatic  deceleration  via  the
cruise  control  is  not  possible,  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.

■

Warnings may not occur when

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

●

When  the  speed  of  the  preceding  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 accelerator pedal

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

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4-5. Using the driving support systems

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

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

Immediately  after  the  switch  is
pressed,  the  radar  cruise  control
indicator will come on. Afterwards,
it  switches  to  the  cruise  control
indicator.
Switching to constant speed control mode is only possible when operating
the switch with the cruise control off.

Accelerate  or  decelerate,  with
accelerator  pedal  operation,  to
the desired vehicle speed (at or
above  approximately  25  mph
[40 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. 268

Canceling and resuming the speed setting: 



P. 270

Selecting constant speed control mode

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■

Dynamic radar cruise control with full-speed range can be set when

●

The shift lever is in D or range 4 or higher of S has been selected. 

●

Range 4 or higher of D has been selected by using the paddle shift switch. 
(vehicles with paddle shift switches)

●

Vehicle  speed  is  at  or  above  approximately  30  mph  (50  km/h).  However,
when a preceding vehicle is detected, the dynamic radar cruise control with
full-speed range can be set even if the vehicle speed is below approximately
30 mph (50 km/h).

■

Accelerating after setting the vehicle speed

The vehicle can accelerate by operating the accelerator pedal. After acceler-
ating,  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 preceding vehicle.

■

When the vehicle stops while follow-up cruising

●

Pressing the “+ RES” switch while the vehicle ahead stops will resume fol-
low-up  cruising  if  the  vehicle  ahead  starts  off  within  approximately  3  sec-
onds after the switch is pressed.

●

If the vehicle ahead starts off within 3 seconds after your vehicle stops, fol-
low-up cruising will be resumed.

■

Automatic cancelation of vehicle-to-vehicle distance control mode

Vehicle-to-vehicle distance control mode is automatically canceled in the fol-
lowing situations.

●

Actual vehicle speed falls at or below approximately 25 mph (40 km/h) when
there are no vehicles ahead.

●

The preceding vehicle leaves the lane when your vehicle is following at a
vehicle speed at or below approximately 25 mph (40 km/h). Otherwise, the
sensor can not properly detect the vehicle. (“Radar Cruise Control Unavail-
able” is displayed on the multi-information display)

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is turned off.

●

The sensor cannot detect correctly 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
other reason, there may be a malfunction in the system. Contact your Toyota
dealer.

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4-5. Using the driving support systems

■

Automatic cancelation of constant speed control mode

Constant speed control mode is automatically canceled in the following situa-
tions:

●

Actual vehicle speed is more than approximately 10 mph (16 km/h) below
the set vehicle speed.

●

Actual vehicle speed falls below approximately 25 mph (40 km/h).

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is turned off.

●

Pre-collision braking is activated.

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

■

Brake system operation sound

If the brakes are applied automatically while the vehicle is in vehicle-to-vehi-
cle  distance  control  mode,  a  brake  system  operation  sound  may  be  heard.
This does not indicate a malfunction.

■

Warning  messages  and  buzzers  for  dynamic  radar  cruise  control  with
full-speed range

Warning messages and buzzers are used to indicate a system malfunction 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.

■

When the sensor may not be correctly detecting the vehicle ahead

In  the  case  of  the  following  and  depending  on  the  conditions,  operate  the
brake  pedal  when  deceleration  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 vehicles, the
approach warning (



P. 271) 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.)

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●

Motorcycles traveling in the same lane

●

When  water  or  snow  thrown  up  by  the  surrounding  vehicles  hinders  the
detecting of the sensor

■

Conditions  under  which  the  vehicle-to-vehicle  distance  control  mode
may not function correctly

In the case of the following conditions, operate the brake pedal (or accelera-
tor 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 vehicle ahead of you decelerates suddenly

●

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

●

While  the  vehicle  speed  is  decreasing  to  the  set  speed  after  the  vehicle
accelerates by depressing the accelerator pedal

●

When  your  vehicle  is  pointing  upwards
(caused by a heavy load in the luggage
compartment, etc.)

●

Preceding  vehicle  has  an  extremely
high ground clearance

●

When  the  road  curves  or  when  the
lanes are narrow

●

When steering wheel operation or your
position in the lane is unstable

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4-5. Using the driving support systems

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

●

The BSM (Blind Spot Monitor) function
Assists the driver in making a decision when changing lanes

●

The RCTA (Rear Cross Traffic Alert) function
Assists the driver when backing up

These functions use same sensors.

Multi-information display

Turning the BSM function/RCTA function on/off. (



P. 277)

Outside rear view mirror indicators

BSM function:
When a vehicle is detected in the blind spot, the outside rear view mirror
indicator comes on while the turn signal lever is not operated and the out-
side rear view mirror indicator flashes while the turn signal lever is oper-
ated.
RCTA function:
When  a  vehicle  approaching  from  the  right  or  left  rear  of  the  vehicle  is
detected, the outside rear view mirror indicators flash.

“BSM” indicator/“RCTA” indicator

When  the  BSM  function/RCTA  function  is  turned  on,  the  indicator  illumi-
nates.

BSM (Blind Spot Monitor)

Summary of the Blind Spot Monitor

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Audio system screen (RCTA function only)

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



P. 284) for the detected side will be displayed.

RCTA

 buzzer (

RCTA

 function only)

When  a  vehicle  approaching  from  the  right  or  left  rear  of  the  vehicle  is
detected, a buzzer sounds from behind the rear seat.

Press 

/

 of the meter control switches, select 

.

Press 

/

 of the meter control switched, select 

 or 

.

Press 

 of the meter control switch.

Each time 

 is pressed, the function changes on/off.

■

The outside rear view mirror indicators visibility

When under strong sunlight, the outside rear view mirror indicator may be dif-
ficult to see.

■

RCTA buzzer hearing

RCTA function may be difficult to hear over loud noises such as high audio
volume.

■

When  “Blind  Spot  Monitor  Unavailable”  or  “Rear  Cross  Traffic  Alert
Unavailable” are shown on the multi-information display

Ice, snow, mud, etc., may be attached to the rear bumper around the sensors.
(



P. 279)

The system should return to normal operation after removing the ice, snow,
mud,  etc.,  from  the  rear  bumper. Additionally,  the  sensors  may  not  operate
normally when driving in extremely hot or cold environments.

■

When there is a malfunction in the Blind Spot Monitor

If  a  system  malfunction  is  detected  due  to  any  of  the  following  reasons,  a
warning message will be displayed:

●

There is a malfunction with the sensors

●

The sensors have become dirty

●

The outside temperature is extremely high or low

●

The sensor voltage has become abnormal

Turning the BSM function/RCTA function on/off

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■

Certification for the Blind Spot Monitor

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WARNING

■

Handling the radar sensor

One Blind Spot Monitor sensor is installed inside the left and right side of
the vehicle rear bumper respectively. Observe the following to ensure the
Blind Spot Monitor can function correctly.

If the warning message does not disappear, have the vehicle inspected
by your Toyota dealer.

●

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  sensor  is  scratched  or  dented,  or  part  of

them has become disconnected.

●

Do not disassemble the sensor.

●

Do not attach accessories or stickers to the sensor or surrounding area on
the bumper.

●

Do not modify the sensor or surrounding area on the bumper.

●

Do not paint the rear bumper any color other than an official Toyota color.

●

Keep  the  sensor  and  its  surrounding
area on the 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  (



P.

277) will be displayed. 
In  this  situation,  clear  off  the  dirt  or
snow  and  drive  the  vehicle  with  the
operation  conditions  of  the  BSM  func-
tion  (



P.  281)  satisfied  for  approxi-

mately 60 minutes.

