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

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When  all  of  the  following  conditions  are  fulfilled,  high  beam  will  be
automatically turned on:

●

Vehicle speed is above approximately 21 mph (34 km/h).

●

The area ahead of the vehicle is dark.

●

There are no oncoming or preceding vehicles with headlights or tail
lights turned on.

●

There are few streetlights on the road ahead.

If any of the following conditions are fulfilled, high beam will be auto-
matically turned off:

●

Vehicle speed drops below approximately 17 mph (27 km/h).

●

The area ahead of the vehicle is not dark.

●

Oncoming  or  preceding  vehicles  have  headlights  or  tail  lights
turned on.

●

There are many streetlights on the road ahead.

■

Switching to low beam

Pull  the  lever  to  the  original
position. 

The Automatic  High  Beam  indi-
cator will turn off.
Push the lever away from you to
activate  the  Automatic  High
Beam system again.

■

Switching to high beam

Press  the  Automatic  High
Beam switch.

The Automatic  High  Beam  indi-
cator  will  turn  off  and  the  high
beam indicator will turn on. 
Press  the switch to  activate the
Automatic  High  Beam  system
again.

High beam automatic turning on or off conditions

Turning the high beam on/off manually

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■

The Automatic High Beam can be operated when

The power switch is in ON mode.

■

Camera sensor detection information

●

High beam may not be automatically turned off in the following situations:
• When oncoming vehicles suddenly appear from a curve
• When the vehicle is cut in front of by another
• When  oncoming  or  preceding  vehicles  are  hidden  from  sight  due  to

repeated curves, road dividers or roadside trees

●

High beam may be turned off if an oncoming vehicle that is using fog lights
without using the headlights is detected.

●

House  lights,  street  lights,  red  traffic  signals,  and  illuminated  billboards  or
signs may cause the high beam to turn off.

●

The following factors may affect the amount of time taken to turn high beam
on or off:
• The brightness of headlights, fog lights, and tail lights of oncoming and

preceding vehicles

• The movement and direction of oncoming and preceding vehicles

• When  an  oncoming  or  preceding  vehicle  only  has  operational  lights  on

one side

• When an oncoming or preceding vehicle is a two-wheeled vehicle
• The condition of the road (gradient, curve, condition of the road surface,

etc.)

• The number of passengers and amount of luggage

●

High beam may be turned on or off when unexpected by the driver.

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●

In the situations below, the system may not be able to correctly detect the
surrounding brightness levels, and may flash or expose nearby pedestrians
to the high beam. Therefore, you should consider turning the high beams on
or off manually rather than relying on the Automatic High Beam system.
• In bad weather (rain, snow, fog, sandstorms, etc.).
• The windshield is obscured by fog, mist, ice, dirt, etc.
• The windshield is cracked or damaged.
• The camera sensor is deformed or dirty.
• The camera sensor temperature is extremely high.
• Surrounding brightness levels are equal to those of headlights, tail lights

or fog lights.

• Vehicles  ahead  have  headlights  that  are  either  switched  off,  dirty,  are

changing color, or are not aimed properly.

• 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 tracks, etc.).

• When  frequently  and  repeatedly  taking  curves  or  driving  on  a  winding

road.

• There is a highly reflective object ahead of the vehicle, such as a sign or

a mirror.

• The back of a vehicle ahead is highly reflective, such as a container on a

truck.

• The vehicle’s headlights are damaged or dirty.
• The vehicle is listing or tilting, due to a flat tire, a trailer being towed, etc.
• The driver believes that the high beam may be causing problems or dis-

tress to other drivers or pedestrians nearby.

WARNING

■

Limitations of the Automatic High Beam

Do not rely on the Automatic High Beam. Always drive safely, taking care to
observe your surroundings and turning high beam on or off manually if nec-
essary.

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NOTICE

■

Notes when using the Automatic High Beam system

Observe  the  following  to  ensure  that  the Automatic  High  Beam  functions
correctly.

●

Do not place items on the dashboard. There is a possibility that the cam-
era  sensor  will  mistake  items  reflected  in  the  windshield  for  streetlights,
the headlights of other vehicles, etc.

●

Do not install a parking tag or any other accessories near or around the
camera sensor.

●

Do not overload the vehicle.

●

Do not modify the vehicle.

●

If the windshield needs to be replaced, contact your Toyota dealer.

●

Do not touch the camera sensor.

●

Do not subject the camera sensor to a
strong impact.

●

Do not disassemble the camera sensor.

●

Do not spill liquid onto the camera sen-
sor.

●

Do not apply window tinting or stickers
to  the  camera  sensor  or  the  area  of
windshield near the camera sensor.

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Windshield wipers and washer

Operating the 

 lever operates the wipers or washer as follows.

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

*

1

 or 

*

2

Off

Rain-sensing operation

*

1

 or 

*

2

Low speed operation

*

1

 or 

*

2

High speed operation

*

1

 or 

*

2

Temporary operation

*

1

: For U.S.A.

*

2

: For Canada

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

Increases the sensitivity
Decreases the sensitivity

Operating the wiper lever

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Washer/wiper dual oper-
ation

Pulling  the  lever  operates  the
wipers and washer.

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

■

The windshield wipers and washers can be operated when

The power switch is in ON mode.

■

Effects of vehicle speed on wiper operation

Vehicle speed affects the Intermittent wiper interval.

■

Raindrop sensor

●

If the wiper switch is turned to the “AUTO” position while the power switch is
in ON mode, the wipers will operate once to show that “AUTO” mode is acti-
vated.

●

If the temperature of the raindrop sensor is 194



F (90



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
windshield washer fluid reservoir.

●

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.

WARNING

■

Caution regarding the use of windshield wipers in “AUTO” mode

The windshield wipers may operate unexpectedly if the sensor is touched or
the windshield is subject to vibration in “AUTO” mode. Take care that your
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.

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NOTICE

■

When the windshield is dry

Do not use the wipers, as they may damage the windshield.

■

When the washer fluid tank is empty

Do not operate the switch continually as the washer fluid pump may over-
heat.

■

When a nozzle becomes blocked

In this case, contact your Toyota dealer.
Do not try to clear it with a pin or other object. The nozzle will be damaged.

■

To prevent 12-volt battery discharge

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

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Opening the fuel door

●

Close the all the doors and windows.

●

Set the parking brake.

●

Shift the shift position to P.

●

Turn the power switch off.

●

Turn off the headlights.

■

Fuel Type

Compressed hydrogen gas

■

Notes on fueling

●

Fueling will not be possible if the pressure inside the vehicle’s hydrogen tanks
is  higher  than  the  supply  pressure  of  the  hydrogen  station.  If  the  hydrogen
tanks are more than half full, the vehicle will be unable to fuel at a H35 dis-
penser. 
A  hydrogen  station  with  a  H70  dispenser  (supply  pressure  of  10150  psi
[70 MPa, 714 kgf/cm

2

, 700 bar] is necessary to completely fill hydrogen tanks.

