Toyota Highlander (2020 year). Manual in english - part 4

201

4-2. Driving procedures

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ing wheel left and right.

●

To prevent the steering lock motor 

from overheating, operation of the 

motor may be suspended if the 

engine is turned on and off repeat-

edly in a short period of time. In 

this case, refrain from operating 

the engine switch. After about 10 

seconds, the steering lock motor 

will resume functioning.

■

Electronic key battery



P.428

■

Operation of the engine switch

●

If the switch is not pressed shortly 

and firmly, the engine switch 

mode may not change or the 

engine may not start.

●

If attempting to restart the engine 

immediately after turning the 

engine switch off, the engine may 

not start in some cases. After turn-

ing the engine switch off, please 

wait a few seconds before restart-

ing the engine.

■

Customization

If the smart key system has been 

deactivated in a customized setting, 

refer to P.481.

1

Stop the vehicle completely.

2

Set the parking brake 

(



P.209), and shift the shift 

lever to P.

Check the parking brake indicator 

is illuminated.

3

Press the engine switch.

The engine will stop, and the meter 

display will be extinguished.

4

Release the brake pedal and 

check that “ACCESSORY” or 

“IGNITION ON” is not shown 

WARNING

■

When starting the engine

Always start the engine while sit-

ting in the driver’s seat. Do not 

depress the accelerator pedal 

while starting the engine under 

any circumstances. 

Doing so may cause an accident 

resulting in death or serious injury.

■

Caution while driving

If engine failure occurs while the 

vehicle is moving, do not lock or 

open the doors until the vehicle 

reaches a safe and complete 

stop. Activation of the steering 

lock in this circumstance may lead 

to an accident, resulting in death 

or serious injury.

NOTICE

■

When starting the engine

●

Do not race a cold engine.

●

If the engine becomes difficult to 

start or stalls frequently, have 

your vehicle checked by your 

Toyota dealer immediately.

■

Symptoms indicating a mal-

function with the engine 

switch

If the engine switch seems to be 

operating somewhat differently 

than usual, such as the switch 

sticking slightly, there may be a 

malfunction. Contact your Toyota 

dealer immediately.

Stopping the engine

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4-2. Driving procedures

HIGHLANDER_U

on the multi-information dis-

play.

■

Automatic engine shut off fea-

ture

●

The vehicle is equipped with a 

feature that automatically shuts off 

the engine when the shift lever is 

in P with the engine running for an 

extended period.

●

The engine will automatically shut 

off after approximately 1 hour if it 

has been left running while the 

shift lever is in P.

●

The timer for the automatic engine 

shut off feature will reset if the 

brake pedal is depressed or if the 

shift lever is in a position other 

than P.

●

After the vehicle is parked, if the 

door is locked with the door lock 

switch (



P.118) from the inside or 

the mechanical key from the out-

side, the automatic engine shut off 

feature will be disabled. The timer 

for the automatic engine shut off 

feature will be re-enabled if the 

driver’s door is opened.

WARNING

■

Stopping the engine in an 

emergency

●

If you want to stop the engine in 

an emergency while driving the 

vehicle, press and hold the 

engine switch for more than 2 

seconds, or press it briefly 3 

times or more in succession. 

(



P.442)

However, do not touch the 

engine switch while driving 

except in an emergency. Turn-

ing the engine off while driving 

will not cause loss of steering or 

braking control, but the power 

assist to these systems will be 

lost. This will make it more diffi-

cult to steer and brake, so you 

should pull over and stop the 

vehicle as soon as it is safe to 

do so.

●

If the engine switch is operated 

while the vehicle is running, a 

warning message will be shown 

on the multi-information display 

and a buzzer sounds.

●

To restart the engine after per-

forming an emergency shut-

down, shift the shift lever to N 

and then press the engine 

switch.

■

When parking

Exhaust gases include harmful 

carbon monoxide (CO), which is 

colorless and odorless. Observe 

the following precautions.
Failure to do so may cause 

exhaust gases to enter the vehicle 

and may lead to an accident 

caused by light-headedness, or 

may lead to death or a serious 

health hazard.

●

If the vehicle is in a poorly venti-

lated area or a closed area, 

such as a garage, stop the 

engine.

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4-2. Driving procedures

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Modes can be changed by 

pressing the engine switch with 

brake pedal released. (The 

mode changes each time the 

switch is pressed.)

1

OFF

*

The emergency flashers can be 

used.

2

ACC

Some electrical components such 

as the audio system can be used.
“ACCESSORY” will be displayed 

on the multi-information display.

3

ON

All electrical components can be 

used.
“IGNITION ON” will be displayed on 

the multi-information display.

*

: If the shift lever is in a position 

other than P when turning off the 

engine, the engine switch will be 

turned to ACC, not to OFF.

■

Auto power off function

If the vehicle is left in ACC for more 

than 20 minutes or ON (the engine 

is not running) for more than an 

hour with the shift lever in P, the 

engine switch will automatically turn 

off. However, this function cannot 

entirely prevent battery discharge. 

Do not leave the vehicle with the 

engine switch in ACC or ON for long 

periods of time when the engine is 

not running.

WARNING

●

Do not leave the vehicle with 

the engine running for a long 

time. If such a situation cannot 

be avoided, park the vehicle in 

an open space and ensure that 

exhaust fumes do not enter the 

vehicle interior.

●

Do not leave the engine running 

in an area with snow build-up, 

or where it is snowing. If snow-

banks build up around the vehi-

cle while the engine is running, 

exhaust gases may collect and 

enter the vehicle.

Changing engine switch 

modes

NOTICE

■

To prevent battery discharge

●

Do not leave the engine switch 

in ACC or ON for long periods of 

time without the engine running.

●

If “ACCESSORY” or “IGNITION 

ON” is displayed on the 

multi-information display, the 

engine switch is not off. Exit the 

vehicle after turning the engine 

switch off.

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4-2. Driving procedures

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If the engine is stopped with the 

shift lever in a position other 

than P, the engine switch will not 

be turned off but instead be 

turned to ACC. Perform the fol-

lowing procedure to turn the 

switch off:

1

Check that the parking brake 

is set.

2

Shift the shift lever to P.

3

Check that “ACCESSORY” is 

displayed on the multi-infor-

mation display and press the 

engine switch shortly and 

firmly.

4

Check that “ACCESSORY” 

or “IGNITION ON” on the 

multi-information display are 

off.

*1

:Shifting to the D position allows 

the system to select a gear suit-

able for the driving conditions. 

Setting the shift lever to the D 

position is recommended for nor-

mal driving.

*2

:Selecting gears using M mode 

fixes the gear step, controls 

engine braking force, and pre-

vents unnecessary upshifting.

■

To protect the automatic trans-

mission

If the automatic transmission fluid 

temperature is high, “High Trans-

mission Fluid Temp See Owner's 

Manual” will be displayed on the 

multi-information display and the 

vehicle will go into transmission pro-

tection mode automatically. Have 

the vehicle inspected by your Toyota 

dealer.

When stopping the engine 

with the shift lever in a 

position other than P

NOTICE

■

To prevent battery discharge

Do not stop the engine when the 

shift lever is in a position other 

than P. If the engine is stopped in 

another shift lever position, the 

engine switch will not be turned 

off but instead be turned to ACC. 

If the vehicle is left in ACC, bat-

tery discharge may occur.

Automatic transmis-

sion

Select the shift position 

depending on your purpose 

and situation.

Shift position purpose

Shift posi-

tion

Objective or function

P

Parking the vehi-

cle/starting the engine

R

Reversing

N

Neutral

D

Normal driving

*1

M

M mode driving

*2

 

(



P.206)

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4-2. Driving procedures

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■

When driving with dynamic 

radar cruise control with 

full-speed range activated

Even when switching the driving 

mode to sport mode with the intent 

of enabling engine braking, engine 

braking will not activate because 

dynamic radar cruise control with 

full-speed range will not be can-

celed.

■

Restraining sudden start 

(Drive-Start Control)



P.178

■

AI-SHIFT

●

The AI-SHIFT automatically 

selects the suitable gear accord-

ing to driver performance and driv-

ing conditions.

The AI-SHIFT automatically oper-

ates when the shift lever is in D. 

(Shifting the shift lever to the M posi-

tion cancels the function.)

●

G AI-SHIFT automatically selects 

a suitable gear for sporty driving 

according to driver’s input and 

driving conditions. G AI-SHIFT 

operates automatically when the 

shift lever is in D and sport mode 

is selected for the driving mode. 