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4-5. Using the driving support systems

The BSM function uses radar sensors to detect vehicles that are trav-
eling in an adjacent lane in the area that is usually not reflected in the
outside rear view mirror (the blind spot), and advises the driver of the
vehicles existence via the outside rear view mirror indicator.

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

The range of the 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.

BSM function

BSM function detection areas

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■

The BSM function is operational when

●

The BSM function is turned on

●

Vehicle speed is greater than approximately 10 mph (16 km/h).

■

The BSM function will detect a vehicle when

●

A vehicle in an adjacent lane overtakes your vehicle.

●

You overtake a vehicle in adjacent lane slowly.

●

Another vehicle enters the detection area when it changes lanes.

WARNING

■

Cautions regarding the use of the system

The driver is solely responsible for safe driving. Always drive safely, taking
care to observe your surroundings.
The BSM function is a supplementary function which alerts the driver that a
vehicle is present in the blind spot. Do not overly rely on the BSM function.
The function cannot judge if it is safe to change lanes, therefore over reli-
ance could cause an accident resulting in death or serious injury.
According  to  conditions,  the  system  may  not  function  correctly. Therefore
the driver’s own visual confirmation of safety is necessary.

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4-5. Using the driving support systems

■

Conditions under which the BSM function will not detect a vehicle

The  BSM  function  is  not  designed  to  detect  the  following  types  of  vehicles
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 driving 2 lanes across from your vehicle

*

●

Vehicles which are being overtaken 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 condi-
tions:
• When the sensor is misaligned due to a strong impact to the sensor or its

surrounding area

• During bad weather such as heavy rain, fog, snow, etc.
• When mud, snow, ice, a sticker, etc., is covering the sensor or surround-

ing area on the rear bumper

• When driving on a road surface that is wet due to rain, standing water,

snow, etc.

• When there is a significant difference in speed between your vehicle and

the vehicle that enters the detection area

• When a vehicle is in the detection area from a stop and remains in the

detection area as your vehicle accelerates

• When driving up or down consecutive steep inclines, such as hills, a dip

in the road, etc.

• When driving on roads with sharp bends, consecutive curves, or uneven

surfaces

• When  multiple  vehicles  approach  with  only  a  small  gap  between  each

vehicle

• When vehicle lanes are wide, and the vehicle in the next lane is too far

away from your vehicle

• When the vehicle that enters the detection area is traveling at about the

same speed as your vehicle

• When there is a significant difference in height between your vehicle and

the vehicle that enters the detection area

• Immediately after the BSM function is turned on

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●

Instances  of  the  BSM  function  unnecessarily  detecting  a  vehicle  and/or
object may increase under the following conditions:
• When the sensor is misaligned due to a strong impact to the sensor or its

surrounding area

• When there is only a short distance between your vehicle and a guardrail,

wall, etc.

• When there is only a short distance between your vehicle and a following

vehicle

• When vehicle lanes are narrow and a vehicle driving 2 lanes across from

your vehicle enters the detection area

• When driving on roads with sharp bends, consecutive curves, or uneven

surfaces

• When items such as a bicycle carrier are installed on the rear of the vehi-

cle

The  RCTA  functions  when  your  vehicle  is  in  reverse.  It  can  detect
other vehicles approaching from the right or left rear of the vehicle. It
uses radar sensors to alert the driver of the other vehicle’s existence
through flashing the outside rear view mirror indicators and sounding
a buzzer.

RCTA function

Approaching vehicles

Detection areas

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■

RCTA icon display

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 sys-
tem screen.

: The RCTA function is malfunctioning (



P. 277)

Toyota parking 

assist monitor

Panoramic view 

monitor

Content

A  vehicle  is  approaching  from  the
left or right at the rear of the vehicle

WARNING

■

Cautions regarding the use of the system

The driver is solely responsible for safe driving. Always drive safely, taking
care to observe your surroundings.
The  RCTA  function  is  only  an  assist  and  is  not  a  replacement  for  careful
driving.  Driver  must  be  careful  when  backing  up,  even  when  using  RCTA
function. The driver’s own visual confirmation of behind you and your vehi-
cle is necessary and be sure there are no pedestrians, other vehicles, etc.,
before backing up. Failure to do so could cause death or serious injury.
According  to  conditions,  the  system  may  not  function  correctly. Therefore
the driver’s own visual confirmation of safety is necessary.

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

To give the driver a more consistent time to react, the buzzer can alert
for faster vehicles from farther away.
Example:

■

The RCTA function is operational when

●

The RCTA function is turned on.

●

The shift lever is in R.

●

Vehicle speed is less than approximately 5 mph (8 km/h).

●

Approaching vehicle speed is between approximately 5 mph (8 km/h) and
18 mph (28 km/h).

RCTA function detection areas

Approaching vehicle

Speed

Approximate 
alert distance

Fast

18 mph (28 km/h)

65 ft. (20 m)

Slow

5 mph (8 km/h)

18 ft. (5.5 m)

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■

Conditions under which the RCTA function will not detect a vehicle

The RCTA function is not designed to detect the following types of vehicles
and/or objects: 

●

Small motorcycles, bicycles, pedestrians, etc.

*

●

Vehicles approaching from directly behind

●

Guardrails, walls, signs, parked vehicles and similar stationary objects

*

●

Vehicles moving away from your vehicle

●

Vehicles approaching from the parking spaces next to your vehicle

*

●

Vehicles backing up in the parking space next to your vehicle

*

*

: Depending  on  the  conditions,  detection  of  a  vehicle  and/or  object  may

occur.

■

Conditions under which the RCTA function may not function correctly

●

The RCTA function may not detect vehicles correctly in the following condi-
tions:
• When the sensor is misaligned due to a strong impact to the sensor or its

surrounding area

• When mud, snow, ice, a sticker, etc., is covering the sensor or surround-

ing area on the rear bumper

• During bad weather such as heavy rain, fog, snow, etc.
• When multiple vehicles approach continuously
• Shallow angle parking
• When a vehicle is approaching at high speed
• When parking on a steep incline, such as hills, a dip in the road, etc.
• Immediately after the RCTA function is turned on
• Immediately after the hybrid system is started with the RCTA function on.

• When items such as a bicycle carrier are installed on the rear of the vehi-

cle

●

Vehicles that the sensors cannot detect
due to obstructions

●

Vehicles that the sensors cannot detect
due to obstructions

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●

Instances  of  the  RCTA  function  unnecessarily  detecting  a  vehicle  and/or
object may increase in the following situations:
• When a vehicle passes by the side of your vehicle

• When  the  distance  between  your  vehicle  and  metal  objects,  such  as  a

guardrail, wall, sign, or parked vehicle, which may reflect electrical waves
toward the rear of the vehicle, is short

●

When there are spinning objects near your vehicle such as the fan of an air
conditioning unit

■

Customization

Some functions can be customized.
(



P. 111, 527)

• When  the  parking  space  faces  a

street  and  vehicles  are  being  driven
on the street

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4-5. Using the driving support systems

Pedestrian detection icon

Displayed  automatically  when  a
pedestrian is detected.

Mute switch

Select  to  mute  the  buzzer.  The
buzzer will be re-enabled when the
shift  lever  is  shifted  to  a  position
other than R.

Rear Camera Detection function (vehicles 

with panoramic view monitor)





: If equipped

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

Display

1

2

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If the rear camera detection func-
tion  detects  a  pedestrian  in  the
detection  area,  the  buzzer  and
icon  will  operate  as  shown  in  the
following table:

■

The rear camera detection function is operational when

The rear camera detection function is operational when the following condi-
tions are met:

●

The power switch is in the ON mode.

●

The shift lever is in R.

■

Setting the buzzer volume

The buzzer volume of this function changes with the RCTA buzzer volume.
(



P. 111, 527)

■

If the rear camera detection function is malfunctioning

If a malfunction of the rear camera detection function is detected, one of the
following messages will be displayed on the audio system screen. Have the
vehicle inspected by your Toyota dealer.