●

If the fueling cannot be completed due to trouble with the station equipment,
call the number indicated on the equipment.

●

Fuel with compressed hydrogen gas only at hydrogen stations.

●

Fuel at hydrogen stations conforming with the Society of Automo-
tive  Engineers  (SAE)  J2601  fueling  protocol  or  laws  that  may
supersede such SAE protocols.

●

Refer  to  the  Mirai  Station  Finder Application  in  Connected  ser-
vices,  https://www.toyota.com/connected-services  (for  U.S.  own-
ers) or https://www.toyota.ca/connected (for Canadian owners), or
call  1-800-331-4331  (for  U.S.  owners)  or  1-888-869-6828  (for
Canadian owners).

●

Observe any notices or instructions shown at hydrogen stations.

●

The filling time and amount of fuel may depend on outside tem-
perature and the equipment at that hydrogen station.

●

Vehicles with expired hydrogen tanks must not be used. (



P. 94) 

Consult your Toyota dealer.

Before filling

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WARNING

■

When filling

Observe the following precautions while fueling the vehicle.
Failure to do so may result in death or serious injury.

●

Turn the power switch off before fueling.

●

Ensure  the  hydrogen  gas  nozzle  is  locked  onto  the  vehicle  receptacle
before filling. This can be done by pulling on the hydrogen gas nozzle to
check that it cannot be pulled off. 
Failure to do so may result in injury or damage to the hydrogen gas nozzle
or vehicle.

●

Do not smoke while fueling.

●

Because the fuel is cold, the hydrogen gas nozzle and vehicle receptacle
surface  will  become  cold,  and  frost  may  develop. After  fueling  is  com-
pleted, remove the hydrogen gas nozzle by the plastic handle only. Do not
touch  any  other  parts  of  the  hydrogen  gas  nozzle  or  vehicle  receptacle
with bare hands immediately after fueling, as frostbite may occur.

NOTICE

■

When filling

●

Fuel  only  with  compressed  hydrogen  gas  at  stations  compliant  with  the
Society of Automotive Engineers (SAE) J2601 fueling protocol or laws that
may supersede such SAE protocols. 
If improper fuels are used, the fuel cell stack will be damaged.

●

Do  not  swing  or  drop  the  hydrogen  gas  nozzle,  or  subject  it  to  a  large
amount of force. Doing so may cause damage.

●

If the hydrogen gas nozzle cannot be removed after fueling, it may be fro-
zen  to  the  vehicle  receptacle.  Wait  for  the  hydrogen  gas  nozzle  to  thaw
before attempting to remove. Do not pull or rotate the hydrogen gas nozzle
forcibly. Failure to follow these precautions may cause damage.

●

Be sure to replace the cap after filling. If foreign material gets in the vehicle
receptacle, it may cause damage.

●

Do  not  put  anything  sharp,  such  as  a  screwdriver,  blade,  or  any  foreign
object into the mouth of the vehicle receptacle. If the vehicle receptacle is
damaged, hydrogen gas may leak during fueling.

●

If you notice anything unusual about the vehicle receptacle, please notify
your Toyota dealer.

●

If  you notice anything  unusual with  the hydrogen dispenser or hydrogen
gas nozzle, please notify the hydrogen station operator. Contact informa-
tion is usually displayed on the dispenser.

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Press  the  fuel  door  opener
switch to release the lock.

If  the  “READY”  indicator  is  on  or
the  power  switch  is  in  ON  mode,
the fuel door will not be unlocked.

Press the center part of the rear
edge of the fuel door.

Push  inward,  then  release.  The
fuel  door  will  slightly  open.  It  can
now be opened completely by pull-
ing on the fuel door.

Remove the cap and attach it to
the holder.

*

: Do  not  press  the  interlock  button.

The fuel door sensor may malfunc-
tion.

Opening the fuel door

1

2

*

3

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■

If “Open H2 Filler Door in a Safe Place when Vehicle is Powered OFF” is
displayed on the multi-information display

Stop the vehicle in a safe place and press the fuel door opener switch once
more with the following procedure:

Shift the shift position to P.
Turn the power switch off.
Press the fuel door opener switch.

■

If the fuel door lock cannot be released (i.e., if it is damaged)

■

Sounds during filling

When  fueling  with  compressed  hydrogen  gas,  noises  from  gas  flowing
through the hydrogen gas nozzle and hydrogen tank valves can sometimes
be heard. (



P. 88)

Replace the cap.

Turn  the  power  switch  off,  remove  the
trunk inner cover, and release the lock for
the fuel door by pulling the lever.

Closing the fuel door

1

2

3

1

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Press the center part of the rear
edge  of  the  fuel  door,  closing
the fuel door, until it clicks.

Confirm the fuel door is completely
closed  by  checking  that  the  fuel
door is flush with the body.

■

Safety features

When  the  fuel  door  is  open,  the  fuel  cell  system  will  not  start.  When  the
“READY” indicator is on, the fuel door will not open.

■

If “H2 Filler Door is open. Park Your Vehicle in a Safe Place and Close H2
Filler Door” is displayed on the multi-information display

The fuel door is open. Stop the vehicle in a safe place and close the fuel door.

■

If  “Close  H2  Filler  Door  and  Restart  Your  Vehicle”  is  displayed  on  the
multi-information display

The fuel door is open and the fuel cell system cannot be started. Shift the shift
position to P and, turn the power switch off, then: 

Check whether the cap has been reinstalled.
Close the fuel door by pressing the center part of the rear edge of the fuel
door, until it clicks.

If  the  warning  message  on  the  multi-information  display  turns  off  at  this
time, there is no malfunction. However, if the display continues to show, the
sensor  may  be  damaged.  Have  the  vehicle  inspected  by  your  Toyota
dealer.

2

1

2

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Toyota Safety Sense 2.0

■

PCS (Pre-Collision System)



P. 226

■

LDA (Lane Departure Alert with steering control)



P. 238

■

Automatic High Beam



P. 205

■

RSA (Road Sign Assist) (if equipped)



P. 248

■

Dynamic radar cruise control



P. 253

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

Driving assist system

WARNING

■

Toyota Safety Sense 2.0

The Toyota Safety Sense 2.0 is designed to operate under the assumption
that the driver will drive safely, and is designed to help reduce the impact to
the occupants and the vehicle in the case of a collision or assist the driver in
normal driving conditions.
As there is a limit to the degree of recognition accuracy and control perfor-
mance that this system can provide, do not overly rely on this system. The
driver is always responsible for paying attention to the vehicle’s surround-
ings and driving safely.

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Two types of sensors, located behind the front grille and windshield,
detect information necessary to operate the drive assist systems.