(Selecting normal mode with the 

driving mode select switch or shift-

ing the shift lever to the M position 

cancels this function.)

: While the engine switch is in 

ON and the brake pedal 

depressed

*

, shift the shift lever 

while pushing the shift release 

button on the shift knob.

: Shift the shift lever while 

pushing the shift release button 

on the shift knob.

: Shift the shift lever normally.

When shifting the shift lever 

between P and D, make sure that 

the vehicle is completely stopped.

*

: For the vehicle to be able to be 

shifted from P, the brake pedal 

must be depressed before the 

shift release button is pushed. If 

the shift release button is pushed 

first, the shift lock will not be 

released.

■

Shift lock system

The shift lock system is a system to 

prevent accidental operation of the 

shift lever in starting.
The shift lever can be shifted from P 

only when the engine switch is in 

WARNING

■

When driving on slippery 

road surfaces

Be careful of downshifting and 

sudden acceleration, as this could 

result in the vehicle skidding to 

the side or spinning.

Shifting the shift lever

206

4-2. Driving procedures

HIGHLANDER_U

ON and the brake pedal is being 

depressed.

■

If the shift lever cannot be 

shifted from P

First, check whether the brake pedal 

is being depressed.
If the shift lever cannot be shifted 

with your foot on the brake pedal, 

there may be a problem with the 

shift lock system. Have the vehicle 

inspected by your Toyota dealer 

immediately.
The following steps may be used as 

an emergency measure to ensure 

that the shift lever can be shifted.
Releasing the shift lock:

1

Turn the engine switch to ON 

and check that the parking brake 

is set. (



P.203, 209)

2

Turn the engine switch to off.

3

Depress the brake pedal.

4

Pry the cover up with a flathead 

screwdriver or equivalent tool.

To prevent damage to the cover, 

cover the tip of the screwdriver with 

a rag.

5

Press and hold the shift lock 

override button.

The shift lever can be shifted while 

both buttons are pressed.



P.306, 310

To enter M mode, shift the shift 

lever to M. Gears can then be 

selected by operating the shift 

lever, allowing you to drive in the 

gear of your choosing.

WARNING

■

To prevent an accident when 

releasing the shift lock

Before pressing the shift lock 

override button, make sure to set 

the parking brake and depress the 

brake pedal.
If the accelerator pedal is acci-

dentally depressed instead of the 

brake pedal when the shift lock 

override button is pressed and the 

shift lever is shifted out of P, the 

vehicle may suddenly start, possi-

bly leading to an accident result-

ing in death or serious injury.

Selecting the driving 

mode and snow mode

Selecting gears in the M 

position

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4-2. Driving procedures

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1

Upshifting

2

Downshifting

The gear changes once every time 
the shift lever or paddle shift switch 
is operated.

The selected gear, from M1 to M8, 
will be fixed and displayed on the 
meters.

When in the M position, the gear 
will not change unless the shift 
lever is operated.

However, even when in the M 
position, the gears will be auto-
matically changed in the follow-
ing situation:



When vehicle speed drops 
(downshift only).



When the automatic transmis-
sion fluid or engine coolant 
temperature is low.



When automatic transmis-
sion fluid temperature is high 
(upshift only).



When the needle of the 
tachometer is in the red zone 
(the range which exceeds the 
allowable revs of the engine).

In the following situations, the 
gear will not shift even if the shift 
lever is operated.



The vehicle speed is low 
(upshift only).

■

Downshifting restriction warn-
ing buzzer

To help ensure safety and driving 
performance, downshifting opera-
tion may sometimes be restricted. In 
some circumstances, downshifting 

may not be possible even when the 
paddle shift switch is operated. (A 
buzzer will sound twice.)

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4-2. Driving procedures

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1

Right turn

2

Lane change to the right 
(move the lever partway and 
release it)

The right hand signals will flash 3 
times.

3

Lane change to the left 
(move the lever partway and 
release it)

The left hand signals will flash 3 
times.

4

Left turn

■

Turn signals can be operated 
when

The engine switch is in ON.

■

If the indicator flashes faster 
than usual

Check that a light bulb in the front or 
rear turn signal lights has not 

burned out.

Turn signal lever

Operating instructions

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4-2. Driving procedures

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4

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■

Using the manual mode

The parking brake can be set 
and released manually.

U.S.A.

Canada

1

Pull the switch to set the 
parking brake

The parking brake indicator light 
and parking brake light will turn on.

Pull and hold the parking brake 
switch if an emergency occurs and 
it is necessary to operate the park-
ing brake while driving.

2

Push the switch to release 
the parking brake

• Operate the parking brake switch 

while depressing the brake pedal.

• Parking brake automatic release 

function (



P.210)

Make sure that the parking brake 
indicator light and parking brake 
light turn off.

If the parking brake indicator light 
and parking brake light flashes, 
operate the switch again. (



P.457)

■

Turns automatic mode on

While the vehicle is stopped, 
pull and hold the parking brake 
switch until a “EPB Shift Inter-
lock Function Activated” is 
shown on the multi-information 
display.

When the automatic mode is 
turned on, the parking brake 
operates as follows.



When the shift lever is moved 
out of P, the parking brake will 
be released, and the parking 
brake indicator light and park-
ing brake light turn off.

Parking brake

The parking brake can be 
set or released automati-
cally or manually.

In automatic mode, the 
parking brake can be set or 
released automatically 
according to the shift lever 
operation. Also, even in 
automatic mode, the park-
ing brake can be set or 
released manually.

Operating instructions

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4-2. Driving procedures

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

When the shift lever is moved 
into P, the parking brake will 
be set, and the parking brake 
indicator light and parking 
brake light turn on.

Operate the shift lever with the 
brake pedal depressed.

■

Turns automatic mode off

While the vehicle is stopped, 
press and hold the parking 
brake switch until a “EPB Shift 
Interlock Function Deactivated” 
is shown on the multi-informa-
tion display.

■

Parking brake operation

●

When the engine switch is not in 
ON, the parking brake cannot be 
released using the parking brake 
switch.

●

When the engine switch is not in 
ON, automatic mode (automatic 
brake setting and releasing) is not 
available.

■

Parking brake automatic 
release function

The parking brake will be released 
automatically when the accelerator 
pedal is slowly depressed under the 
following conditions:

●

The driver’s door is closed

●

The driver is wearing the seat belt

●

The shift lever is in a forward or 

reverse position.

●

The malfunction indicator lamp or 
brake system warning light is not 
illuminated

If the automatic release function 
does not operate, release the park-
ing brake manually.

■

If “Parking Brake Temporarily 
Unavailable” is displayed on 
the multi-information display

If the parking brake is operated 
repeatedly over a short period of 
time, the system may restrict opera-
tion to prevent overheating. If this 
happens, refrain from operating the 
parking brake. Normal operation will 
return after about 1 minute.

■

If “Parking Brake Unavailable” 
is displayed on the multi-infor-
mation display

Operate the parking brake switch. If 
the message does not disappear 
after operating the switch several 
times, the system may be malfunc-
tioning. Have the vehicle inspected 
by your Toyota dealer immediately.

■

Parking brake operation sound

When the parking brake operates, a 
motor sound (whirring sound) may 
be heard. This does not indicate a 
malfunction.

■

Parking brake indicator light 
and parking brake light

●

Depending on the engine switch 
mode, the parking brake indicator 
light and parking brake light will 
turn on and stay on as described 
below:
ON: Comes on until the parking 
brake is released.
Not in ON: Stays on for approxi-
mately 15 seconds.

●

When the engine switch is turned 
off with the parking brake set, the 
parking brake indicator light and 
parking brake light will stay on for 
about 15 seconds. This does not 
indicate a malfunction.

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4-2. Driving procedures

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■

When the parking brake switch 

malfunctions

Automatic mode (automatic brake 

setting and releasing) will be turned 

on automatically.

■

Parking the vehicle



P.177

■

Parking brake engaged warning 

buzzer

A buzzer will sound if the vehicle is 

driven with the parking brake 

engaged. “Parking Brake ON” is dis-

played on the multi-information dis-

play.

■

Warning messages and buzzers

Warning messages and buzzers are 

used to indicate a system malfunc-

tion or to inform the driver of the 

need for caution. If a warning mes-

sage is shown on the multi-informa-

tion display, read the message and 

follow the instructions.