●

“RCD malfunction.”

●

“Visit your dealer.”

●

“RCD unavailable.”

When a pedestrian is detected

Area

Buzzer

Icon

Sounds repeatedly

Blinks 3 times and then stays on

When  the  vehicle  is  stationary:
Sounds 3 times
When the vehicle is backing up:
Sounds repeatedly

When  it  is  determined  that  a
pedestrian  will  enter  area 
within  a  few  seconds:  Sounds
repeatedly

When  it  is  determined  that  a
pedestrian  will  enter  area 
within  a  few  seconds:  Blinks  3
times and then stays on

1

2

3

1

1

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■

If “Clean dirt from lens” is displayed on the audio system screen

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  necessary  to  drive  the  vehicle  for  some  time  before  the  system
returns to normal.)

■

If “RCD unavailable” is displayed on the audio system screen

●

If this message is displayed after the 12-volt battery has been disconnected
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 R shift position is selected, 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 function, preventing the function from operating properly: 
• Pedestrians who are squatting
• Pedestrians who are lying down
• Pedestrians who are running
• Pedestrians who suddenly enter the detection area 
• Pedestrians riding a bicycle, skateboard, or other light vehicle
• Pedestrians wearing unusual clothing, such as a costume
• Pedestrians whose body is partially hidden by a cart or other object 
• 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 operat-
ing 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

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●

In some situations, such as the following, the rear camera detection function
may operate even though there are no pedestrians in the detection area.
• When a three dimensional object, such as a pole, traffic cone, fence, or

parked vehicle, is detected

• When a moving object, such as a car or motorcycle is detected
• When backing up toward moving objects such as flags or puddles, or air-

borne matter, such as smoke, steam, rain, or snow

• When there is a pattern on the road, due to the road being made of cob-

blestone  or  gravel  or  having  tram  rails,  traces  of  repair,  white  lines,
pedestrian crossings or fallen leaves on the surface

• When  backing  up  on  a  metal  cover  (grating),  such  as  those  used  for

drainage ditches

• When backing up toward the roadside or a bump in the road 
• When an object is reflected in a puddle or on a wet road surface
• When there are shadows on the road
• When backing up over a bump in 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 modified 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  or  rear  fog

light, 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 camera has been changed due to a collision

or other impact, or removal and installation

• If a towing eyelet is installed to the rear of the vehicle
• When the rear camera is obscured (dirt, snow, ice, etc. are attached) or

scratched

• When water is flowing over the rear camera lens
• If there is a flashing light in the detection area, such as the emergency

flashers of another vehicle

■

Situations in which the rear camera detection function may be difficult to
notice

●

If buzzer may be difficult to hear if the surrounding area is noisy, the volume
of  the  audio  system  volume  is  high,  the  air  conditioning  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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Front corner sensors
Front center sensors
Rear corner sensors
Rear center sensors

Press 

/

 of the meter con-

trol switches, select 

.

Press 

/

 of the meter con-

trol switches, select 

.

Press 

 of the meter con-

trol switch.

Each time 

 is pressed, the function changes on/off.

When on, the indicator light comes on to inform the driver that the sys-
tem is operational.

Intuitive parking assist





: If equipped

The distance from your vehicle to nearby objects when parallel
parking or maneuvering into a garage is measured by the sen-
sors  and  communicated  via  the  displays  and  a  buzzer. Always
check the surrounding area when using this system. 

Types of sensors

1
2
3
4

Turning the intuitive parking assist on/off

1

2

3

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When the sensors detect an object, the following displays inform the
driver of the position and distance to the object.

■

Multi-information display

Front  corner  sensor  opera-
tion
Front  center  sensor  opera-
tion
Rear corner sensor operation
Rear center sensor operation
Select  to  mute  the  buzzer
sounds.

■

Audio system screen

Intuitive parking assist
When  the  vehicle  is  moving
backward.

A  simplified  image  is  displayed
on the  upper  part  of the screen
when an object is detected.

■

Muting the buzzer sound

●

To mute the buzzer sound
The buzzer can be temporarily muted by pressing 

 of the meter con-

trol switches while an object detection display is shown on the multi-infor-

mation display.

●

To cancel the mute
Mute will be automatically cancelled in the following situations.
• When the shift position is changed
• When the vehicle speed has reached or exceeded approximately 6 mph

(10 km/h) with the shift lever in D

• 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 mode again
• When a sensor is malfunctioning

Display

1

2

3
4
5

1

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■

Distance display

Sensors that detect an object will illuminate continuously or blink.

*

: The images may differ from those shown in the illustrations. (



P. 293)

Sensor detection display, object distance

Multi-

information 

display

*

Insert 

display

Approximate distance to object

Front and rear 

center sensor

Front and rear 

corner sensor

(continuous)

(blinking 

slowly)

Far

Near

Front center 
sensor: 
3.3 ft. (100 cm) to 
2.4 ft. (73 cm)
Rear center 
sensor: 
4.9 ft. (150 cm) to 
2.5 ft. (75 cm)



(continuous)

(blinking)

Front center 
sensor: 
2.4 ft. (73 cm) to 
1.5 ft. (45 cm)
Rear center 
sensor: 
2.5 ft. (75 cm) to 
1.5 ft. (45 cm)

2.6 ft. (80 cm) to 
1.5 ft. (45 cm)

(continuous)

(blinking 

rapidly)

1.5 ft. (45 cm) to 
1.1 ft. (35 cm)

1.5 ft. (45 cm) to 
1.1 ft. (35 cm)

(blinking)

(continuous)

Less than 
1.1 ft. (35 cm)

Less than
1.1 ft. (35 cm)

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■

Buzzer operation and distance to an object

A buzzer sounds when the sensors are operating.

●

The buzzer sounds faster as the vehicle approaches an object. 
When  the  vehicle  comes  within  the  following  distance  of  the
object, the buzzer sounds continuously: Approximately 1.2 ft. (35
cm).

●

When 2 or more objects are detected simultaneously, the buzzer
system responds to the nearest object. If one or both come within
the above distances, the beep will repeat a long tone, followed by
fast beeps.

Approximately 3.3 ft. (100 cm) 
Approximately 4.9 ft. (150 cm)
Approximately 2.6 ft. (80 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.

Detection range of the sensors

1
2
3

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■

The intuitive parking assist can be operated when

●

Front corner sensors:
• The power switch is in ON mode.
• The shift lever is in other than P.
• The vehicle speed is less than about 6 mph (10 km/h).

●

Front center sensors:
• The power switch is in ON mode.
• The shift lever is in other than P or R.
• The vehicle speed is less than about 6 mph (10 km/h).

●

Rear corner and rear center sensors:
• The power switch is in ON mode.
• The shift lever is in R.
• The vehicle speed is less than about 6 mph (10 km/h).

■

Intuitive parking assist display

When an object is detected while the Toyota parking assist monitor or pan-
oramic view monitor is in use, the warning indicator will appear in the upper
part of the screen even if the display setting has been set to off.

■

Sensor detection information

●

The sensor’s detection areas are limited to the areas around the vehicle’s
bumper.

●

Depending on the shape of the object and other factors, the detection dis-
tance may shorten, or detection may be impossible.

●

Objects may not be detected if they are too close to the sensor.

●

There will be a short delay between object detection and display. Even at
slow speeds, there is a possibility that the object will come within the sen-
sor’s detection areas before the display is shown and the buzzer sounds.

●

Thin  posts  or  objects  lower  than  the  sensor  may  not  be  detected  when
approached, even if they have been detected once.

●

It might be difficult to hear beeps due to the volume of audio system or air
flow noise of the air conditioning system.