Radar sensor
Front camera

Sensors

WARNING

■

To avoid malfunction of the radar sensor

Observe the following precautions.
Otherwise, the radar sensor may not operate properly, possibly leading to
an accident resulting in death or serious injury.

●

Keep the radar sensor and the grille cover clean at all times.

Radar sensor
Grille cover
If the front of the radar sensor or the
front or back of the grille cover is dirty
or covered with water droplets, snow,
etc., clean it.
Clean  the  radar  sensor  and  grille
cover with a soft cloth to avoid dam-
aging them.

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WARNING

●

Do  not  attach  accessories,  stickers  (including  transparent  stickers)  or
other items to the radar sensor, grille cover or surrounding area.

●

Do not subject the radar sensor or its surrounding area to a strong impact. 
If  the  radar  sensor, front grille, or  front  bumper has  been  subjected to  a
strong impact, have the vehicle inspected by your Toyota dealer.

●

Do not disassemble the radar sensor.

●

Do not modify or paint the radar sensor or grille cover.

●

If the radar sensor, front grille, or front bumper needs to be removed and
installed, or replaced, contact your Toyota dealer.

■

To avoid malfunction of the front camera

Observe the following precautions.
Otherwise, the front camera may not operate properly, possibly leading to
an accident resulting in death or serious injury.

●

Keep the windshield clean at all times.
• If  the  windshield  is  dirty  or  covered  with  an  oily  film,  water  droplets,

snow, etc., clean the windshield.

• If a glass coating agent is applied to the windshield, it will still be neces-

sary to use the windshield wipers to remove water droplets, etc., from
the area of the windshield in front of the front camera.

• If the inner side of the windshield where the front camera is installed is

dirty, contact your Toyota dealer.

B: Approximately  7.9  in.  (20  cm)  (Approximately  4.0  in.  [10  cm]  to  the

right and left from the center of the front camera)

●

Do not attach objects, such as stickers,
transparent  stickers,  etc.,  to  the  outer
side  of  the  windshield  in  front  of  the
front  camera  (shaded  area  in  the  illus-
tration).
A: From  the  top  of  the  windshield  to

approximately  0.4  in.  (1  cm)  below
the bottom of the front camera

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WARNING

●

If the part of the windshield in front of the front camera is fogged up or cov-
ered with condensation or ice, use the windshield defogger to remove the
fog, condensation or ice. (



P. 309)

●

If water droplets cannot be properly removed from the area of the wind-
shield  in  front  of  the  front  camera  by  the  windshield  wipers,  replace  the
wiper insert or wiper blade.
If  the  wiper  inserts  or  wiper  blades  need  to  be  replaced,  contact  your
Toyota dealer.

●

Do not attach window tint to the windshield.

●

Replace the windshield if it is damaged or cracked. 
If the windshield needs to be replaced, contact your Toyota dealer.

●

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 Toyota dealer for details.

●

If a surfboard or other long object is to be mounted on the roof, make sure
that it will not obstruct the front camera.

●

Do not modify the headlights or other lights.

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■

Certification for Toyota Safety Sense 2.0



For U.S.A.

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

For Canada

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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. 309)

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.

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●

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

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

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

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

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PCS (Pre-Collision system)

The system can detect the following:

●

Vehicles

●

Bicyclists

●

Pedestrians

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



P. 226) in front of the vehicle. When the sys-

tem determines that the possibility of a frontal collision with an
object is high, a warning operates to urge the driver to take eva-
sive action and the potential brake pressure is increased to help
the driver avoid the collision. If the system determines that the
possibility of a frontal collision with an object is extremely high,
the brakes are automatically applied to help avoid the collision
or help reduce the impact of the collision.

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



P. 230)

Detectable objects

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Pre-collision warning

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

■

Pre-collision brake assist

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

■

Pre-collision braking

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

System functions

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WARNING

■

Limitations of the pre-collision system

●

The driver is solely responsible for safe driving. Always drive safely, taking
care  to  observe  your  surroundings.  Do  not  use  the  pre-collision  system
instead of normal braking operations under any circumstances. This sys-
tem will not prevent collisions or lessen collision damage or injury in every
situation. Do not overly rely on this system. Failure to do so may lead to an
accident, resulting in death or serious injury.

●

Although this system is designed to help avoid a collision or help reduce
the impact of the collision, its effectiveness may change according to vari-
ous conditions, therefore the system may not always be able to achieve
the same level of performance. 
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• Conditions under which the system may operate even if there is no pos-

sibility of a collision: 



P. 233

• Conditions under which the system may not operate properly: 



P. 235

●

Do not attempt to test the operation of the pre-collision system yourself.
Depending  on  the  objects  used  for  testing  (dummies,  cardboard  objects
imitating  detectable  objects,  etc.),  the  system  may  not  operate  properly,
possibly leading to an accident.

■

Pre-collision braking

●

When  the  pre-collision  braking  function  is  operating,  a  large  amount  of
braking force will be applied.

●

If the vehicle is stopped by the operation of the pre-collision braking func-
tion,  the  pre-collision  braking  function  operation  will  be  canceled  after
approximately 2 seconds.
Depress the brake pedal as necessary.

●

The pre-collision braking function may not operate if certain operations are
performed  by  the  driver.  If  the  accelerator  pedal  is  being  depressed
strongly or the steering wheel is being turned, the system may determine
that the driver is taking evasive action and possibly prevent the pre-colli-
sion braking function from operating.

●

In  some  situations,  while  the  pre-collision  braking  function  is  operating,
operation  of  the  function  may  be  canceled  if  the  accelerator  pedal  is
depressed strongly or the steering wheel is turned and the system deter-
mines that the driver is taking evasive action.

●

If the brake pedal is being depressed, the system may determine that the
driver is taking evasive action and possibly delay the operation timing of
the pre-collision braking function.

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WARNING

■

When to disable the pre-collision system

In the following situations, disable the system, as it may not operate prop-
erly, possibly leading to an accident resulting in death or serious injury:

●

When the vehicle is being towed

●

When your vehicle is towing another vehicle

●

When  transporting  the  vehicle  via  truck,  boat,  train  or  similar  means  of
transportation

●

When the vehicle is raised on a lift with the fuel cell system on and the tires
are allowed to rotate freely

●

When inspecting the vehicle using a drum tester such as a chassis dyna-
mometer or speedometer tester, or when using an on vehicle wheel bal-
ancer

●

When a strong impact is applied to the front bumper or front grille, due to
an accident or other reasons

●

If the vehicle cannot be driven in a stable manner, such as when the vehi-
cle has been in an accident or is malfunctioning

●

When the vehicle is driven in a sporty manner or off-road

●

When the tires are not properly inflated

●

When the tires are very worn

●

When tires of a size other than specified are installed

●

When tire chains are installed

●

When a compact spare tire or an emergency tire puncture repair kit is used

●

If equipment (snow plow, etc.) that may obstruct the radar sensor or front
camera is temporarily installed to the vehicle

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Enabling/disabling the pre-collision system

The  pre-collision  system  can  be  enabled/disabled  on 

(



P. 124) of the multi-information display.

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

Press 

  or 

  of  the  meter  control  switches  (



P.  118)  and

select 

.

