Toyota Mirai (2021 year). Manual in english - part 4

206

5-4. Refueling

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1

Check whether the cap has been 

reinstalled.

2

Close the fuel door.

If the warning message on the multi-

information display turns off at this 

time, there is no malfunction. How-

ever, if the display continues to 

show, the sensor may be damaged. 

Have the vehicle inspected by your 

Toyota dealer.
It can be started 1 time at intervals 

of repeating the starting operations 

5 times (With the brake pedal 

depress, press the power switch 

operations 9 times within the inter-

val of 2 seconds). Operate the vehi-

cle after checking to be sure that the 

hydrogen fueling nozzle is not con-

nected to the vehicle.

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5-5.Using the driving support systems

■

PCS (Pre-Collision System)



P.212

■

LTA (Lane Tracing Assist)



P.223

■

AHB (Automatic High 
Beam)



P.193

■

RSA (Road Sign Assist)

*



P.234

*

: If equipped

■

Dynamic radar cruise con-
trol with full-speed range



P.237

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 

2.5 +

The Toyota Safety Sense 
2.5 + consists of the follow-
ing drive assist systems 
and contributes to a safe 
and comfortable driving 
experience:

Driving assist system

WARNING

■

Toyota Safety Sense 2.5 +

The Toyota Safety Sense 2.5 + 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

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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.

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Certification



P.550

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.328, 336)

●

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.

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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.

●

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.

Situation

Actions

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

Using the wiper and A/C function, 
remove the dirt and other attached 
matter (



P.328, 336).

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.

When “Pre-Collision System Radar 
In Self Calibration Unavailable See 
Owner’s Manual” is displayed.

Check whether there is attached 
materials on the radar sensor and 
radar sensor cover, and if there is, 
remove it.

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• 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

• Depending on the conditions in the vicinity of the vehicle, the radar may 

judge the surrounding environment can not be properly recognized. In that 

case, “Pre-Collision System Unavailable See Owner’s Manual” is dis-

played.

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The system can detect the fol-
lowing (The detectable objects 
differs depending on the func-
tion.):



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.

“BRAKE!”

■

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.212) 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.215)

Detectable objects

System functions

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Emergency steering assist

If the system determines that 
the possibility of a frontal colli-
sion is high and that there is suf-
ficient space for the vehicle to 
be steered into within its lane, 
and the driver has begun eva-
sive maneuver or steering, 
emergency steering assist will 
assist the steering movements 
to help enhance the vehicle sta-
bility and for lane departure pre-
vention. During operation, the 
indicator will illuminate in green.

■

Intersection right/left turn 
assistance

If the system determines that 
there is a high possibility of a 
collision in the following situa-
tions, it will assist with Pre-colli-
sion warning and, if necessary 
Pre-collision braking.
Depending on the configuration 
of the intersection, it may not be 
possible to support.



When you turn right/left at an 
intersection and cross the 
path of an oncoming vehicle



When you turn right/left, 
pedestrian is detected in the 
forward direction and esti-
mated to enter your vehicle’s 
path (bicyclists are not 
detected.)

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.

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WARNING

●

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.219

• Conditions under which the sys-

tem may not operate properly: 



P.220

●

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.

■

Emergency steering assist

●

As emergency steering assist 

operation will be canceled when 

the system determines that lane 

departure prevention function 

has been completed.

●

Emergency steering assist may 

not operate or may be cancel in 

the following cases as the sys-

tem may determine the driver is 

taking actions.

• If the accelerator pedal is being 

depressed strongly, the steering 

wheel is being operated sharply, 

the brake pedal is being 

depressed or the turn signal 

lever is being operated. In this 

case, the system may deter-

mine that the driver is taking 

evasive action and the emer-

gency steering assist may not 

operate.

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Enabling/disabling the pre-
collision system

The pre-collision system can be 
enabled/disabled on 

 

(



P.500) of the multi-informa-

tion display.

The system is automatically 
enabled each time the power 
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.

WARNING

• In some situations, while the 

emergency steering assist is 

operating, operation of the func-

tion may be canceled if the 

accelerator pedal is depressed 

strongly, the steering wheel is 

operated sharply or the brake 

pedal is being depressed and 

the system determines that the 

driver is taking evasive action.