■

If a battery terminal has been disconnected and reconnected

The system needs to be initialized.
To initialize the system, drive the vehicle straight ahead for 5 seconds or more
at a speed of approximately 22 mph (35 km/h) or more.

■

If  “Parking Assist  Unavailable  Please  Clean  Parking Assist  Sensor”  is
displayed on the multi-information display

A  sensor  may  be  dirty  or  covered  with  snow  or  ice.  In  such  cases,  if  it  is
removed from the sensor, the system should return to normal.
Also, due to the sensor being frozen at low temperatures, a malfunction dis-
play may appear or an object may not be detected. If the sensor thaws out,
the system should return to normal.

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■

If “Parking Assist Unavailable” is displayed on the multi-information dis-
play

●

Water  may  be  continuously  flowing  over  the  sensor  surface,  such  as  in  a
heavy rain. When the system determines that it is normal, the system will
return to normal.

●

Initialization may not have been performed after a battery terminal was dis-
connected and reconnected. Initialize the system. If this message continues
to be displayed even after initialization, have the vehicle inspected by your
Toyota dealer.

■

Customization

Some functions can be customized. (



P. 111, 527)

WARNING

■

When using the intuitive parking assist

Observe the following precautions.
Failing to do so may result in the vehicle being unable to be driven safely
and possibly cause an accident.

●

Do not use the sensor at speeds in excess of 6 mph (10 km/h).

●

The sensors’ detection areas and reaction times are limited. When moving
forward or reversing, check the areas surrounding 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 within the sensors’ detection areas.

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WARNING

■

Sensors

Certain vehicle conditions and the surrounding environment may affect the
ability of a sensor to correctly detect an object. Particular instances where
this may occur are listed below.

●

There is dirt, snow or ice on the sensor. (Wiping the sensors will resolve
this problem.)

●

The sensor is frozen. (Thawing the area will resolve this problem.)
In especially cold weather, if a sensor is frozen the screen may show an
abnormal display, or objects may not be detected.

●

The sensor is covered in any way.

●

The vehicle is leaning considerably to one side.

●

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 vehicles, or other loud noises producing ultra-
sonic waves.

●

There is another vehicle equipped with parking assist sensors in the vicin-
ity.

●

The sensor is coated with a sheet of spray or heavy rain.

●

The sensor is drenched with water on a flooded road.

●

The vehicle is equipped with a fender pole or wireless antenna.

●

Towing eyelets are installed.

●

The bumper or sensor receives a strong impact.

●

The vehicle is approaching a tall or curved curb.

●

The detection range is reduced due to an object such as a sign.

●

In harsh sunlight or intense cold weather.

●

The area directly under the bumpers is not detected.

●

If objects draw too close to the sensor.

●

A non-genuine Toyota suspension (lowered suspension, etc.) is installed.

●

A backlit license plate is installed.

In addition to the examples above, there are instances in which, because of
their shape, signs and other objects may be judged by a sensor to be closer
than they are.

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WARNING

■

Objects which may not be properly detected

The shape of the object may prevent a sensor from detecting it. Pay partic-
ular attention to the following 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 direction of your
vehicle

●

People may not be detected if they are wearing certain types of clothing.

●

Moving objects such as people or animals

NOTICE

■

When using intuitive parking 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, and a buzzer sounds
when no objects are detected.

●

If  the  area  around  a  sensor  collides  with  something,  or  is  subjected  to
strong impact.

●

If the bumper collides with something.

●

If the display shows continuously without beeping, except when the buzzer
volume is muted.

●

If a display error occurs, first check the sensor.
If the error occurs even if there is no ice, snow or mud on the sensor, it is
likely that the sensor is malfunctioning.

■

Notes when washing the vehicle

Do not apply intensive bursts of water or steam to the sensor area.
Doing so may result in the sensor malfunctioning.

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The system will operate in situations such as the following if an object
is detected in the traveling direction of the vehicle.

◆

When  traveling  at  a  low  speed  and  the  brake  pedal  is  not
depressed, or is depressed late

Intelligent Clearance Sonar (ICS)





: If equipped

If  a  collision  with  an  object  may  occur  due  to  the  vehicle  sud-
denly  moving  forward  due  to  an  accidental  accelerator  pedal
operation,  the  vehicle  moving  the  unintended  direction  due  to
the wrong shift position being selected, or while parking or trav-
eling at low speeds, the sensors detect objects, such as a wall,
in the traveling direction of the vehicle, and the system operates
to lessen an impact with an object and reduce the resulting dam-
age.

Examples of system operation

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◆

When the accelerator pedal is depressed excessively

◆

When the vehicle moves in the unintended direction due to the
wrong shift position being selected

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If a radar sensor detects a vehicle approaching from the right or left at
the rear of the vehicle and a collision may occur, this function will per-
form  brake  control  to  reduce  the  likelihood  of  an  impact  with  the
approaching vehicle.

■

Examples of system operation

The  system  will  operate  in  situations  such  as  the  following  if  an
object 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

Rear Cross Traffic Auto Brake function

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Front corner sensors
Front center sensors
Rear corner sensors
Rear center sensors

Press 

/

 of the meter con-

trol switches, select 

.

Press 

/

 of the meter con-

trol switches, select 

.

Press 

 of the meter con-

trol switch.
Select the “Yes” and push 

.

When the Intelligent Clearance Sonar is disabled, the ICS OFF indicator
illuminates.
To re-enable the system when it was disabled, select 

 on the multi-infor-

mation display, select 

 and then “On”. If disabled using this method, the

system will not be re-enabled by turning the power switch off and then to
ON mode.

Types of sensors

1
2
3
4

Turning the Intelligent Clearance Sonar system on/off

1

2

3

4

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4-5. Using the driving support systems

If  the  hybrid  system  output  restriction  control  or  brake  control  oper-
ates,  a  buzzer  will  sound  and  a  message  will  be  displayed  on  the
multi-information display to alert the driver.

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

Displays and buzzers for hybrid system output restriction  con-
trol and brake control

Control

Situation

Multi-information 

display

ICS OFF 

Indicator

Buzzer

Hybrid system 
output restriction 
control is operat-
ing (acceleration 
restriction)

Acceleration 
greater than a 
certain amount is 
not possible.

“Object Detected 
Acceleration 
Reduced”

Not illu-
minated

—

Hybrid system 
output restriction 
control is operat-
ing (output 
restricted as 
much as possi-
ble)

Stronger-than-
normal brake 
operation is nec-
essary.

“Brake!”

Short 
beep

Brake control is 
operating

Emergency brak-
ing is necessary.

Vehicle stopped 
by system opera-
tion

The vehicle has 
been stopped by 
brake control 
operation.

If the accelera-
tor pedal is 
depressed:
“Switch to 
Brake”
If the accelera-
tor pedal is not 
depressed:
“Brake”

Illumi-
nated

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If the Intelligent Clearance Sonar function detects that a collision with
an  object  is  possible,  the  hybrid  system  output  will  be  restricted  to
restrain  any  increase  in  the  vehicle  speed.  (Hybrid  system  output
restriction control: See A below.)
Additionally,  if  the  accelerator  pedal  continues  to  be  depressed,  the
brakes  will  be  applied  automatically  to  reduce  the  vehicle  speed.
(Brake control: See B below.)

Intelligent Clearance Sonar function

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4-5. Using the driving support systems

On

Off

Time

Down

On

Off

Time

On

Off

Time

Down

Up

Accelerator pedal
Brake pedal
Hybrid system output
Braking force

Start of control
High possibility of a collision
Extremely high possibility of a
collision

1
2
3
4

5
6
7

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■

The Intelligent Clearance Sonar function will operate when

The  function  will  operate  when  the  ICS  OFF  indicator  is  not  illuminated  or
flashing (



P. 303, 311) and all of the following conditions are met:

●

Hybrid system output restriction control
• The Intelligent Clearance Sonar system is enabled.
• The vehicle speed is 10 mph (15 km/h) or less.
• There is an object in the traveling direction of the vehicle and 6 to 13 ft. (2

to 4 m) away.