Press 

 or 

 of the meter control switches, select 

 and

press 

 to select the desired setting (on/off).

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

Changing settings of the pre-collision system

1

2

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Changing the pre-collision warning timing

The  pre-collision  warning  timing  can  be  changed  on 

(



P. 124) of the multi-information display.

Press 

  or 

  of  the  meter  control  switches  (



P.  118)  and

select 

.

Press 

 or 

 of the meter control switches, select 

 and

press 

 to select the desired setting.

Early
Middle

This is the default setting.

Late

The  warning  timing  setting  is
retained when the power switch is
turned off. However, if the pre-colli-
sion  system  is  disabled  and  re-
enabled,  the  operation  timing  will
return  to  the  default  setting  (mid-
dle).

1

2

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Operational conditions

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

●

Pre-collision warning

●

Pre-collision brake assist

●

Pre-collision braking

The system may not operate in the following situations:

●

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

●

If the shift position is in R

●

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

Detectable objects

Vehicle speed

Relative speed between 
your vehicle and object

Vehicles

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

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

Bicyclists and pedestri-
ans

Approx. 7 to 50 mph 
(10 to 80 km/h)

Approx. 7 to 50 mph 
(10 to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between 
your vehicle and object

Vehicles

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

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

Bicyclists and pedestri-
ans

Approx. 20 to 50 mph 
(30 to 80 km/h)

Approx. 20 to 50 mph 
(30 to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between 
your vehicle and object

Vehicles

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

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

Bicyclists and pedestri-
ans

Approx. 7 to 50 mph 
(10 to 80 km/h)

Approx. 7 to 50 mph 
(10 to 80 km/h)

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Object detection function

■

Cancelation of the pre-collision braking

If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:

●

The accelerator pedal is depressed strongly.

●

The steering wheel is turned sharply or abruptly.

■

Conditions under which the system may operate even if there is no pos-
sibility of a collision

●

In  some  situations  such  as  the  following,  the  system  may  determine  that
there is a possibility of a frontal collision and operate.
• When passing a detectable object, etc.
• When changing lanes while overtaking a detectable object, etc.

• When rapidly closing on a detectable object, etc. 
• When approaching objects on the roadside, such as detectable objects,

guardrails, utility poles, trees, or walls

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



P.  235)  The

illustration shows an image of detectable
objects.

• When  approaching  a  detectable

object  in  an  adjacent  lane  or  on  the
roadside, such as when changing the
course of travel or driving on a wind-
ing road

• When  there  is  a  detectable  object  or

other  object  by  the  roadside  at  the
entrance of a curve

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• When there are patterns or paint in front of your vehicle that may be mis-

taken for a detectable object

• When the front of your vehicle is hit by water, snow, dust, etc.

• When a detectable object approaches very close and then stops before

entering the path of your vehicle

• If  the  front  of  your  vehicle  is  raised  or  lowered,  such  as  when  on  an

uneven or undulating road surface

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

on an iron bridge

• When there is a metal object (manhole cover, steel plate, etc.), steps, or a

protrusion in front of your vehicle

• When  approaching  an  electric  toll  gate  barrier,  parking  area  barrier,  or

other barrier that opens and closes

• When using an automatic car wash

• When  overtaking  a  detectable  object

that  is  changing  lanes  or  making  a
right/left turn

• When  passing  a  detectable  object  in

an  oncoming  lane  that  is  stopped  to
make a right/left turn

• When  passing  under  an  object  (road

sign, billboard, etc.)

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• When driving through steam or smoke
• When  driving  near  an  object  that  reflects  radio  waves,  such  as  a  large

truck or guardrail

• When driving near a TV tower, broadcasting station, electric power plant,

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

■

Situations in which the system may not operate properly

●

In some situations such as the following, an object may not be detected by
the  radar  sensor  and  front  camera,  preventing  the  system  from  operating
properly:
• When a detectable object is approaching your vehicle
• When your vehicle or a detectable object is wobbling
• If a detectable object makes an abrupt maneuver (such as sudden swerv-

ing, acceleration or deceleration)

• When your vehicle approaches a detectable object rapidly

• When a detectable object is near a wall, fence, guardrail, manhole cover,

vehicle, steel plate on the road, etc.

• When a detectable object is under a structure 
• When part of a detectable object is hidden by an object, such as  large

baggage, an umbrella, or guardrail

• When multiple detectable objects are close together
• If the sun or other light is shining directly on a detectable object
• When a detectable object is a shade of white and looks extremely bright

• When  driving  through  or  under

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

• When  a  detectable  object  is  not

directly in front of your vehicle

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• When a detectable object appears to be nearly the same color or bright-

ness as its surroundings

• If a detectable object cuts or suddenly emerges in front of your vehicle 
• When the front of your vehicle is hit by water, snow, dust, etc.
• When  a  very  bright  light  ahead,  such  as  the  sun  or  the  headlights  of

oncoming traffic, shines directly into the front camera

• When approaching the side or front of a vehicle ahead
• If a vehicle ahead is a motorcycle
• If a vehicle ahead is narrow, such as a personal mobility vehicle
• If a preceding vehicle has a small rear end, such as an unloaded truck

• If a vehicle ahead is carrying a load which protrudes past its rear bumper
• If a vehicle ahead is irregularly shaped, such as a tractor or side car
• If a vehicle ahead is a child sized bicycle, a bicycle that is carrying a large

load,  a  bicycle  ridden  by  more  than  one  person,  or  a  uniquely  shaped
bicycle (bicycle with a child seat, tandem bicycle, etc.)

• If  a  pedestrian/or  the  riding  height  of  a  bicyclist  ahead  is  shorter  than

approximately 3.2 ft. (1 m) or taller than approximately 6.5 ft. (2 m)

• If  a  pedestrian/bicyclist  is  wearing  oversized  clothing  (a  rain  coat,  long

skirt, etc.), making their silhouette obscure

• If a pedestrian is bending forward or squatting or bicyclist is bending for-

ward

• If a pedestrian/bicyclist is moving fast
• If a pedestrian is pushing a stroller, wheelchair, bicycle or other vehicle
• When  driving  in  inclement  weather  such  as  heavy  rain,  fog,  snow  or  a

sandstorm

• If a preceding vehicle has a low rear

end, such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

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• When driving through steam or smoke
• When the surrounding area is dim, such as at dawn or dusk, or while at

night or in a tunnel, making a detectable object appear to be nearly the
same color as its surroundings

• When driving in a place where the surrounding brightness changes sud-

denly, such as at the entrance or exit of a tunnel

• After the fuel cell system has started the vehicle has not been driven for a

certain amount of time

• While making a left/right turn and for a few seconds after making a left/

right turn

• While driving on a curve and for a few seconds after driving on a curve
• If your vehicle is skidding

• If the wheels are misaligned
• If a wiper blade is blocking the front camera
• The vehicle is being driven at extremely high speeds
• When driving on a hill
• If the radar sensor or front camera is misaligned

●

In some situations such as the following, sufficient braking force may not be
obtained, preventing the system from performing properly:
• If the braking functions cannot operate to their full extent, such as when

the brake parts are extremely cold, extremely hot, or wet

• If the vehicle is not properly maintained (brakes or tires are excessively

worn, improper tire inflation pressure, etc.)