■

If the brake system warning 

light comes on



P.450

■

Usage in winter time



P.319

WARNING

■

When parking the vehicle

Do not leave a child in the vehicle 

alone. The parking brake may be 

released unintentionally and there 

is the danger of the vehicle mov-

ing that may lead to an accident 

resulting in death or serious injury.

■

Parking brake switch

Do not set any objects near the 

parking brake switch. Objects 

may interfere with the switch and 

may lead the parking brake to 

unexpectedly operate.

NOTICE

■

When parking the vehicle

Before you leave the vehicle, shift 

the shift lever to P, set the parking 

brake and make sure that the 

vehicle does not move.

■

When the system malfunc-

tions

Stop the vehicle in a safe place 

and check the warning messages.

■

When the parking brake can-

not be released due to a mal-

function

Driving the vehicle with the park-

ing brake set will lead to brake 

components overheating, which 

may affect braking performance 

and increase brake wear.
Have the vehicle inspected by 

your Toyota dealer immediately if 

this occurs.

212

4-2. Driving procedures

HIGHLANDER_U

Turns the brake hold system on

The brake hold standby indicator 

(green) 

 comes on. While the 

system is holding the brake, the 
brake hold operated indicator (yel-

low) 

 comes on.

■

Brake hold system operating 
conditions

The brake hold system cannot be 
turned on in the following condi-
tions:

●

The driver’s door is not closed.

●

The driver is not wearing the seat 
belt.

●

The parking brake is engaged.

If any of the conditions above are 
detected when the brake hold sys-
tem is enabled, the system will turn 
off and the brake hold standby indi-
cator light will go off. In addition, if 
any of the conditions are detected 
while the system is holding the 
brake, a warning buzzer will sound 
and a message will be shown on the 
multi-information display. The park-
ing brake will then be set automati-
cally.

■

Brake hold function

●

If the brake pedal is left released 
for a period of about 3 minutes 
after the system has started hold-
ing the brake, the parking brake 
will be set automatically. In this 
case, a warning buzzer sounds 
and a message is shown on the 
multi-information display.

●

To turn the system off while the 
system is holding the brake, firmly 
depress the brake pedal and 
press the button again.

●

The brake hold function may not 
hold the vehicle when the vehicle 
is on a steep incline. In this situa-
tion, it may be necessary for the 
driver to apply the brakes. A warn-
ing buzzer will sound and the 
multi-information display will 
inform the driver of this situation. If 
a warning message is shown on 
the multi-information display, read 
the message and follow the 
instructions.

■

When the parking brake is set 
automatically while the system 
is holding the brakes

Perform any of the following opera-
tions to release the parking brake.

●

Depress the accelerator pedal. 
(The parking brake will not be 
released automatically if the seat 
belt is not fastened.)

●

Operate the parking brake switch 
with the brake pedal depressed.

Make sure that the parking brake 

Brake Hold

The brake hold system 
keeps the brake applied 
when the shift lever is in D, 
M or N with the system on 
and the brake pedal has 
been depressed to stop the 
vehicle. The system 
releases the brake when the 
accelerator pedal is 
depressed with the shift 
lever in D or M to allow 
smooth start off.

Enabling the system

213

4-2. Driving procedures

HIGHLANDER_U

4

Dr

iv

ing

indicator light goes off. (



P.209)

■

When an inspection at your 

Toyota dealer is necessary

When the brake hold standby indi-

cator (green) does not illuminate 

even when the brake hold switch is 

pressed with the brake hold system 

operating conditions met, the sys-

tem may be malfunctioning. Have 

the vehicle inspected at your Toyota 

dealer.

■

If “Brake Hold Malfunction 

Press Brake to Deactivate Visit 

Your Dealer” or “Brake Hold 

Malfunction Visit Your Dealer” 

is displayed on the multi-infor-

mation display

The system may be malfunctioning. 

Have the vehicle inspected by your 

Toyota dealer.

■

Warning messages and buzzers

Warning messages and buzzers are 

used to indicate a system malfunc-

tion or to inform the driver of the 

need for caution. If a warning mes-

sage is shown on the multi-informa-

tion display, read the message and 

follow the instructions.

■

If the brake hold operated indi-

cator flashes



P.457

WARNING

■

When the vehicle is on a 

steep incline

When using the brake hold sys-

tem on a steep incline, exercise 

caution. The brake hold function 

may not hold the vehicle in such a 

situation.

■

When stopped on a slippery 

road

The system cannot stop the vehi-

cle when the gripping ability of the 

tires has been exceeded. Do not 

use the system when stopped on 

a slippery road.

NOTICE

■

When parking the vehicle

The brake hold system is not 

designed for use when parking 

the vehicle for a long period of 

time. Turning the engine switch off 

while the system is holding the 

brake may release the brake, 

which would cause the vehicle to 

move. When operating the engine 

switch, depress the brake pedal, 

shift the shift lever to P and set 

the parking brake.

214

4-3. Operating the lights and wipers

HIGHLANDER_U

4-3.Operating the lights and wipers

Operating the 

 switch 

turns on the lights as follows:

U.S.A.

Canada

1

 The headlights, daytime 

running lights (



P.214) and 

all the lights listed below turn 
on and off automatically. 
(When the engine switch is in 
ON.)

2

 The side marker, park-

ing, tail, license plate, instru-
ment panel lights, and 
daytime running lights 
(



P.214) turn on.

3

 The headlights and all 

lights listed above (except 
daytime running lights) turn 
on.

4

 (U.S.A.) Off

■

Daytime running light system

●

Vehicles without projector head-
lights: The daytime running lights 
illuminate using the same lights as 
the low beam headlights and illu-
minate dimmer than the low beam 
headlights.

●

Vehicles with projector head-
lights: The daytime running lights 
illuminate using the same lights as 
the parking lights and illuminate 
brighter than the parking lights.

●

To make your vehicle more visible 
to other drivers during daytime 
driving, the daytime running lights 
turn on automatically when all of 
the following conditions are met. 
(The daytime running lights are 
not designed for use at night.)

• The engine is running
• The parking brake is released

• The headlight switch is in the 

 

or 

*

 position

*

: When the surroundings are bright

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

●

For the U.S.A.: Daytime running 
lights can be turned off by operat-
ing the switch.

●

Compared to turning on the head-
lights, the daytime running light 
system offers greater durability 
and consumes less electricity, so 
it can help improve fuel economy.

Headlight switch

The headlights can be oper-
ated manually or automati-
cally.

Operating instructions

215

4-3. Operating the lights and wipers

HIGHLANDER_U

4

Dr
iv

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■

Headlight control sensor

The sensor may not function prop-
erly if an object is placed on the sen-
sor, or anything that blocks the 
sensor is affixed to the windshield.
Doing so interferes with the sensor 
detecting the level of ambient light 
and may cause the automatic head-
light system to malfunction.

■

Automatic light off system

●

When the headlights are on: The 
headlights and tail lights turn off 
30 seconds after the driver’s door 
is opened and closed if the engine 
switch is turned to ACC or OFF. 
(The lights turn off immediately if 

 on the key is pressed after all 

the doors are closed.)

●

When only the tail lights are on: 
The tail lights turn off automati-
cally if the engine switch is turned 
to ACC or OFF and the driver’s 
door is opened.

Except for Canada: To turn the lights 
on again, turn the engine switch to 
ON, or turn the light switch off once 

and then back to 

 or 

.

For Canada: To turn the lights on 
again, turn the engine switch to ON, 

or turn the light switch to 

 once 

and then back to 

 or 

.

■

Automatic headlight leveling 
system (if equipped)

The level of the headlights is auto-
matically adjusted according to the 
number of passengers and the load-
ing condition of the vehicle to 
ensure that the headlights do not 

interfere with other road users.

■

Light reminder buzzer

A buzzer sounds when the engine 
switch is turned off or turned to ACC 
and the driver’s door is opened 
while the lights are turned on.

■

Welcome lighting

The parking lights and tail lights 
automatically turn on at night when 
the doors are unlocked using the 
entry function or wireless remote 
control if the light switch is in the 

 position.

■

Windshield wiper linked head-
light illumination

When driving during daytime with 

the headlight switch turned to 

, if 

the windshield wipers are used, the 
headlights will turn on automatically 
after several seconds to help 
enhance the visibility of your vehi-
cle.