• The  system  determines  that  a  stronger-than-normal  brake  operation  is

necessary to avoid a collision.

●

Brake control
• Hybrid system output restriction control is operating.
• The system determines that an emergency brake operation is necessary

to avoid a collision.

■

The Intelligent Clearance Sonar function will stop operating when

The function will stop operating if any of the following conditions are met:

●

Hybrid system output restriction control
• The Intelligent Clearance Sonar system is disabled.
• The collision becomes avoidable with normal brake operation.
• The object is no longer 6 to 13 ft. (2 to 4 m) away in the traveling direction

of the vehicle.

●

Brake control
• The Intelligent Clearance Sonar system is disabled.
• Approximately  2  seconds  elapse  after  the  vehicle  is  stopped  by  brake

control.

• The brake pedal is depressed after the vehicle is stopped by brake con-

trol.

• The object is no longer 6 to 13 ft. (2 to 4 m) away in the traveling direction

of the vehicle.

■

Detection range of the Intelligent Clearance Sonar function

The detection range of the Intelligent Clearance Sonar function differs from
the detection range of the intuitive parking assist. (



P. 295)

Therefore, even if the intuitive parking assist detects an object and provides a
warning, the Intelligent Clearance Sonar function may not start operating.

■

If the Intelligent Clearance Sonar function has operated

If the vehicle is stopped due to operation of the Intelligent Clearance Sonar
function, the Intelligent Clearance Sonar system will be disabled and the ICS
OFF indicator will illuminate.

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4-5. Using the driving support systems

■

Re-enabling the Intelligent Clearance Sonar system 

To re-enable the Intelligent Clearance Sonar system when it is disabled due
to operation of the Intelligent Clearance Sonar function, either enable the sys-
tem again (



P. 303), or turn the power switch off and then back to ON mode.

Additionally, if the object becomes no longer in the traveling direction of the
vehicle or if the traveling direction 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.

■

Objects that the Intelligent Clearance Sonar function may not detect

The sensors may not be able to detect certain objects, such as the following.

●

Cotton cloth, snow, and other materials that are poor reflectors of ultrasonic
waves. 
(People may also not be detected depending on the type of clothing they are
wearing.)

●

Objects which are not perpendicular to the ground, are not perpendicular 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

■

Situations  in  which  the  Intelligent  Clearance  Sonar  may  not  operate
properly

When the shift lever is in N.

■

Intuitive parking assist buzzer

Regardless of  whether  the  intuitive parking assist  system is enabled or not
(



P.  292),  if  the  Intelligent  Clearance  Sonar  system  is  enabled  (



P.  303),

the front or rear sensors detect an object and brake control is performed, the
intuitive  parking  assist  buzzer  will  sound  to  notify  the  driver  of  the  approxi-
mate distance to the object.

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■

Situations in which the Intelligent Clearance Sonar function may operate
even if there is no possibility of a collision

In  some  situations  such  as  the  following,  the  Intelligent  Clearance  Sonar
function may operate even though there is no possibility of a collision.

●

Vehicle surroundings

• When driving toward a banner, flag, low-hanging branch or boom barrier

(such as those used at railroad crossings, toll gates and parking lots).

• When driving on a narrow path surrounded by a structure, such as in a

tunnel or on an iron bridge

• 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 on a steep slope
• If a sensor is hit by a large amount of water, such as when driving on a

flooded road

●

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

●

Other ultrasonic waves sources
• When vehicle horns, vehicle detectors, motorcycle engines, air brakes of

large  vehicles,  the  clearance  sonar  of  other  vehicles  or  other  devices
which produce ultrasonic waves are near the vehicle

• If  a  sticker  or  an  electronic  component,  such  as  a  backlit  license  plate

(especially fluorescent type), fog lights, a fender pole or wireless antenna
is installed near a sensor

• When driving on a narrow road

• When  driving  on  a  gravel  road  or  in

an area with tall grass

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4-5. Using the driving support systems

●

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

■

If the Intelligent Clearance Sonar function operates unnecessarily such
as at a railroad crossing

Even  in  the  event  that  the  Intelligent  Clearance  Sonar  function  operates
unnecessarily, such as at a railroad crossing, brake control will be canceled
after approximately 2 seconds, allowing you to proceed forward and leave the
area,  Brake  control  can  also  be  canceled  by  depressing  the  brake  pedal.
Depressing the accelerator pedal again will allow you to proceed forward and
leave the area.

■

Situations in which the Intelligent Clearance Sonar Brake function may
not operate properly

In some situations such as the following, this function may not operate prop-
erly.

●

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

●

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.

• When a sensor or the area around a

sensor is extremely hot or cold

• When strong winds are blowing

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●

Other ultrasonic waves sources
• When vehicle horns, vehicle detectors, motorcycle engines, air brakes of

large  vehicles,  the  clearance  sonar  of  other  vehicles  or  other  devices
which produce ultrasonic waves are near the vehicle

• If  a  sticker  or  an  electronic  component,  such  as  a  backlit  license  plate

(especially fluorescent type), fog lights, a 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

■

If a 12-volt battery terminal has been disconnected and reconnected

The system needs to be initialized.
To initialize the system, drive the vehicle straight ahead for 5 seconds or more
at a speed of approximately 22 mph (35 km/h) or more.

■

If  “ICS  Unavailable”  is  displayed  on  the  multi-information  display  and
the ICS OFF indicator is flashing

Initialization  may  not  have  been  performed  after  a  12-volt  battery  terminal
was disconnected and reconnected. Initialize the system. (



P. 311) 

If this  message  continues to be displayed  even after initialization, have the
vehicle inspected by your Toyota dealer.

■

If  “ICS  Unavailable”  and  “Parking  Assist  Unavailable  Clean  Parking
Assist  Sensor”  are  displayed  on  the  multi-information  display  and  the
ICS OFF indicator is flashing

●

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 system 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 nor-
mal.

●

Water  may  be  continuously  flowing  over  the  sensor  surface,  such  as  in  a
heavy rain. When the system determines that it is normal, the system will
return to normal.

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4-5. Using the driving support systems

WARNING

■

Limitations of the Intelligent Clearance Sonar system

Do not overly rely on the system, as doing so may lead to an accident.

●

The driver is solely responsible for safe driving. Always drive carefully, tak-
ing  care  to  observe  your  surroundings.  The  Intelligent  Clearance  Sonar
system is designed to provide support to lessen the severity of collisions.
However, it may not operate in some situations.

●

The Intelligent Clearance Sonar system is not designed to stop the vehicle
completely. Additionally, even if the system has stopped the vehicle, it is
necessary to depress the brake pedal immediately as brake control will be
canceled after approximately 2 seconds.

■

To ensure the Intelligent Clearance Sonar system can operate properly

Observe the following precautions regarding the sensors (



P. 303). Failure

to  do so  may cause  a sensor to  not operate properly, and  may cause  an
accident.

●

Do not modify, disassemble or paint the sensors.

●

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.

Observe the following precautions regarding the radar sensors (



P. 279).

Failure to do so may cause a radar sensor to not operate properly, and may
cause an accident.

●

Do not modify, disassemble or paint the sensors.

●

Do not replace a radar sensor with a part other than a genuine part.

●

Do not subject a radar sensor or its surrounding area to a strong impact.

●

Do not damage the radar sensors, and always keep the radar sensors and
their surrounding area on the bumper clean.

■

Handling the suspension

Do not modify the suspension, as changes to the height or inclination of the
vehicle may prevent the sensors from detecting objects correctly or cause
the system to not operate or operate unnecessarily.