• When the vehicle is being driven on a gravel road or other slippery sur-

face

■

If VSC is disabled

●

If VSC is disabled (



P. 297), the pre-collision brake assist and pre-collision

braking functions are also disabled.

●

The PCS warning light will turn on and “VSC Turned Off Pre-Collision Brake
System Unavailable” will be displayed on the multi-information display.

• If the front of  the vehicle  is  raised  or

lowered

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LDA (Lane Departure Alert with steering 

control)

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 assistance by operating the steering

wheel to keep the vehicle in its lane or course

*

.

The LDA system recognizes white
(yellow)  lane  lines  or  a  course

*

using  the  front  camera. Addition-
ally,  it  detects  preceding  vehicles
using the front camera and radar.

*

: Boundary between asphalt and the

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

Summary of functions

WARNING

■

Before using LDA system

●

Do not rely solely upon the LDA system. The LDA system does not auto-

matically drive the vehicle or reduce the amount of attention that must be

paid to the area in front of the vehicle. The driver must always assume full

responsibility for driving safely by paying careful attention to the surround-

ing conditions and operating the steering wheel to correct the path of the

vehicle. Also, the driver must take adequate breaks when fatigued, such

as from driving for a long period of time.

●

Failure to perform appropriate driving operations and pay careful attention

may lead to an accident, resulting in death or serious injury.

●

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

■

Situations unsuitable for LDA system

In the following situations, use the LDA switch to turn the system off. Failure
to do so may lead to an accident, resulting in death or serious injury.

●

Vehicle is driven on a road surface which is slippery due to rainy weather,
fallen snow, freezing, etc.

●

Vehicle is driven on a snow-covered road.

●

White (yellow) lines are difficult to see due to rain, snow, fog, dust, etc.

●

A spare tire, tire chains, etc. are equipped.

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WARNING

●

When the tires have been excessively worn, or when the tire inflation pres-
sure is low.

●

When tires of a size other than specified are installed.

●

Vehicle is driven in traffic lanes other than that highways and freeways.

●

During emergency towing

■

Preventing  LDA  system  malfunctions  and  operations  performed  by
mistake

●

Do not modify the headlights or place stickers, etc. on the surface of the
lights.

●

Do  not  modify  the  suspension  etc.  If  the  suspension  etc.  needs  to  be
replaced, contact your Toyota dealer.

●

Do not install or place anything on the hood or grille. Also, do not install a
grille guard (bull bars, kangaroo bar, etc.).

●

If your windshield needs repairs, contact your Toyota dealer.

■

Conditions in which functions may not operate properly

In the following situations, the functions may not operate properly and the
vehicle  may  depart  from  its  lane.  Drive  safely  by  always  paying  careful
attention to your surroundings and operate the steering wheel to correct the
path of the vehicle without relying solely on the functions.

●

Vehicle is being driven around a sharp curve.

●

Objects  or  patterns  that  could  be  mis-
taken  for  white  (yellow)  lines  are  pres-
ent on the side of the road (guardrails,
reflective poles, etc.).

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WARNING

●

There are shadows on the road that run parallel with, or cover, the white
(yellow) lines.

●

The  vehicle  is  driven  in  an  area  without  white  (yellow)  lines,  such  as  in
front of a tollgate or checkpoint, or at an intersection, etc.

●

The  white  (yellow)  lines  are  cracked,  “Botts’  dots”,  “Raised  pavement
marker” or stones are present.

●

The white (yellow) lines cannot be seen or are difficult to see due to sand,
etc.

●

The vehicle is driven on a road surface that is wet due to rain, puddles,
etc.

●

The traffic lines are yellow (which may be more difficult to recognize than
lines that are white).

●

The white (yellow) lines cross over a curb, etc.

●

The vehicle is driven on a bright surface, such as concrete.

●

If the edge of the road is not clear or straight.

●

The vehicle is driven on a surface that is bright due to reflected light, etc.

●

The vehicle is driven in an area where the brightness changes suddenly,
such as at the entrances and exits of tunnels, etc.

●

Vehicle  is  driven  where  the  road
diverges, merges, etc.

●

Repair marks of asphalt, white (yellow)
lines,  etc.  are  present  due  to  road
repair.

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WARNING

●

Light from the headlights of an oncoming vehicle, the sun, etc. enters the
camera.

●

The vehicle is driven on a slope.

●

The vehicle is driven on a road which tilts left or right, or a winding road.

●

The vehicle is driven on an unpaved or rough road.

●

The traffic lane is excessively narrow or wide.

●

The  vehicle  is  extremely  tilted  due  to  carrying  heavy  luggage  or  having
improper tire pressure.

●

The distance to the preceding vehicle is extremely short.

●

The vehicle is moving up and down a large amount due to road conditions
during driving (poor roads or road seams).

●

When driving in a tunnel or at night with the headlights off or when a head-
light is dim due to its lens being dirty or it being misaligned.

●

The vehicle is struck by a crosswind.

●

The vehicle has just changed lanes or crossed an intersection.

●

Tires  which  differ  by  structure,  manufacturer,  brand  or  tread  pattern  are
used.

●

Snow tires, etc. are equipped.

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■

Lane departure alert function

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

*

,  a

warning  is  displayed  on  the
multi-information display, and a
warning  buzzer  will  sound  to
alert the driver.

When  the  warning  buzzer
sounds,  check  the  area  around
your vehicle and carefully  oper-
ate  the  steering  wheel  to  move
the vehicle back to the center of
the lane.

*

: Boundary between asphalt and the

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

■

Steering assist function

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

*

,  the

system  provides  assistance  as
necessary  by  operating  the
steering 

wheel 

in 

small

amounts  for  a  short  period  of
time  to  keep  the  vehicle  in  its
lane.

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

*

: Boundary between asphalt and the

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

Functions included in LDA system

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■

Vehicle sway warning function

When  the  vehicle  is  swaying
within  a  lane,  the  warning
buzzer  will  sound  and  a  mes-
sage  will  be  displayed  on  the
multi-information display to alert
the driver.