■

Battery-saving function

In order to prevent the battery of the 
vehicle from discharging, if the 
headlights and/or tail lights are on 
when the engine switch is turned off 
the battery saving function will oper-
ate and automatically turn off all the 
lights after approximately 20 min-
utes. When the engine switch is 
turned to ON, the battery-saving 
function will be disabled.
When any of the following are per-
formed, the battery-saving function 
is canceled once and then reacti-
vated. All the lights will turn off auto-
matically 20 minutes after the 
battery-saving function has been 
reactivated:

●

When the headlight switch is oper-
ated

●

When a door is opened or closed

■

Customization

Some functions can be customized. 
(



P.515)

216

4-3. Operating the lights and wipers

HIGHLANDER_U

1

With the headlights on, push 

the lever away from you to 

turn on the high beams.

Pull the lever toward you to the 

center position to turn the high 

beams off.

2

Pull the lever toward you and 

release it to flash the high 

beams once.

You can flash the high beams with 

the headlights on or off.

AFS (Adaptive Front-lighting 

System) secures excellent visi-

bility at intersections and on 

curves by automatically adjust-

ing the direction of the light axis 

of the headlights according to 

vehicle speed and the degree of 

the tire’s angle as controlled by 

steering input.

AFS operates at speeds of 6 mph 

(10 km/h) or higher.

■

Customization

Some functions can be customized. 

(



P.515)

NOTICE

■

To prevent battery discharge

Do not leave the lights on longer 

than necessary when the engine 

is off.

Turning on the high beam 

headlights

AFS (Adaptive Front-light-

ing System) (if equipped)

217

4-3. Operating the lights and wipers

HIGHLANDER_U

4

Dr

iv

ing

1

Press the Automatic High 

Beam switch.

2

Push the lever away from 

you with the headlight switch 
in the 

 or 

 position.

The Automatic High Beam indicator 

will come on when the system is 

operating.

■

Conditions to turn the high 

beams on/off automatically

●

When all of the following condi-

tions are met, the high beams will 

be turned on automatically (after 

approximately 1 second):

• The vehicle speed is approxi-

mately 21 mph (34 km/h) or more.

• The area ahead of the vehicle is 

dark.

• There are no vehicles ahead with 

headlights or tail lights turned on.

• There are few streetlights on the 

road ahead.

●

If any of the following conditions is 

met, the high beams will turn off 

automatically:

• The vehicle speed is below 

approximately 17 mph (27 km/h).

• The area ahead of the vehicle is 

not dark.

• Vehicles ahead have their head-

lights or tail lights turned on.

• There are many streetlights on the 

road ahead.

■

Camera sensor detection infor-

mation

●

The high beams may not be auto-

matically turned off in the following 

situations:

• When a vehicle suddenly appears 

Automatic High Beam

The Automatic High Beam 

uses a camera sensor 

located behind the upper 

portion of the windshield to 

assess the brightness of the 

lights of vehicles ahead, 

streetlights, etc., and auto-

matically turns the high 

beams on or off as neces-

sary.

WARNING

■

Limitations of the Automatic 

High Beam

Do not overly rely on the Auto-

matic High Beam. Always drive 

safely, taking care to observe your 

surroundings and turning the high 

beams on or off manually if nec-

essary.

■

To prevent incorrect opera-

tion of the Automatic High 

Beam system

Do not overload the vehicle.

Activating the Automatic 

High Beam

218

4-3. Operating the lights and wipers

HIGHLANDER_U

from around a curve

• When the vehicle is cut in front of 

by another vehicle

• When vehicles ahead cannot be 

detected due to repeated curves, 
road dividers or roadside trees

• When vehicles ahead appear in a 

faraway lane on a wide road

• When the lights of vehicles ahead 

are not on

●

The high beams may be turned off 
if a vehicle ahead that is using fog 
lights without its headlights turned 
on is detected.

●

House lights, street lights, traffic 
signals, and illuminated billboards 
or signs and other reflective 
objects may cause the high 
beams to change to the low 
beams, or the low beams to 
remain on.

●

The following factors may affect 
the amount of time taken for the 
high beams to turn on or off:

• The brightness of the headlights, 

fog lights, and tail lights of vehi-
cles ahead

• The movement and direction of 

vehicles ahead

• When a vehicle ahead only has 

operational lights on one side

• When a vehicle ahead is a 

two-wheeled vehicle

• The condition of the road (gradi-

ent, curve, condition of the road 
surface, etc.)

• The number of passengers and 

amount of luggage in the vehicle

●

The high beams may turn on or off 
unexpectedly.

●

Bicycles or similar vehicles may 
not be detected.

●

In the following situations the sys-
tem may not be able to correctly 
detect the surrounding brightness 
level. This may cause the low 
beams to remain on or the high 
beams to flash or dazzle pedestri-
ans or vehicles ahead. In such a 
case, it is necessary to manually 
switch between the high and low 
beams.

• When driving in inclement weather 

(heavy rain, snow, fog, sand-
storms, etc.)

• When the windshield is obscured 

by fog, mist, ice, dirt, etc.

• When the windshield is cracked or 

damaged

• When the camera sensor is 

deformed or dirty

• When the temperature of the cam-

era sensor is extremely high

• When the surrounding brightness 

level is equal to that of headlights, 
tail lights or fog lights

• When headlights or tail lights of 

vehicles ahead are turned off, 
dirty, changing color, or not aimed 
properly

• When the vehicle is hit by water, 

snow, dust, etc. from a preceding 
vehicle

• When driving through an area of 

intermittently changing brightness 
and darkness

• When frequently and repeatedly 

driving ascending/descending 
roads, or roads with rough, bumpy 
or uneven surfaces (such as 
stone-paved roads, gravel roads, 
etc.)

• When frequently and repeatedly 

taking curves or driving on a wind-
ing road

• When there is a highly reflective 

object ahead of the vehicle, such 
as a sign or mirror

• When the back of a preceding 

vehicle is highly reflective, such as 
a container on a truck

• When the vehicle’s headlights are 

damaged or dirty, or are not aimed 
properly

• When the vehicle is listing or titling 

due to a flat tire, a trailer being 
towed, etc.

• When the headlights are changed 

between the high beams and low 
beams repeatedly in an abnormal 
manner

• When the driver believes that the 

high beams may be flashing or 
dazzling pedestrians or other driv-
ers

219

4-3. Operating the lights and wipers

HIGHLANDER_U

4

Dr
iv

ing

■

Temporarily lowering sensor 
sensitivity

The sensitivity of the sensor can be 
temporarily lowered.

1

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

●

The headlight switch is in 

 or 

.

●

The headlight switch lever is in 
high beam position.

●

Automatic High Beam switch is 
on.

2

Turn the engine switch to ON.

3

Within 60 seconds after step 

2

, 

repeat pulling the headlight 
switch lever to the original posi-
tion then pushing it to the high 
beam position quickly 10 times, 
then leave the lever in high beam 
position.

4

If the sensitivity is changed, the 
Automatic High Beam indicator 
is turn on and off 3 times.

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

■

Switching to the low beams

Pull the lever to its original posi-
tion.

The Automatic High Beam indicator 
will turn off.

Push the lever away from you to 
activate the Automatic High Beam 
system again.

■

Switching to the high 
beams

Press the Automatic High Beam 
switch.

The Automatic High Beam indicator 
will turn off and the high beam indi-
cator will turn on.

Press the switch to activate the 
Automatic High Beam system 
again.

Turning the high beams 
on/off manually

220

4-3. Operating the lights and wipers

HIGHLANDER_U

*

: If equipped

1

 (U.S.A.) or 

 (Canada) 

Turns the fog lights off

2

 Turns the fog lights on

■

Fog lights can be used when

The headlights are on in low beam.

Operate the 

 lever oper-

ates the wipers or washer as fol-

lows.



Intermittent windshield wip-

ers with interval adjuster

1

 (U.S.A.) or 

 (Canada) 

Off

2

 (U.S.A.) or 

 (Canada) 

Intermittent operation

Fog light switch

*

The fog lights secure excel-

lent visibility in difficult driv-

ing conditions, such as in 

rain and fog.

Operating instructions

Windshield wipers and 

washer

Operating the lever can 

switch between automatic 

operation and manual oper-

ation, or can use the 

washer.

NOTICE

■

When the windshield is dry

Do not use the wipers, as they 

may damage the windshield.

Operating the wiper lever

221

4-3. Operating the lights and wipers

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4

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iv

ing

3

 (U.S.A.) or 

 (Canada) 

Low speed operation

4

 (U.S.A.) or 

 (Canada) 

High speed operation

5

 (U.S.A.) or 

 (Canada) 

Temporary operation

Wiper intervals can be adjusted 
when intermittent operation is 
selected.