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NOTICE

■

To prevent the system from malfunctioning

●

If the area around a sensor is subjected to an impact, the system may not
operate  properly  due  to  the  sensor  being  misaligned.  Have  the  vehicle
inspected by your Toyota dealer.

●

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 malfunction.

■

To prevent a radar sensor from malfunctioning

●

If  the  area  around  a radar sensor is  subjected to  an impact, the  system
may not operate properly due to a sensor malfunction. Have the vehicle
inspected by your Toyota dealer.

●

Observe the radar sensor handling precautions. (



P. 279)

■

To  prevent  unnecessary  operation  of  the  Intelligent  Clearance  Sonar
system

In  the  following situations,  disable the Intelligent Clearance Sonar  system
as the system may operate even though there is no possibility of a collision.

●

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 towing
eyelet, bumper protector (an additional trim strip, etc.), bicycle carrier, or
snow plow

●

When using an automatic car wash

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If the Rear Cross Traffic Auto Brake function detects that a collision
with an approaching vehicle is possible, the hybrid system output will
be restricted to restrain any increase in vehicle speed. (Hybrid system
output restriction control: See A below.)
Additionally,  if  the  accelerator  pedal  continues  to  be  depressed,  the
brakes  will  be  applied  automatically  to  reduce  the  vehicle  speed.
(Brake control: See B below.)

Rear Cross Traffic Auto Brake function

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On

Off

Time

Down

On

Off

Time

On

Off

Time

Down

Up

Accelerator pedal
Brake pedal
Hybrid system output
Braking force

Start of control
High possibility of a collision
Extremely high possibility of a
collision

1
2
3
4

5
6
7

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■

The Rear Cross Traffic Auto Brake function will operate when

The  function  will  operate  when  the  ICS  OFF  indicator  is  not  illuminated  or
flashing (



P. 303, 311) and all of the following conditions are met:

●

Hybrid system output restriction control
• The  Intelligent  Clearance  Sonar  with  Rear  Cross  Traffic Auto  Brake  is

enabled.

• The vehicle speed is 10 mph (15 km/h) or less.
• 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)

• The shift lever is in R.
• The  system  determines  that  a  stronger  than  normal  brake  operation  is

necessary to avoid a collision with an approaching vehicle.

●

Brake control
• Hybrid system output restriction control is operating.
• The system determines that an emergency brake operation is necessary

to avoid a collision with an approaching vehicle.

■

The Rear Cross Traffic Auto Brake function will stop operating when

The function will stop operating if any of the following conditions are met:

●

Hybrid system output restriction control
• The  Intelligent  Clearance  Sonar  with  Rear  Cross  Traffic Auto  Brake  is

disabled.

• 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  Intelligent  Clearance  Sonar  with  Rear  Cross  Traffic Auto  Brake  is

disabled.

• Approximately  2  seconds  elapse  after  the  vehicle  is  stopped  by  brake

control.

• The brake pedal is depressed after the vehicle is stopped by brake con-

trol.

• A vehicle is no longer approaching from the right or left at the rear of the

vehicle.

■

Detection area of the Rear Cross Traffic Auto Brake function

The detection area of the Rear Cross Traffic Auto Brake function differs from
the detection area of the RCTA function (



P. 285).

Therefore, even if the RCTA function detects a vehicle and provides an alert,
the Rear Cross Traffic Auto Brake function may not start operating.

■

If the Rear Cross Traffic Auto Brake function has operated

If the vehicle is stopped due to operation of the Rear Cross Traffic Auto Brake
function, the Rear Cross Traffic Auto Brake function will be disabled and the
ICS OFF indicator will illuminate.

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■

Re-enabling the Rear Cross Traffic Auto Brake function

To re-enable the Rear Cross Traffic Auto Brake function when it is disabled
while  it  is  operating,  either  enable  the  Intelligent  Clearance  Sonar  system
again  (



P.  303),  or  turn  the  power  switch  off  and  then  back  to  ON  mode.

When the function is disabled, the ICS OFF indicator will illuminate. (



P. 95)

If there is no longer a vehicle approaching from the right or left at the rear of
the  vehicle  when  backing  up,  or  if  the  traveling  direction  of  the  vehicle
changes (such as changing from backing up to moving forward), the system
will  be  re-enabled  automatically.  When  the  function  is  re-enabled,  the  ICS
OFF indicator will turn off.

■

Conditions under which the Rear Cross Traffic Auto Brake function will
not detect a vehicle

The Rear Cross Traffic Auto Brake function is not designed to detect the fol-
lowing types of vehicles and/or objects.

●

Vehicles approaching from directly behind

●

Vehicles backing up in a parking space next to your vehicle

●

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 vehicle

*

*

: Depending  on  the  conditions,  detection  of  a  vehicle  and/or  object  may

occur.

■

RCTA function buzzer

Regardless of whether the RCTA function is enabled or not (



P. 277), if the

Rear Cross Traffic Auto Brake function is enabled and brake control is per-
formed, a buzzer will sound to notify the driver.

●

Vehicles that the sensors cannot detect
due to obstructions

●

Vehicles  which  suddenly  accelerate  or
decelerate near your vehicle

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■

Situations  in  which  the  system  may  operate  even  though  there  is  no
possibility of a collision

In some situations such as the following, the Rear Cross Traffic Auto Brake
function may operate even though there is no possibility of a collision.

●

When there are spinning objects near your vehicle such as the fan of an air
conditioning unit

●

When water is splashed or sprayed toward the rear bumper, such as from a
sprinkler

●

When  the  parking  space  faces  a  street
and  vehicles  are  being  driven  on  the
street

●

When  a  detected  vehicle  turns  while
approaching the vehicle

●

When  a  vehicle  passes  by  the  side  of
your vehicle

●

When the distance between your vehicle
and  metal  objects,  such  as  a  guardrail,
wall, sign, or parked vehicle, which may
reflect  electrical  waves  toward  the  rear
of the vehicle, is short

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■

Situations in which the Rear Cross Traffic Auto Brake function may not
operate properly

In some situations such as the following, this function may not operate prop-
erly.

●

Objects and vehicles which the radar sensors are not designed to detect
• Stationary objects
• Vehicles which are moving away from your vehicle
• Pedestrians, motorcycles, bicycles, etc.

*

• 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 conditions, detection of a vehicle and/or object may occur.

●

Situations in which the radar sensors may not be able to detect an object
• When a sensor or the area around a sensor is extremely hot or cold
• If the rear bumper is covered with ice, snow, dirt, etc.
• If heavy rain or water strikes the vehicle
• When the detection area of a radar sensor is obstructed by an adjacent

vehicle

• If the vehicle is significantly tilted
• When equipment that may obstruct a sensor is installed, such as a towing

eyelet, bumper protector (an additional trim strip, etc.), bicycle carrier, or
snow plow

• 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
• If  a  sticker  or  an  electronic  component,  such  as  a  backlit  license  plate

(especially fluorescent type), fog lights, a fender pole or wireless antenna
is installed near a radar sensor

• If the orientation of a radar sensor has been changed due to a collision or

other impact or removal and installation

• When multiple vehicles are approaching with only a small gap between

each vehicle

• When a vehicle is approaching at high speed

●

Situations in which the radar sensor may not detect a vehicle
• When a vehicle approaches from the

right  or  left  at  the  rear  of  the  vehicle
while  you  are  turning  while  backing
up

• When turning while backing up

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■

Handling the radar sensors



P. 279

• When backing out of a shallow angle

parking spot

• Vehicles  that  the  sensors  cannot

detect due to obstructions

• When  backing  up  on  a  slope  with  a

sharp change in grade

• When  a  vehicle  turns  into  the  detec-

tion area

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Normal mode
Use for normal driving.

While  in  Eco  drive  mode  or  Sport  mode,  press  the  “NORMAL”  switch  to
change the driving mode to normal mode.