Press  the  LDA  switch  to  turn  the
LDA system on.

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

Turning LDA system on

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LDA indicator

The  illumination  condition  of  the
indicator  informs  the  driver  of  the
system operation status.
Illuminated  in  green:  LDA  system
is operating.
Flashing in yellow: Lane departure
alert function is operating.

Steering  control  indicator  and  operation  display  of  steering  wheel
operation support

When that steering wheel assistance of the steering assist function is oper-
ating, the indicator illuminates and the operation display on the multi-infor-
mation display is turned on.

Lane departure alert function display

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

*

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

a curb

Indications on multi-information display



Inside  of  displayed  lines  is
white



Inside  of  displayed  lines  is
black

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.

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

*

 or is temporar-

ily canceled.

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■

Operation conditions of each function

●

Lane departure alert function
This function operates when all of the following conditions are met.
• LDA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• System recognizes white (yellow) lane lines or a course

*

. (When a white

[yellow]  line  or  course*  is  recognized  on  only  one  side,  the  system  will
operate only for the recognized side.)

• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. (



P. 247)

*

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

a curb

●

Steering assist function
This function operates when all of the following conditions are met in addi-
tion to the operation conditions for the lane departure alert function.
• Setting for “LDA Steering Assist Mode” in 

 on the multi-information

display (



P. 117) is set to “ON”.

Press 

 or 

 of the meter control switches (



P. 118) and select

.

Press 

 or 

 of the meter control switches, select 

 and press

 to select the “ON”.

• Vehicle is not accelerated or decelerated by a fixed amount or more.
• Steering  wheel  is  not  operated  with  a  steering  force  level  suitable  for

changing lanes.

• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. (



P. 246)

●

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

 on the multi-information

display (



P. 117) is set to “On”.

Press 

 or 

 of the meter control switches (



P. 118) and select

.

Press 

 or 

 of the meter control switches, select 

 and press

 to select the “ON”.

•  Vehicle speed is approximately 32 mph (50 km/h) or more.
•  Width of traffic lane is approximately 9.8 ft. (3 m) or more.
•  No system malfunctions are detected. (



P. 247)

1

2

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■

Temporary cancelation of functions

When operation conditions are no longer met, a function may be temporarily
canceled. However, when the operation conditions are met again, operation
of the function is automatically restored. (



P. 245)

■

Steering assist function

●

Depending on the vehicle speed, lane departure situation, road conditions,
etc., the driver may not feel the function is operating or the function may not
operate at all.

●

The  steering  control  of  the  function  is  overridden  by  the  driver’s  steering
wheel operation.

●

Do not attempt to test the operation of the steering assist function.

■

Lane departure alert function

●

The  warning  buzzer  may  be  difficult  to  hear  due  to  external  noise,  audio
playback, etc.

●

If the edge of the course

*

 is not clear or straight, the lane departure alert

function may not operate.

●

Do not attempt to test the operation of the lane departure alert function.

*

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

a curb

■

Hands off steering wheel warning

●

When  the  system  determines  that  the  driver  is  driving  without  holding  the
steering wheel while the system is operating
If  the  driver  continues  to  keep  their  hands  off  of  the  steering  wheel,  the
buzzer  sounds,  the  driver  is  warned  and  the  function  is  temporarily  can-
celed.
This warning also operates in the same way when the driver continuously
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  driving
around a curve, warnings will occur earlier than during straight-lane driving.

In the following situations, a warning mes-
sage urging the driver to hold the steering
wheel and the symbol shown in the illus-
tration are displayed on the multi-informa-
tion  display  to  warn  the  driver.  The
warning  stops  when  the  system  deter-
mines  that  the  driver  holds  the  steering
wheel.
Always  keep  your  hands  on  the  steering
wheel when using this system, regardless
of warnings.

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●

When  the  system  determines  that  the  driver  is  driving  without  holding  the
steering wheel while the steering wheel assist of the steering assist function
is operating.
If the driver continues to keep their hands off of the steering wheel and the
steering  wheel  assist  is  operating,  the  buzzer  sounds  and  the  driver  is
warned.  Each  time  the  buzzer  sounds,  the  continuing  time  of  the  buzzer
becomes longer.

■

Vehicle sway warning function

■

Warning message

If the following warning message is displayed on the multi-information display
and  the  LDA  indicator  illuminates  in  yellow,  follow  the  appropriate  trouble-
shooting procedure. Also, if a different warning message is displayed, follow
the instructions displayed on the screen.

●

“Lane Departure Alert Malfunction Visit Your Dealer”
The system may not be operating properly. Have the vehicle inspected by
your Toyota dealer.

●

“Lane Departure Alert Unavailable”
The system is temporarily canceled due to a malfunction in a sensor other
than the front camera. Turn the LDA system off, wait for a little while, and
then turn the LDA system back on.

●

”Lane Departure Alert Unavailable at Current Speed”
The function cannot be used as the vehicle speed exceeds the LDA opera-
tion range. Drive slower.

●

“Lane Departure Alert Unavailable Below Approx 32MPH”
The LDA system cannot be used as the vehicle speed is less than approxi-
mately  32  mph  (50  km/h).  Drive  the  vehicle  at  approximately  32  mph
(50 km/h) or more.

■

Customization

Function settings can be changed.
(Customizable features:



P. 484)

When  the  system  determines  that  the
vehicle is swaying while the vehicle sway
warning  function  is  operating,  a  buzzer
sounds  and  a  warning  message  urging
the driver to rest and the symbol shown in
the  illustration  are  simultaneously  dis-
played on the multi-information display.
Depending on the vehicle and road condi-
tions, the warning may not operate.

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RSA (Road Sign Assist)



The RSA system recognizes spe-
cific  road  signs  using  the  front
camera  to  provide  information  to
the driver via the display.

If the system judges that the vehicle is being driven over the  speed
limit, performing prohibited actions, etc., in relation to the recognized
road  signs,  it  alerts  the  driver  using  a  warning  display  and  warning
buzzer.



: If equipped

Summary of function

WARNING

■

Before using the RSA

Do not rely solely upon the RSA system. RSA is a system which supports
the driver by providing information, but it is not a replacement for a driver’s
own vision and awareness. Drive safely by always paying careful attention
to the traffic rules.

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When the front camera recognizes a sign, the sign will be displayed
on the multi-information display.

●

When  the  driving  assist  sys-
tems display is selected, a max-
imum  of  2  signs  can  be
displayed. (



 P. 117)

●

When  a  tab  other  than  the
driving  assist  systems  display
is selected, only a recognized
speed  limit  sign  or  do  not
enter sign (when notification is
necessary)  will  be  displayed.
(



P. 117)

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

Indication on the multi-information display

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The following types of road signs are recognized.

A non-official or a recently introduced traffic sign may not be recognized.