6

Increases the intermittent 
windshield wiper frequency

7

Decreases the intermittent 
windshield wiper frequency

8

 Washer/wiper dual 

operation

Pulling the lever operates the wip-
ers and washer.

Wipers will automatically operate a 
couple of times after the washer 
squirts.



Rain-sensing windshield wip-
ers

When “AUTO” is selected, the 
wipers will operate automatically 
when the sensor detects falling 
rain. The system automatically 
adjusts wiper timing in accor-
dance with rain volume and 
vehicle speed.

The sensor sensitivity can be 
adjusted when “AUTO” is 
selected.

1

 (U.S.A.) or 

 (Canada) 

Off

2

 Rain-sensing wiper oper-

ation

3

 (U.S.A.) or 

 (Canada) 

Low speed operation

4

 (U.S.A.) or 

 (Canada) 

High speed operation

5

 (U.S.A.) or 

 (Canada) 

Temporary operation

When AUTO mode is selected, 

222

4-3. Operating the lights and wipers

HIGHLANDER_U

the sensor sensitivity can be 
adjusted by turning the switch 
ring.

6

Increases the sensitivity

7

Decreases the sensitivity

8

 Washer/wiper dual 

operation

Pulling the lever operates the wip-
ers and washer.

The wipers will automatically oper-
ate a couple of times after the 
washer squirts.

■

The windshield wipers and 
washer can be operated when

The engine switch is in ON.

■

Dripping prevention wiper 
sweep

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

■

Effects of vehicle speed on 
wiper operation

Vehicle speed affects the intermit-
tent wiper interval.

■

Raindrop sensor (vehicles with 
rain-sensing windshield wipers)

●

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

●

If the wiper switch is turned to the 
“AUTO” position while the engine 
switch is in ON, the wipers will 
operate once to show that AUTO 
mode is activated.

●

When the sensor sensitivity ring is 
turned toward high while in 
“AUTO” position, the wipers will 
operate once to indicate that the 
sensor sensitivity is enhanced.

●

If the temperature of the raindrop 
sensor is 185°F (85°C) or higher, 
or 5°F (-15°C) or lower, automatic 
operation may not occur. In this 
case, operate the wipers in any 
mode other than AUTO mode.

■

If no windshield washer fluid 
sprays

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

■

Front door opening linked wind-
shield wiper stop function 
(vehicles with rain-sensing 
windshield wipers)

When “AUTO” is selected and the 

223

4-3. Operating the lights and wipers

HIGHLANDER_U

4

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windshield wipers are operating, if a 

front door is opened, the operation 

of the windshield wipers will be 

stopped to prevent anyone enter-

ing/exiting the vehicle from being 

sprayed by water from the wipers, 

provided the vehicle is stopped with 

the parking brake applied or the shift 

lever in P. When the front door is 

closed, wiper operation will resume.

Operating the 

 switch 

operates the rear wiper as fol-

lows.

1

 (U.S.A.) or 

 (Canada) 

Off

2

 (U.S.A.) or 

 (Canada) 

Intermittent operation

3

 (U.S.A.) or 

 (Canada) 

Normal operation

WARNING

■

Caution regarding the use of 

windshield wipers in AUTO 

mode (vehicles with 

rain-sensing windshield wip-

ers)

The windshield wipers may oper-

ate unexpectedly if the sensor is 

touched or the windshield is sub-

ject to vibration in AUTO mode. 

Take care that your fingers, etc. 

do not become caught in the 

windshield wipers.

■

Caution regarding the use of 

washer fluid

When it is cold, do not use the 

washer fluid until the windshield 

becomes warm. The fluid may 

freeze on the windshield and 

cause low visibility. This may lead 

to an accident, resulting in death 

or serious injury.

NOTICE

■

When the washer fluid tank is 

empty

Do not operate the switch continu-

ally as the washer fluid pump may 

overheat.

■

When a nozzle becomes 

blocked

In this case, contact your Toyota 

dealer.

Do not try to clear it with a pin or 

other object. The nozzle will be 

damaged.

Rear windshield wiper 

and washer

NOTICE

■

When the rear window is dry

Do not use the wiper, as it may 

damage the rear window.

Operating the wiper lever

224

4-3. Operating the lights and wipers

HIGHLANDER_U

4

 Washer/wiper dual 

operation

Pushing the lever operates the 

wiper and washer.
The wiper will automatically operate 

a couple of times after the washer 

squirts.
The washer will automatically oper-

ate and clean the camera for the 
Digital Rearview Mirror

*1

 (



P.157) 

and rear camera

*2

.

*1

:If equipped

*2

:Refer to “NAVIGATION AND 

MULTIMEDIA SYSTEM 

OWNER’S MANUAL”.

■

The rear window wiper and 

washer can be operated when

The engine switch is in ON.

■

If no washer fluid sprays

Check that the washer nozzle is not 

blocked if there is washer fluid in the 

washer fluid tank.

■

Reverse-linked rear window 

wiper function

When the shift lever is shifted to R 

when the front wipers are operating, 

the rear window wiper will operate 

once.

■

Customization

Setting of the reverse-linked func-

tion can be changed. (



P.515)

NOTICE

■

When the washer fluid tank is 

empty

Do not operate the switch continu-

ally as the washer fluid pump may 

overheat.

225

4-4. Refueling

HIGHLANDER_U

4

Dr

iv

ing

4-4.Refueling



Close all the doors and win-

dows, and turn the engine 

switch off.



Confirm the type of fuel.

■

Fuel types



P.503

■

Fuel tank opening for unleaded 

gasoline

To help prevent incorrect fueling, 

your vehicle has a fuel tank opening 

that only accommodates the spe-

cial nozzle on unleaded fuel pumps.

■

If the malfunction indicator 

lamp illuminates

The malfunction indicator lamp may 

illuminate erroneously if refueling is 

performed repeatedly when the fuel 

tank is nearly full.

Opening the fuel tank 

cap

Perform the following steps 

to open the fuel tank cap:

Before refueling the vehi-

cle

WARNING

■

When refueling the vehicle

Observe the following precautions 

while refueling the vehicle. Failure 

to do so may result in death or 

serious injury.

●

After exiting the vehicle and 

before opening the fuel door, 

touch an unpainted metal sur-

face to discharge any static 

electricity. It is important to dis-

charge static electricity before 

refueling because sparks result-

ing from static electricity can 

cause fuel vapors to ignite while 

refueling.

●

Always hold the grips on the 

fuel tank cap and turn it slowly 

to remove it.

A whooshing sound may be 

heard when the fuel tank cap is 

loosened. Wait until the sound 

cannot be heard before fully 

removing the cap. In hot 

weather, pressurized fuel may 

spray out of the filler neck and 

cause injury.

●

Do not allow anyone that has 

not discharged static electricity 

from their body to come close to 

an open fuel tank.

●

Do not inhale vaporized fuel.

Fuel contains substances that 

are harmful if inhaled.

●

Do not smoke while refueling 

the vehicle.

Doing so may cause the fuel to 

ignite and cause a fire.

●

Do not return to the vehicle or 

touch any person or object that 

is statically charged.

This may cause static electricity 

to build up, resulting in a possi-

ble ignition hazard.

■

When refueling

Observe the following precautions 

to prevent fuel overflowing from 

the fuel tank:

●

Securely insert the fuel nozzle 

into the fuel filler neck.

●

Stop filling the tank after the fuel 

nozzle automatically clicks off.

226

4-4. Refueling

HIGHLANDER_U

1

Press the switch to open the 

fuel filler door.

2

Turn the fuel tank cap slowly 

to remove it and hang it on 

the back of the fuel filler door.

■

If the fuel filler door cannot be 

opened



P.480

After refueling, turn the fuel tank 

cap until you hear a click. Once 

the cap is released, it will turn 

slightly in the opposite direction.

WARNING

●

Do not top off the fuel tank.

NOTICE

■

Refueling

Do not spill fuel during refueling.

Doing so may damage the vehi-

cle, such as causing the emission 

control system to operate abnor-

mally or damaging fuel system 

components or the vehicle’s 

painted surface.

Opening the fuel tank cap

Closing the fuel tank cap

WARNING

■

When replacing the fuel tank 

cap

Do not use anything but a genu-

ine Toyota fuel tank cap designed 

for your vehicle. Doing so may 

cause a fire or other incident 

which may result in death or seri-

ous injury.