Eco drive mode
Use Eco drive mode to help achieve low fuel consumption during
trips that involve frequent accelerating.

When the “ECO” switch is pressed, the “ECO MODE” indicator comes on
in the multi-information display.

Sport mode
Use sport mode when increased acceleration response and precise
handling is desired, for example, when driving on mountain roads.

When the “SPORT” switch is pressed, the “SPORT” indicator comes on in
the multi-information display.

Driving mode select switches

The driving modes can be selected to suit driving condition.

1

2

3

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■

Operation of the air conditioning system in Eco drive mode

Eco drive mode controls the heating/cooling operations and fan speed of the
air conditioning system to enhance fuel efficiency (



P. 338). To improve air

conditioning performance, adjust the fan speed or turn off Eco drive mode.

■

Auto Glide Control

When Auto Glide Control operates, the AGC indicator light will illuminate.

●

Auto Glide Control may not operate in the following situations:
• When the brake pedal is depressed
• When a shift position other than D is selected
• When the vehicle speed is approximately 10 mph (15 km/h) or lower 
• When the vehicle is accelerating on a downward slope
• When the PCS (Pre-Collision System) is operating
• When the dynamic radar cruise control with full-speed range is operating
• When the Intelligent Clearance Sonar system is operating
• When the TRAC or VSC system is operating
• When  the TRAC  or  VSC  system  is  disabled  by  pressing  the  VSC  OFF

switch

■

Sport mode automatic deactivation

Sport mode is automatically deactivated if the power switch is turned off after
driving in sport mode.

●

While driving in Eco drive mode with D
selected,  releasing  the  accelerator
pedal  will  activate  Auto  Glide  Control
under  certain  conditions.  (Auto  Glide
Control may activate before the acceler-
ator pedal is fully released.) 
When Auto Glide Control operates, the
electric  motor  (traction  motor)  will  be
controlled,  reducing  the  deceleration
force and allowing the vehicle to coast,
enhancing fuel economy.

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◆

ECB (Electronically Controlled Brake System)

The electronically controlled system generates braking force corre-
sponding to the brake operation

◆

ABS (Anti-lock Brake System)

Helps to prevent wheel lock when the brakes are applied suddenly,
or if the brakes are applied while driving on a slippery road surface

◆

Brake assist

Generates an increased level of braking force after the brake pedal
is depressed when the system detects a panic stop situation

◆

VSC (Vehicle Stability Control)

Helps  the  driver  to  control  skidding  when  swerving  suddenly  or
turning on slippery road surfaces.

◆

Enhanced VSC (Enhanced Vehicle Stability Control)

Provides cooperative control of the ABS, TRAC, VSC and EPS.
Helps  to  maintain  directional  stability  when  swerving  on  slippery
road surfaces by controlling steering performance.

◆

TRAC

 

(Traction Control)

Helps  to  maintain  drive  power  and  prevent  the  drive  wheels  from
spinning when starting the vehicle or accelerating on slippery roads

◆

Hill-start assist control

Helps to reduce the backward movement of the vehicle when start-
ing on an uphill

Driving assist systems

To keep driving safety and performance, the following systems
operate automatically in response to various driving situations.
Be aware, however, that these systems are supplementary and
should not be relied upon too heavily when operating the vehi-
cle. 

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4-5. Using the driving support systems

◆

EPS (Electric Power Steering)

Employs an electric motor to reduce the amount of effort needed to
turn the steering wheel 

◆

The Secondary Collision Brake

When  the  SRS  airbag  sensor  detects  a  collision  and  the  system
operates, the brakes and stop lights are automatically controlled to
reduce the vehicle speed and help reduce the possibility of further
damage due to a secondary collision.

The  slip  indicator  light  will  flash
while  the  TRAC/VSC/ABS  sys-
tems are operating.

If the vehicle gets stuck in mud, dirt or snow, the TRAC system may

reduce power from the hybrid system to the wheels. Pressing 

 to

turn the system off may make it easier for you to rock the vehicle in
order to free it.
To  turn  the  TRAC  system  off,

quickly press and release 

.

The  “Traction  Control  Turned  Off”
will be shown on the multi-informa-
tion display.

Press 

  again  to  turn  the  sys-

tem back on.

When the TRAC/VSC/ABS systems are operating

Disabling the TRAC system

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Turning off both TRAC and VSC systems

To turn the TRAC and VSC systems off, press and hold 

 for more than 3

seconds while the vehicle is stopped.
The VSC OFF indicator light will come on and the “Traction Control Turned
Off” will be shown on the multi-information display

*

.

Press 

 again to turn the system back on.

*

: Pre-collision  brake  assist  and  pre-collision  braking  will  also  be  disabled.

The PCS warning light will come on and the message will be shown on the
multi-information display. (



P. 251)

■

When the message is displayed on the multi-information display show-

ing that TRAC has been disabled even if 

 has not been pressed

TRAC is temporary deactivated. If the information continues to show, contact
your Toyota dealer.

■

Operating conditions of hill-start assist control

When  the  following  four  conditions  are  met,  the  hill-start  assist  control  will
operate:

●

The shift lever is in a position other than P or N (when starting off forward/
backward on an upward incline)

●

The vehicle is stopped

●

The accelerator pedal is not depressed

●

The parking brake is not engaged

■

Automatic system cancelation of hill-start assist control

The hill-start assist control will turn off in any of the following situations:

●

The shift lever is shifted to P or N

●

The accelerator pedal is depressed

●

The parking brake is engaged

●

2 seconds at maximum elapsed after the brake pedal is released

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4-5. Using the driving support systems

■

Sounds  and  vibrations  caused  by  the  ABS,  brake  assist,  VSC,  TRAC,
and hill-start assist control systems

●

A sound may be heard from the engine compartment when the brake pedal
is depressed repeatedly, when the hybrid system is started or just after the
vehicle begins to move. This sound does not indicate that a malfunction has
occurred in any of these systems.

●

Any  of  the  following  conditions  may  occur  when  the  above  systems  are
operating. None of these indicates that a malfunction has occurred. 
• Vibrations may be felt through the vehicle body and steering.
• A motor sound may be heard also after the vehicle comes to a stop.

■

ECB brake operation

Braking power may be stronger than normal for a short time after the hybrid
system is started.

■

ECB operating sound

ECB  operating  sound  may  be  heard  in  the  following  cases,  but  it  does  not
indicate that a malfunction has occurred.

●

Operating sound heard from the engine compartment when the brake pedal
is operated.

●

Motor  sound  of  the  brake  system  heard  from  the  front  part  of  the  vehicle
when the driver’s door is opened.

●

Operating sound heard from the engine compartment when one or two min-
utes passed after the stop of the hybrid system.

■

EPS operation sound

When the steering wheel is operated, a motor sound (whirring sound) may be
heard. This does not indicate a malfunction.

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Automatic reactivation of TRAC and VSC systems

After turning the TRAC and VSC systems off, the systems will be automati-
cally re-enabled in the following situations:

●

When the power switch is turned off

●

If only the TRAC system is turned off, the TRAC will turn on when vehicle
speed increases
If both the TRAC and VSC systems are turned off, automatic re-enabling will
not occur when vehicle speed increases

■

Secondary Collision Brake operating conditions

The system operates when the SRS airbag sensor detects a collision while
the vehicle is in motion.
However, the system does not operate in any of the following situations.

●

The vehicle speed is below 6 mph (10 km/h)

●

Components are damaged

■

Secondary Collision Brake automatic cancellation

The system is automatically canceled in any of the following situations.