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

●

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

●

When the RSA system recognizes a do not enter sign and deter-
mines that your vehicle has entered a no-entry area, the displayed
sign will flash and a buzzer will sound.

Depending  on  the  situation,  traffic  environment  (traffic  direction,
speed  unit)  may  be  detected  incorrectly  and  a  warning  display  may
not operate properly.

Supported types of road signs

Speed limit

Do Not Enter

Stop

Yield

Warning display

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■

Setting procedure

RSA can be enabled/disabled on the multi-information display (



P. 117).

Press 

 or 

 of the meter control switches (



P. 118) and select

.

Press 

 or 

 of the meter control switches, select 

 and press 

to select the desired setting (on/off).

■

Automatic turn-off of RSA sign display

In  the  following  situations,  a  displayed  speed  limit  sign  will  stop  being  dis-
played automatically:

●

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, do not enter, stop and yield signs will stop being
displayed automatically:

●

The system determines that your vehicle has passed the sign.

●

The road changes due to a left or right turn, etc.

■

Conditions in which the function may not operate or detect correctly

In the following situations, RSA does not operate normally and may not rec-
ognize signs, display the incorrect sign, etc. However, this does not indicate a
malfunction.

●

The front camera is misaligned due to a strong impact being applied to the
sensor, etc.

●

Dirt, snow, stickers, etc. are on the windshield near the front camera.

●

In inclement weather such as heavy rain, fog, snow or sand storms

●

Light from an oncoming vehicle, the sun, etc. enters the front camera.

●

The sign is dirty, faded, tilted or bent.

●

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 adjacent lane just before
merging.

●

Stickers are attached to the rear of the preceding vehicle.

●

A sign resembling a system compatible sign is recognized.

●

Side road speed signs may be detected and displayed (if positioned in sight
of the front camera) while the vehicle is traveling on the main road.

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●

Roundabout exit road speed signs may be detected and displayed (if posi-
tioned in sight of the front camera) while traveling on a roundabout.

●

The front of the vehicle is raised or lowered due to the carried load.

●

The surrounding brightness is not sufficient or changes suddenly.

●

When a sign intended for trucks, etc. is recognized.

■

Speed limit sign display

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

■

If “RSA Malfunction Visit Your Dealer” is shown

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

■

Customization

Some functions can be customized. 
(Customizable features:



P. 484)

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Dynamic radar cruise control

In vehicle-to-vehicle distance control mode, the vehicle automatically
accelerates and decelerates to match the speed changes of the pre-
ceding vehicle even if the accelerator pedal is not depressed. In con-
stant speed control mode, the vehicle runs at a fixed speed.
Use the dynamic radar cruise control on freeways and highways.

●

Vehicle-to-vehicle distance control mode (



P. 256)

●

Constant speed control mode (



P. 261)

Multi-information display
Set speed
Indicators
Vehicle-to-vehicle 

distance

switch
Cruise control switch

Summary of functions

System Components

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WARNING

■

Before using dynamic radar cruise control

●

Driving safely is the sole responsibility of the driver. Do not rely solely on
the system, and drive safely by always paying careful attention to your sur-
roundings.

●

The dynamic radar cruise control provides driving assistance to reduce the
driver’s burden. However, there are limitations to the assistance provided.
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be correctly detecting the vehicle ahead:



P. 263

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

may not function correctly: 



P. 264

●

Set the speed appropriately depending on the speed limit, traffic flow, road
conditions, weather conditions, etc. The driver is responsible for checking
the set speed.

●

Even when the system is functioning normally, the condition of the preced-
ing  vehicle  as  detected  by  the  system  may  differ  from  the  condition
observed  by  the  driver.  Therefore,  the  driver  must  always  remain  alert,
assess the danger of each situation and drive safely. Relying solely on this
system or assuming the system ensures safety while driving can lead to
an accident, resulting in death or serious injury.

●

Switch the dynamic radar cruise control setting to off, using the “ON-OFF”
button when not in use.

■

Cautions regarding the driving assist systems

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

●

Assisting the driver to measure following distance
The  dynamic  radar  cruise  control  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 driving, and it is not a system that can assist the
driver in low-visibility conditions.
It  is  still  necessary  for  driver  to  pay  close  attention  to  the  vehicle’s  sur-
roundings.

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WARNING

●

Assisting the driver to judge proper following distance
The  dynamic  radar  cruise  control  determines  whether  the  following  dis-
tance 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  does  not  include  functions  which  will
prevent or avoid collisions with vehicles ahead of your vehicle. Therefore,
if there is ever any possibility of danger, the driver must take immediate
and direct control of the vehicle and act appropriately in order to ensure
the safety of all involved.

■

Situations unsuitable for dynamic radar cruise control

Do not use dynamic radar cruise control in any of the following situations.
Doing so may result in inappropriate speed control and could cause an acci-
dent resulting in death or serious injury.

●

Roads where there are pedestrians, cyclists, etc.

●

In heavy traffic

●

On roads with sharp bends

●

On winding roads

●

On slippery roads, such as those covered with rain, ice or snow

●

On steep downhills, or where there are sudden changes between sharp up
and down gradients
Vehicle speed may exceed the set speed when driving down a steep hill.

●

At entrances to freeways and highways

●

When weather conditions are bad enough that they may prevent the sen-
sors from detecting correctly (fog, snow, sandstorm, heavy rain, etc.)

●

When  there  is  rain,  snow,  etc.  on  the  front  surface  of  the  radar  or  front
camera

●

In traffic conditions that require frequent repeated acceleration and decel-
eration

●

During emergency towing

●

When an approach warning buzzer is heard often

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

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

Example of constant speed cruising
When there are no vehicles ahead

The vehicle travels at the speed set by the driver.

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

When a vehicle is detected running ahead of you, the system automatically
decelerates  your  vehicle.  When  a  greater  reduction  in  vehicle  speed  is
necessary, the system applies the brakes (the stop lights will come on at
this time).
The system will respond to changes in the speed of the vehicle ahead in
order  to  maintain  the  vehicle-to-vehicle  distance  set  by  the  driver.
Approach  warning  warns  you  when  the  system  cannot  decelerate  suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When  the  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
accelerate to help to overtake a passing vehicle.

Driving in vehicle-to-vehicle distance control mode

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

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

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

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



P. 261)

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

Cruise  control  “SET”  indicator  will
come on.

The vehicle speed at the moment the lever is released becomes the set
speed.

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

1

2

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

Increases the speed
Decreases the speed

Fine 

adjustment: 

Momentarily

move the lever in the desired direc-
tion.
Large  adjustment:  Hold  the  lever
up  or  down  to  change  the  speed,
and  release  when  the  desired
speed is reached.

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



For U.S.A.