227

4-5. Using the driving support systems

HIGHLANDER_U

4

Dr

iv

ing

4-5.Using the driving support systems

■

PCS (Pre-Collision System)



P.233

■

LTA (Lane Tracing Assist)



P.241

■

AHB (Automatic High 

Beam)



P.217

■

RSA (Road Sign Assist)

*



P.251

*

: If equipped

■

Dynamic radar cruise con-

trol with full-speed range



P.254

Two types of sensors, located 

behind the front grille and wind-

shield, detect information neces-

sary to operate the drive assist 

systems.

Radar sensor
Front camera

Toyota Safety Sense 

2.0

The Toyota Safety Sense 2.0 

consists of the following 

drive assist systems and 

contributes to a safe and 

comfortable driving experi-

ence:

Driving assist system

WARNING

■

Toyota Safety Sense 2.0

The Toyota Safety Sense 2.0 is 

designed to operate under the 

assumption that the driver will 

drive safely, and is designed to 

help reduce the impact to the 

occupants and the vehicle in the 

case of a collision or assist the 

driver in normal driving condi-

tions.
As there is a limit to the degree of 

recognition accuracy and control 

performance that this system can 

provide, do not overly rely on this 

system. The driver is always 

responsible for paying attention to 

the vehicle’s surroundings and 

driving safely.

Sensors

228

4-5. Using the driving support systems

HIGHLANDER_U

WARNING

■

To avoid malfunction of the 

radar sensor

Observe the following precau-

tions.
Otherwise, the radar sensor may 

not operate properly, possibly 

leading to an accident resulting in 

death or serious injury.

●

Keep the radar sensor and the 

radar sensor cover clean at all 

times.

Radar sensor
Radar sensor cover

If the front of the radar sensor or 

the front or back of the radar sen-

sor cover is dirty or covered with 

water droplets, snow, etc., clean 

it.
Clean the radar sensor and radar 

sensor cover with a soft cloth to 

avoid damaging them.

●

Do not attach accessories, 

stickers (including transparent 

stickers) or other items to the 

radar sensor, radar sensor 

cover or surrounding area.

●

Do not subject the radar sensor 

or its surrounding area to a 

strong impact. 

If the radar sensor, front grille, 

or front bumper has been sub-

jected to a strong impact, have 

the vehicle inspected by your 

Toyota dealer.

●

Do not disassemble the radar 

sensor.

●

Do not modify or paint the radar 

sensor or radar sensor cover.

●

In the following cases, the radar 

sensor must be recalibrated. 

Contact your Toyota dealer for 

details.

• When the radar sensor or front 

grille are removed and installed, 

or replaced

• When the front bumper is 

replaced

■

To avoid malfunction of the 

front camera

Observe the following precau-

tions.
Otherwise, the front camera may 

not operate properly, possibly 

leading to an accident resulting in 

death or serious injury.

●

Keep the windshield clean at all 

times.

• If the windshield is dirty or cov-

ered with an oily film, water 

droplets, snow, etc., clean the 

windshield.

• If a glass coating agent is 

applied to the windshield, it will 

still be necessary to use the 

windshield wipers to remove 

water droplets, etc. from the 

area of the windshield in front of 

the front camera.

• If the inner side of the wind-

shield where the front camera is 

installed is dirty, contact your 

Toyota dealer.

229

4-5. Using the driving support systems

HIGHLANDER_U

4

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WARNING

●

Do not attach objects, such as 

stickers, transparent stickers, 

etc., to the outer side of the 

windshield in front of the front 

camera (shaded area in the 

illustration).

From the top of the windshield 

to approximately 0.4 in. (1 cm) 

below the bottom of the front 

camera
Approximately 7.9 in. (20 cm) 

(Approximately 4.0 in. [10 cm] 

to the right and left from the 

center of the front camera)

●

If the part of the windshield in 

front of the front camera is 

fogged up or covered with con-

densation, or ice, use the wind-

shield defogger to remove the 

fog, condensation, or ice. 

(



P.329, 335)

●

If water droplets cannot be 

properly removed from the area 

of the windshield in front of the 

front camera by the windshield 

wipers, replace the wiper insert 

or wiper blade.

●

Do not attach window tint to the 

windshield.

●

Replace the windshield if it is 

damaged or cracked. 

After replacing the windshield, 

the front camera must be recali-

brated. Contact your Toyota 

dealer for details.

●

Do not allow liquids to contact 

the front camera.

●

Do not allow bright lights to 

shine into the front camera.

●

Do not dirty or damage the front 

camera. 

When cleaning the inside of the 

windshield, do not allow glass 

cleaner to contact the lens of 

the front camera. Also, do not 

touch the lens.

If the lens is dirty or damaged, 

contact your Toyota dealer.

●

Do not subject the front camera 

to a strong impact.

●

Do not change the installation 

position or direction of the front 

camera or remove it.

●

Do not disassemble the front 

camera.

●

Do not modify any components 

of the vehicle around the front 

camera (inside rear view mirror, 

etc.) or ceiling.

●

Do not attach any accessories 

to the hood, front grille or front 

bumper that may obstruct the 

front camera. Contact your Toy-

ota dealer for details.

●

If a surfboard or other long 

object is to be mounted on the 

roof, make sure that it will not 

obstruct the front camera.

●

Do not modify the headlights or 

other lights.

230

4-5. Using the driving support systems

HIGHLANDER_U

■

Certification



Except for vehicles sold in Canada



For vehicles sold in Canada

231

4-5. Using the driving support systems

HIGHLANDER_U

4

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■

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

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

●

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

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

Situation

Actions

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

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



P.329, 335).

232

4-5. Using the driving support systems

HIGHLANDER_U

●

In the following situations, if the situation has changed (or the vehicle has 
been driven for some time) and the normal operating conditions are 
detected, the message will disappear and the system will become opera-
tional.
If the message does not disappear, contact your Toyota dealer.

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

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

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

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

When the temperature around the 
front camera is outside of the opera-
tional range, such as when the vehi-
cle is in the sun or in an extremely 
cold environment

If the front camera is hot, such as 
after the vehicle had been parked in 
the sun, use the air conditioning sys-
tem to decrease the temperature 
around the front camera.

If a sunshade was used when the 
vehicle was parked, depending on its 
type, the sunlight reflected from the 
surface of the sunshade may cause 
the temperature of the front camera 
to become excessively high.

If the front camera is cold, such after 
the vehicle is parked in an extremely 
cold environment, use the air condi-
tioning system to increase the tem-
perature around the front camera.

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

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

Situation

Actions

233

4-5. Using the driving support systems

HIGHLANDER_U

4

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iv

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The system can detect the fol-
lowing:



Vehicles



Bicyclists



Pedestrians

■

Pre-collision warning

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

■

Pre-collision brake assist

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

■

Pre-collision braking

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

PCS (Pre-Collision Sys-

tem)

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



P.233) in front of 

the vehicle. When the sys-
tem determines that the 
possibility of a frontal colli-
sion with an object is high, a 
warning operates to urge 
the driver to take evasive 
action and the potential 
brake pressure is increased 
to help the driver avoid the 
collision. If the system 
determines that the possi-
bility of a frontal collision 
with an object is extremely 
high, the brakes are auto-
matically applied to help 
avoid the collision or help 
reduce the impact of the col-
lision.

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



P.235)

Detectable objects

System functions

234

4-5. Using the driving support systems

HIGHLANDER_U

WARNING

■

Limitations of the pre-colli-

sion system

●

The driver is solely responsible 

for safe driving. Always drive 

safely, taking care to observe 

your surroundings.

Do not use the pre-collision sys-

tem instead of normal braking 

operations under any circum-

stances. This system will not 

prevent collisions or lessen col-

lision damage or injury in every 

situation. Do not overly rely on 

this system. Failure to do so 

may lead to an accident, result-

ing in death or serious injury.

●

Although this system is 

designed to help avoid a colli-

sion or help reduce the impact 

of the collision, its effectiveness 

may change according to vari-

ous conditions, therefore the 

system may not always be able 

to achieve the same level of 

performance.

Read the following conditions 

carefully. Do not overly rely on 

this system and always drive 

carefully.

• Conditions under which the sys-

tem may operate even if there is 

no possibility of a collision: 



P.237

• Conditions under which the sys-

tem may not operate properly: 



P.238

●

Do not attempt to test the oper-

ation of the pre-collision system 

yourself.