●

The vehicle speed drops below approximately 6 mph (10 km/h)

●

A certain amount of time elapses during operation

●

The accelerator pedal is depressed a large amount

■

Reduced effectiveness of the EPS system

The effectiveness of the EPS system is reduced to prevent the system from
overheating when there is frequent steering input over an extended period of
time. The steering wheel may feel heavy as a result. Should this occur, refrain
from excessive steering input or stop the vehicle and turn the hybrid system
off. The EPS system should return to normal within 10 minutes.

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4-5. Using the driving support systems

WARNING

■

The ABS does not operate effectively when

●

The  limits  of  tire  gripping  performance  have  been  exceeded  (such  as
excessively worn tires on a snow covered road).

●

The vehicle hydroplanes while driving at high speed on wet or slick roads.

■

Stopping distance when the ABS is operating may exceed that of nor-
mal conditions

The ABS is not designed to shorten the vehicle’s stopping distance. Always
maintain a safe distance from the vehicle in front of you, especially in the
following situations:

●

When driving on dirt, gravel or snow-covered roads

●

When driving with tire chains

●

When driving over bumps in the road

●

When driving over roads with potholes or uneven surfaces

■

TRAC/VSC may not operate effectively when

Directional control and power may not be achievable while driving on slip-
pery road surfaces, even if the TRAC/VSC system is operating. 
Drive the vehicle carefully in conditions where stability and power may be
lost.

■

Hill- start assist control does not operate effectively when

●

Do not overly rely on hill-start assist control. Hill-start assist control may
not operate effectively on steep inclines and roads covered with ice.

●

Unlike the parking brake, hill-start assist control is not intended to hold the
vehicle  stationary for an  extended  period  of time. Do not attempt to  use
hill-start assist control to hold the vehicle on an incline, as doing so may
lead to an accident.

■

When the TRAC/ABS/VSC is activated

The slip indicator light flashes. Always drive carefully. Reckless driving may
cause an accident. Exercise particular care when the indicator light flashes.

■

When the TRAC/VSC systems are turned off

Be  especially  careful  and  drive  at  a  speed  appropriate  to  the  road  condi-
tions. As these are the systems to help ensure vehicle stability and driving
force, do not turn the TRAC/VSC systems off unless necessary.

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WARNING

■

Replacing tires

Make sure that all tires are of the specified size, brand, tread pattern and
total load capacity. In addition, make sure that the tires are inflated to the
recommended tire inflation pressure level.
The ABS, TRAC and VSC systems will not function correctly if different tires
are installed on the vehicle.
Contact  your Toyota  dealer  for  further  information  when  replacing  tires  or
wheels.

■

Handling of tires and the suspension

Using tires with any kind of problem or modifying the suspension will affect
the driving assist systems, and may cause a system to malfunction.

■

Secondary Collision Brake

Do  not  rely  solely  upon  the  Secondary  Collision  Brake.  This  system  is
designed to help reduce the possibility of further damage due to a second-
ary collision, however, that effect changes according to various conditions.
Overly relying on the system may result in death or serious injury.

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4-6. Driving tips

◆

Using Eco drive mode

When using Eco drive mode, the torque corresponding to the accel-
erator pedal depression amount can be generated more smoothly
than it is in normal conditions. In addition, the operation of the air
conditioning system (heating/cooling) will be minimized, improving
the fuel economy. (



P. 321)

◆

Use of Hybrid System Indicator

The Eco-friendly driving is possible by keeping the needle of Hybrid
System Indicator within Eco area. (



P. 100)

◆

Shift lever operation

Shift the shift lever to D when stopped at a traffic light, or driving in
heavy traffic etc. Shift the shift lever to P when parking. When using
the N, there is no positive effect on fuel consumption. In the N, the
gasoline engine operates but electricity cannot be generated. Also,
when  using  the  air  conditioning  system,  etc.,  the  hybrid  battery
(traction battery) power is consumed.

◆

Accelerator pedal/brake pedal operation

●

Drive  your  vehicle  smoothly.  Avoid  abrupt  acceleration  and
deceleration.  Gradual  acceleration  and  deceleration  will  make
more effective use of the electric motor (traction motor) without
having to use gasoline engine power.

●

Avoid  repeated  acceleration.  Repeated  acceleration  consumes
hybrid battery (traction battery) power, resulting in poor fuel con-
sumption.  Battery  power  can  be  restored  by  driving  with  the
accelerator pedal slightly released.

Hybrid vehicle driving tips

For economical and ecological driving, pay attention to the fol-
lowing points:

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◆

When braking

Make sure to operate the brakes gently and in a timely manner. A
greater amount of electrical energy can be regenerated when slow-
ing down.

◆

Delays

Repeated  acceleration  and  deceleration,  as  well  as  long  waits  at
traffic  lights,  will  lead  to  bad  fuel  economy.  Check  traffic  reports
before leaving and avoid delays as much as possible. When driving
in a traffic jam, gently release the brake pedal to allow the vehicle to
move  forward  slightly  while  avoiding  overuse  of  the  accelerator
pedal. Doing so can help control excessive gasoline consumption.

◆

Highway driving

Control and maintain the vehicle at a constant speed. Before stop-
ping  at  a  toll  booth  or  similar,  allow  plenty  of  time  to  release  the
accelerator and gently apply the brakes. A greater amount of elec-
trical energy can be regenerated when slowing down.

◆

Air conditioning

Use  the  air  conditioning  only when necessary.  Doing  so  can  help
reduce excessive gasoline consumption.
In summer: When the ambient temperature is high, use the recircu-
lated air mode. Doing so will help to reduce the burden on the air
conditioning system and reduce fuel consumption as well.
In winter: Because the gasoline engine will not automatically cut out
until it and the interior of the vehicle are warm, it will consume fuel.
Also, fuel consumption can be improved by avoiding overuse of the
heater.

◆

Checking tire inflation pressure

Make sure to check the tire inflation pressure frequently. Improper
tire inflation pressure can cause poor fuel economy.
Also, as snow tires can cause large amounts of friction, their use on
dry roads can lead to poor fuel economy. Use tires that are appro-
priate for the season.

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4-6. Driving tips

◆

Luggage

Carrying heavy luggage will lead to poor fuel economy. Avoid carry-
ing unnecessary luggage. Installing a large roof rack will also cause
poor fuel economy.

◆

Warming up before driving

Since  the  gasoline  engine  starts  up  and  cuts  out  automatically
when cold, warming up the engine is unnecessary. Moreover, fre-
quently driving short distances will cause the engine to repeatedly
warm up, which can lead to excess fuel consumption.

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●

Use  fluids  that  are  appropriate  to  the  prevailing  outside  tempera-
tures. 

• Engine oil
• Engine/power control unit coolant
• Washer fluid

●

Have a service technician inspect the condition of the 12-volt bat-
tery.

●

Have the vehicle fitted with four snow tires or purchase a set of tire
chains for the front tires.

*

Ensure  that  all  tires  are  the  specified  size  and  brand,  and  that  chains
match the size of the tires.

*

: Tire chains cannot be mounted on vehicles with 18 and 19-inch tires.

Perform the following according to the driving conditions: 

●

Do not try to forcibly open a window or move a wiper that is frozen.
Pour warm water over the frozen area to melt the ice. Wipe away
the water immediately to prevent it from freezing. 

●

To  ensure  proper  operation  of  the  climate  control  system  fan,
remove  any  snow  that  has  accumulated  on  the  air  inlet  vents  in
front of the windshield. 

●

Check for and remove any excess ice or snow that may have accu-
mulated  on  the  exterior  lights,  vehicle’s  roof,  chassis,  around  the
tires or on the brakes.

●

Remove  any  snow  or  mud  from  the  bottom  of  your  shoes  before
getting in the vehicle.

Winter driving tips

Carry  out  the  necessary  preparations  and  inspections  before
driving the vehicle in winter. Always drive the vehicle in a man-
ner appropriate to the prevailing weather conditions. 

Preparation for winter

Before driving the vehicle