Fine adjustment: By 1 mph (1.6 km/h)

*

1

 or 1 km/h (0.6 mph)

*

2

 each time

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

*

1

 or 1 km/h

(0.6 mph)

*

2

 increments for as long as the lever is held



For Canada

Fine adjustment: By 1 mph (1.6 km/h)

*

1

 or 1 km/h (0.6 mph)

*

2

 each time

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

*

1

 or 5 km/h

(3.1 mph)

*

2

 increments for as long as the lever is held

In the constant speed control mode (



P. 257), the set speed will be

increased or decreased as follows:

Fine adjustment: By 1 mph (1.6 km/h)

*

1

 or 1 km/h (0.6 mph)

*

2

 each time

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

*

1

: When the set speed is shown in “MPH”

*

2

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

Adjusting the set speed

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

Long
Medium
Short

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

Select a distance from the table below. Note that the distances shown
correspond to a vehicle speed of 50 mph (80 km/h). Vehicle-to-vehicle
distance increases/decreases in accordance with vehicle speed.

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

Preceding 
vehicle mark

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

Distance options

Vehicle-to-vehicle distance

Long

Approximately 160 ft. (50 m)

Medium

Approximately 130 ft. (40 m)

Short

Approximately 100 ft. (30 m)

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Pulling  the  lever  toward  you
cancels the speed control.

The speed control is also canceled
when 

the 

brake 

pedal 

is

depressed.

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

However,  cruise  control  does  not  resume  when  the  vehicle  speed  is
approximately 16 mph (25 km/h) or less.

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

■

Warnings may not occur when

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

●

When  the  speed  of  the  preceding  vehicle  matches  or  exceeds
your vehicle speed

●

When  the  preceding  vehicle  is  traveling  at  an  extremely  slow
speed

●

Immediately after the cruise control speed was set

●

When depressing the accelerator pedal

Canceling and resuming the speed control

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

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

With  the  cruise  control  off,
press  and  hold  the  “ON-OFF”
button for 1.5 seconds or more.

Immediately  after  the  “ON-OFF”
button  is  pressed,  the  dynamic
radar  cruise  control  indicator  will
come on. Afterwards, it switches to
the cruise control indicator.
Switching  to  constant  speed  con-
trol  mode  is  only  possible  when
operating  the  lever  with  the  cruise
control off.

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

Cruise  control  “SET”  indicator  will
come on.

The vehicle speed at the moment the lever is released becomes the set
speed.
Adjusting the speed setting:



P. 258

Canceling and resuming the speed setting: 



P. 260

Selecting constant speed control mode

1

2

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■

Dynamic radar cruise control can be set when

●

The shift position is in D.

●

Depending  on  the  control  mode,  this  item  can  be  set  at  the  following
speeds.
• Vehicle-to-vehicle distance control mode: Approximately 20 mph (30 km/h)

or more

• Constant speed control mode: Approximately 20 mph (30 km/h) or more

■

Accelerating after setting the vehicle speed

The vehicle can accelerate by operating the accelerator pedal. After acceler-
ating,  the  set  speed  resumes.  However,  during  vehicle-to-vehicle  distance
control mode, the vehicle speed may decrease below the set speed in order
to maintain the distance to the preceding vehicle.

■

Automatic cancelation of vehicle-to-vehicle distance control mode

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

●

Actual vehicle speed falls below approximately 16 mph (25 km/h).

●

VSC is activated.

●

TRAC is activated for a period of time.

●

When the VSC or TRAC system is turned off.

●

The sensor cannot detect correctly because it is covered in some way.

●

Pre-collision braking is activated.

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 constant speed control mode

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

●

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

●

Actual vehicle speed falls below approximately 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.

If  constant  speed  control  mode  is  automatically  canceled  for  any  reasons
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 malfunctions.

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■

Warning messages and buzzers for dynamic radar cruise control

Warning messages and buzzers are used to indicate a system malfunction or
to inform the driver of the need for caution while driving. If a warning message
is shown on the multi-information display, read the message and follow the
instructions. (



P. 224, 426)

■

When the sensor may not be correctly detecting the vehicle ahead

In  the  case  of  the  following  and  depending  on  the  conditions,  operate  the
brake  pedal  when  deceleration  of  the  system  is  insufficient  or  operate  the
accelerator pedal when acceleration is required.
As the sensor may not be able to correctly detect these types of vehicles, the
approach warning (



P. 260) 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

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■

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

In the case of the following conditions, operate the brake pedal (or accelera-
tor pedal, depending on the situation) as necessary.
As the sensor may not be able to correctly detect vehicles ahead, the system
may not operate properly.

●

When the vehicle ahead of you decelerates suddenly

●

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

●

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

●

When the road curves or when the lanes
are narrow

●

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

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Intuitive parking assist

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

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

Types of sensors

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ON (activate)/OFF (deactivate) can be changed by the 

 for the

Multi-information Display (



P. 117)

Press  either 

  or 

  on  the

meter control switches (



P. 118)

and select 

.

Each press of 

 of the meter control switches, changes ON and

OFF.  When  ON  is  selected,  the  intuitive  parking  assist  indicator
turns on.

Turning the intuitive parking assist system on

1

2

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

Front corner sensor operation
Front center sensor operation
Rear corner sensor operation
Rear center sensor operation

Display

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■

Distance display

Sensors that detect an obstacle will illuminate continuously or blink.

*

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



P. 267)

Sensor detection display, obstacle distance

Display

*

Approximate distance to obstacle

Front corner sensor/

front center sensor

Rear corner sensor/rear 

center sensor

(continuous)

Front center sensor only: 
3.2 ft. (100 cm) to 
2.0 ft. (60 cm)

Rear center sensor only: 
4.9 ft. (150 cm) to 
2.0 ft. (60 cm)

(continuous)

2.0 ft. (60 cm) to 
1.5 ft. (45 cm)

2.0 ft. (60 cm) to 
1.5 ft. (45 cm)

(continuous)

1.5 ft. (45 cm) to 
1.2 ft. (35 cm)

1.5 ft. (45 cm) to 
1.2 ft. (35 cm)

(blinking)

Less than 
1.2 ft. (35 cm)

Less than 
1.2 ft. (35 cm)

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■

Buzzer operation and distance to an obstacle

A buzzer sounds when the sensors are operating.

●

The buzzer sounds faster as the vehicle approaches an obstacle. 
When the vehicle comes within the approximately 1.2 ft. (35 cm)
of the obstacle, the buzzer sounds continuously.

●

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

Approximately 3.2 ft. (100 cm)
Approximately 4.9 ft. (150 cm)
Approximately 2.0 ft. (60 cm)

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

■

The intuitive parking assist can be operated when

●

The power switch is in ON mode

●

Intuitive parking assist system is on

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The vehicle speed is less than about 6 mph (10 km/h)

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The shift position is following positions.
• Front corner sensors: The shift position is in other than P
• Front center sensors: The shift position is in other than P or R
• Rear corner and rear center sensors: The shift position is in R

Detection range of the sensors