Depending on the objects used 

for testing (dummies, card-

board objects imitating detect-

able objects, etc.), the system 

may not operate properly, possi-

bly leading to an accident.

■

Pre-collision braking

●

When the pre-collision braking 

function is operating, a large 

amount of braking force will be 

applied.

●

If the vehicle is stopped by the 

operation of the pre-collision 

braking function, the pre-colli-

sion braking function operation 

will be canceled after approxi-

mately 2 seconds. Depress the 

brake pedal as necessary.

●

The pre-collision braking func-

tion may not operate if certain 

operations are performed by the 

driver. If the accelerator pedal is 

being depressed strongly or the 

steering wheel is being turned, 

the system may determine that 

the driver is taking evasive 

action and possibly prevent the 

pre-collision braking function 

from operating.

●

In some situations, while the 

pre-collision braking function is 

operating, operation of the func-

tion may be canceled if the 

accelerator pedal is depressed 

strongly or the steering wheel is 

turned and the system deter-

mines that the driver is taking 

evasive action.

●

If the brake pedal is being 

depressed, the system may 

determine that the driver is tak-

ing evasive action and possibly 

delay the operation timing of the 

pre-collision braking function.

■

When to disable the pre-colli-

sion system

In the following situations, disable 

the system, as it may not operate 

properly, possibly leading to an 

accident resulting in death or seri-

ous injury:

●

When the vehicle is being towed

235

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4

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■

Enabling/disabling the 

pre-collision system

The pre-collision system can be 
enabled/disabled on   (



P.87, 

96) of the multi-information dis-

play.

The system is automatically 

enabled each time the engine 

switch is turned to ON.

If the system is disabled, the 

PCS warning light will turn on 

and a message will be displayed 

on the multi-information display.

■

Changing the pre-collision 

warning timing

The pre-collision warning timing 
can be changed on 

 (



P.87, 

96) of the multi-information dis-

play.

The warning timing setting is 

retained when the engine switch is 

turned OFF. However, if the pre-col-

lision system is disabled and 

re-enabled, the operation timing will 

return to the default setting (mid-

dle).

WARNING

●

When your vehicle is towing 

another vehicle

●

When transporting the vehicle 

via truck, boat, train or similar 

means of transportation

●

When the vehicle is raised on a 

lift with the engine running and 

the tires are allowed to rotate 

freely

●

When inspecting the vehicle 

using a drum tester such as a 

chassis dynamometer or speed-

ometer tester, or when using an 

on vehicle wheel balancer

●

When a strong impact is applied 

to the front bumper or front 

grille, due to an accident or 

other reasons

●

If the vehicle cannot be driven in 

a stable manner, such as when 

the vehicle has been in an acci-

dent or is malfunctioning

●

When the vehicle is driven in a 

sporty manner or off-road

●

When the tires are not properly 

inflated

●

When the tires are very worn

●

When tires of a size other than 

specified are installed

●

When tire chains are installed

●

When a compact spare tire or 

an emergency tire puncture 

repair kit is used

●

If equipment (snow plow, etc.) 

that may obstruct the radar sen-

sor or front camera is temporar-

ily installed to the vehicle

Changing settings of the 

pre-collision system

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4-5. Using the driving support systems

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1

Early

2

Middle

This is the default setting.

3

Late

■

Operational conditions

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

●

Pre-collision warning

●

Pre-collision brake assist

●

Pre-collision braking

Detectable objects

Vehicle speed

Relative speed between 

your vehicle and object

Vehicles

Approx. 7 to 110 mph 
(10 to 180 km/h)

Approx. 7 to 110 mph 
(10 to 180 km/h)

Bicyclists and pedestri-
ans

Approx. 7 to 50 mph (10 
to 80 km/h)

Approx. 7 to 50 mph (10 
to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between 

your vehicle and object

Vehicles

Approx. 20 to 110 mph 
(30 to 180 km/h)

Approx. 20 to 110 mph 
(30 to 180 km/h)

Bicyclists and pedestri-
ans

Approx. 20 to 50 mph 
(30 to 80 km/h)

Approx. 20 to 50 mph 
(30 to 80 km/h)

237

4-5. Using the driving support systems

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4

Dr
iv

ing

The system may not operate in the following situations:

●

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

●

If the shift lever is in R

●

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

■

Object detection function

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



P.238)

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 
the entrance of a curve

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)

238

4-5. Using the driving support systems

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• 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

• If a detectable object makes an 

abrupt maneuver (such as sudden 

239

4-5. Using the driving support systems

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4

Dr
iv

ing

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 

such as heavy rain, fog, snow or a 
sandstorm

240

4-5. Using the driving support systems

HIGHLANDER_U

• 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 engine has started the 

vehicle has not been driven for a 
certain amount of time

• While making a left/right turn and 

for a few seconds after making a 
left/right turn

• While driving on a curve and for a 

few seconds after driving on a 
curve

• If your vehicle is skidding
• If the front of the vehicle is raised 

or lowered

• If the wheels are misaligned
• If a wiper blade is blocking the 

front camera

• The vehicle is being driven at 

extremely high speeds

• When driving on a hill
• If the radar sensor or front camera 

is misaligned

●

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.315), 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.

241

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4

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iv

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LTA (Lane Tracing 

Assist)

When driving on highways 

and freeways with white 

(yellow) lane lines, this 

function alerts the driver 

when the vehicle might 

depart from its lane or 
course

*

 and provides assis-

tance by operating the 

steering wheel to keep the 

vehicle in its lane or 
course

*

. Furthermore, the 

system provides steering 

assistance when dynamic 

radar cruise control with 

full-speed range is operat-

ing to keep the vehicle in its 

lane.
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 system, 

use the LTA switch to turn the 

system off.

■

Situations unsuitable for LTA 

system

In the following situations, use the 

LTA switch to turn the system off. 

Failure to do so may lead to an 

accident, resulting in death or 

serious injury.

●

Vehicle is driven on a road 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.

242

4-5. Using the driving support systems

HIGHLANDER_U

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 tires of a size other than 

specified are installed.

●

Vehicle is driven in traffic lanes 

other than that highways and 

freeways.

●

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.246) 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.246) 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.246) 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.246) 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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4

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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.

244

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■

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 a 

warning buzzer will sound to 

alert the driver.

When the warning buzzer sounds, 

check the area around your vehicle 

and carefully operate the steering 

wheel to move the vehicle back to 

the center of the lane.
Vehicle with BSM: When the sys-

tem determines that the vehicle 

might depart from its lane and that 

the possibility of a collision with an 

overtaking vehicle in the adjacent 

lane is high, the lane departure 

alert will operate even if the turn 

signals are operating.

*

: Boundary between asphalt and 

the side of the road, such as 

grass, soil, or a curb

■

Steering assist function

When the system determines 

that the vehicle might depart 
from its lane or course

*

, the sys-

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.

●

Snow tires, etc. are equipped.

●

The vehicle is being driven at 

extremely high speeds.

Functions included in LTA 

system

245

4-5. Using the driving support systems

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4

Dr
iv

ing

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.

■

Lane centering function

This function is linked with 
dynamic radar cruise control 
with full-speed range and pro-
vides the required assistance by 
operating the steering wheel to 
keep the vehicle in its current 
lane.

When dynamic radar cruise control 
with full-speed range is not operat-
ing, the lane centering function 
does not operate.

In situations where the white (yel-
low) lane lines are difficult to see or 
are not visible, such as when in a 

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4-5. Using the driving support systems

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traffic jam, this function will operate 
to help follow a preceding vehicle 
by monitoring the position of the 
preceding vehicle.

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.

Press the LTA switch to turn the 
LTA system on.

The LTA indicator illuminates and a 
message is displayed on the 
multi-information display.

Press the LTA switch again to turn 
the LTA system off.

When the LTA system is turned on 
or off, operation of the LTA system 
continues in the same condition the 

next time the engine is started.

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-

Turning LTA system on

Indications on multi-infor-
mation display

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4

Dr
iv

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tion display is switched to the driv-
ing assist 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).

Lane departure alert function 
display

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



Inside of displayed lines is 
white

Indicates that the system is rec-
ognizing white (yellow) lines or a 

course

*

. When the vehicle 

departs from its lane, the white 

line displayed on the side the 
vehicle departs from flashes 
orange.



Inside of displayed lines is 
black

Indicates that the system is not 
able to recognize white (yellow) 

lines or a course

*

 or is temporar-

ily canceled.

*

: Boundary between asphalt and 

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

Follow-up cruising display

Displayed when the multi-informa-
tion display is switched to the driv-
ing assist 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.

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■

Operation conditions of each 
function

●

Lane departure alert function

This function operates when all of 
the following conditions are met.
• LTA is turned on.
• Vehicle speed is approximately 32 

mph (50 km/h) or more.

*1

• System recognizes white (yellow) 

lane lines or a course

*2

. (When a 

white [yellow] line or course

*2

 is 

recognized on only one side, the 
system will operate only for the 
recognized side.)

• Width of traffic lane is 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.250)

*1

: The function operates even if the 

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

*2

: Boundary between asphalt and 

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

●

Steering assist function

This function operates when all of 
the following conditions are met in 
addition to the operation conditions 
for the lane departure alert function.
• Setting for “Steering Assist” in 

 

of the multi-information display is 
set to “ON”. (



P.87, 96)

• 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.249)

●

Vehicle sway warning function

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

• Setting for “Sway Warning” in 

 

of the multi-information display is 
set to “ON”. (



P.87, 96)

• 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.250)

●

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 

 of the 

multi-information display are set to 
“ON”. (



P.87, 96)

• 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.250)

• 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.249)

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4-5. Using the driving support systems

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4

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• 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.248)

●

If the operation conditions 
(



P.248) are no longer met while 

the lane centering function is 
operating, the buzzer may sound 
to indicate that the function has 
been temporarily canceled.

■

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.

●

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-
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 that 
the driver is driving without hold-
ing the steering wheel while the 
system is operating

If the driver continues to keep their 
hands off of the steering wheel, the 
buzzer sounds, the driver is warned 
and the function is temporarily can-
celed. This warning also operates in 
the same way when the driver con-
tinuously operates the steering 
wheel only a small amount.

●

When the system determines that 
the vehicle may not turn and 
instead depart from its lane while 
driving around a curve

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 

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4-5. Using the driving support systems

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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.

■

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.

■

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. 
(Customizable features:



P.515)

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4-5. Using the driving support systems

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4

Dr

iv

ing

*

: If equipped

When the front camera recog-

nizes a sign and/or information 

of a sign is available from the 

navigation system, the sign will 

be displayed on the multi-infor-

mation display.



When the driving assist sys-

tem information is selected, a 

maximum of 3 signs can be 

displayed. (



P.82, 91)



When a tab other than the 

driving assist system informa-

tion is selected, the following 

types of road signs will be dis-

played. (



P.82, 91)

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

tion is necessary)

If signs other than speed limit signs 

RSA (Road Sign 

Assist)

*

The RSA system recognizes 

specific road signs using 

the front camera and/or nav-

igation system (when speed 

limit information is avail-

able) 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. in 

relation to the recognized 

road signs, it notifies the 

driver using a notification 

display 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.

Indication on the 

multi-information display

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4-5. Using the driving support systems

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are recognized, they will be dis-
played 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-
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



4.2-inch display

1

Press  

or  

of the meter 

control switches and select 

.

2

Press 

 or 

 of the meter 

control switches and select 

, 

then press 

.



7-inch display

1

Press  

or  

of the meter 

control switches and select 

.

2

Press  

or  

of the meter 

control switches and select 

, 

then press 

.

■

Automatic turn-off of RSA sign 
display

In the following situations, displayed 
speed limit and do not enter signs 
will stop being displayed automati-
cally:

●

A new sign is not 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.

Supported types of road 
signs

Speed limit

Do Not Enter

Stop

Yield

Notification function

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4

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iv

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■

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.

●

Even if it is a sign not appropriate 
for the currently traveled lane, 
such a sign exists directly after a 
freeway branches, or in an adja-
cent 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 that displayed 
on the navigation system may be 
different due to the navigation sys-
tem using map data.

■

Speed limit sign display

If the engine switch was last turned 
off while a speed limit sign was dis-
played on the multi-information dis-
play, the same sign displays again 
when the engine switch is turned to 
ON.

■

If “RSA Malfunction Visit Your 
Dealer” is shown

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

■

Customization

Some functions can be customized. 
(Customizable features:



P.515)

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4-5. Using the driving support systems

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■

Meter display

Multi-information display
Set speed

Indicators

■

Operation switches

Vehicle-to-vehicle distance 

switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch

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 free-

ways and highways.



Vehicle-to-vehicle distance 

control mode (



P.257)



Constant speed control 

mode (



P.261)

System Components

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.263

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4

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iv

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WARNING

• Conditions under which the 

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly: 



P.263

●

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.

■

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.

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4-5. Using the driving support systems

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WARNING

■

Situations unsuitable for 

dynamic radar cruise control 

with full-speed range

Do not use dynamic radar cruise 

control with full-speed range in 

any of the following situations. 

Doing so may result in 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

●

When weather conditions are 

bad enough that they may pre-

vent the sensors from detecting 

correctly (fog, snow, sand-

storm, 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

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This mode employs a radar to detect the presence of vehicles up to 
approximately 328 ft. (100 m) ahead, determines the current vehi-
cle-to-vehicle following distance, and operates to maintain a suitable 
following distance from the vehicle ahead. The desired vehi-
cle-to-vehicle distance can also be set by operating the vehi-
cle-to-vehicle distance switch.

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

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.

Driving in vehicle-to-vehicle distance control mode

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When the turn signal lever is operated and your vehicle moves to a left lane 
while driving at 50 mph (80 km/h) or more, the vehicle will quickly acceler-
ate to help to overtake a passing vehicle.

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

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

1

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 
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.261)

2

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.

1

Increases the speed (Except 

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

Adjusting the set speed

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

2

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, Hawaii

Fine adjustment: By 1 mph (1.6 

km/h)

*1

 or 1 km/h (0.6 mph)

*2

 each 

time the switch is pressed
Large adjustment: Increases or 

decreases in 1 mph (1.6 km/h)

*1

 or 

1 km/h (0.6 mph)

*2

 increments for 

as long as the switch is held



For Canada, Guam, Saipan, 
Puerto Rico and A.Samoa

Fine adjustment: By 1 mph (1.6 

km/h)

*1

 or 1 km/h (0.6 mph)

*2

 each 

time the switch is pressed
Large adjustment: Increases or 

decreases in 5 mph (8 km/h)

*1

 or 5 

km/h (3.1 mph)

*2

 increments for as 

long as the switch is held

In the constant speed control 
mode (



P.261), the set speed 

will be increased or decreased 
as follows:

Fine adjustment: By 1 mph (1.6 

km/h)

*1

 or 1 km/h (0.6 mph)

*2

 each 

time the switch is pressed

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

*1

: When the set speed is shown in 

“MPH”

*2

: When the set speed is shown in 

“km/h”



Increasing the set speed by 
the accelerator pedal

1

Accelerate with accelerator 
pedal operation to the 
desired vehicle speed

2

Press the “-SET” switch

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

1

Long

2

Medium

3

Short

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

If a vehicle is running ahead of you, 

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

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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.

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.

1

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.)

2

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

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

Distance 

options

Vehicle-to-vehicle dis-

tance

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 (vehi-
cle-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 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.

■

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.

1

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.

2

Accelerate or decelerate, 
with accelerator pedal opera-
tion, to the desired vehicle 
speed (at or above approxi-
mately 20 mph [30 km/h]) 

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

Selecting constant speed 
control mode

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4-5. Using the driving support systems

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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.258

Canceling and resuming the speed 
setting: 



P.260

■

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 vehi-
cle-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 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.

●

When snow mode is set.

●

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 

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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.

●

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 instruc-
tions.(



P.231, 460)

■

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.261) 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 

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4-5. Using the driving support systems

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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

●

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

●

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

*

: If equipped

■

Stopping the engine

While driving with the D shift 
position selected, depress the 
brake pedal and stop the vehi-
cle. The engine will stop auto-
matically.

When the engine stops, the Stop & 
Start indicator will illuminate.

■

Restarting the engine

Release the brake pedal. The 
engine will start automatically.

When the engine starts, the Stop & 
Start indicator will turn off.

Stop & Start system

*

The Stop & Start system 
stops and starts the engine 
according to brake pedal or 
shift lever operation when 
the vehicle is stopped, such 
as at a stoplight, intersec-
tion, etc., in order to 
improve fuel economy and 
reduce noise pollution 
caused by the engine idling.

Stop & Start system oper-
ation