• When the emergency steering 

assist is operating, if the steer-

ing wheel is held firmly or is 

operated in the opposite direc-

tion to that which the system is 

generating torque, the function 

may be canceled.

■

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

●

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 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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“Pre-Collision System OFF”

■

Changing the pre-collision 
warning timing

The pre-collision warning timing 
can be changed on 

 

(



P.500) of the multi-informa-

tion display.

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).

If the pre-collision warning tim-
ing is changed, emergency 
steering assist timing will also 
be changed accordingly.
If late is selected, emergency 
steering assist would not oper-
ate in case of an emergency.

1

Early

2

Middle

This is the default setting.

3

Late

■

Operational conditions for each pre-collision function

The pre-collision system is enabled and the system determines that the pos-

sibility of a frontal collision with a detected object is high.
The system may not operate in the following situations:
• If a 12-volt battery terminal has been disconnected and reconnected and 

then the vehicle has not been driven for a certain amount of time

• If the shift position is in R
• When the VSC OFF indicator is illuminated (only the pre-collision warning 

function will be operational)

The operation speeds and operation cancelation for each function is listed 

below.

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●

Pre-collision warning

While the pre-collision warning function is operating, if the steering wheel is 

operated heavily or suddenly, the pre-collision warning may be canceled.

●

Pre-collision brake assist

●

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.

Detectable objects

Vehicle speed

Relative speed between 

your vehicle and object

Preceding and stopped 
vehicles

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

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

Oncoming vehicles

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

Approx. 13 to 110 mph 
(20 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

Preceding and stopped 
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

Preceding and stopped 
vehicles

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

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

Oncoming vehicles

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

Approx. 13 to 110 mph 
(20 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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●

Emergency steering assist

When the turn signal lights are flashing, emergency steering assist will not 
operate in case of an emergency.

If any of the following occur while the emergency steering assist function is 

operating, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
• The brake pedal is depressed.

●

Intersection right/left turn assistance (pre-collision warning)

When the turn signal lights are not flashing, support for turning left or right at 
an intersection which targets oncoming vehicles does not work.

●

Intersection right/left turn assistance (pre-collision braking)

When the turn signal lights are not flashing, support for turning left or right at 
an intersection which targets oncoming vehicles does not work.

■

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.220)

The illustration shows an image of 

Detectable objects

Vehicle speed

Relative speed between 

your vehicle and object

Preceding and stopped 

vehicles, bicyclists and 

pedestrians

Approx. 25 to 50 mph 

(40 to 80 km/h)

Approx. 25 to 50 mph 

(40 to 80 km/h)

Detect-

able 

objects

Vehicle speed

Oncoming vehicle 

speed

Relative speed 

between your vehi-

cle and object

Oncoming 

vehicles

Approx. 7 to 15 mph 

(10 to 25 km/h)

Approx. 20 to 35 

mph (30 to 55 km/h)

Approx. 25 to 50 

mph (40 to 80 km/h)

Pedestri-

ans

Approx. 7 to 15 mph 

(10 to 25 km/h)

-

Approx. 7 to 15 mph 

(10 to 25 km/h)

Detect-

able 

objects

Vehicle speed

Oncoming vehicle 

speed

Relative speed 

between your vehi-

cle and object

Oncoming 

vehicles

Approx. 10 to 15 

mph (15 to 25 km/h)

Approx. 20 to 28 

mph (30 to 45 km/h)

Approx. 28 to 43 

mph (45 to 70 km/h)

Pedestri-

ans

Approx. 7 to 15 mph 

(10 to 25 km/h)

-

Approx. 7 to 15 mph 

(10 to 25 km/h)

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detectable objects.

■

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

• 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 

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5-5. Using the driving support systems

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(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, radar equipped vehi-

cles, etc., or other location where 

strong radio waves or electrical 

noise may be present

• When there are many things 

which can reflect the radio waves 

of the radar in the vicinity (tunnels, 

truss bridges, gravel roads, snow 

covered road that have tracks, 

etc.)

• While making a right/left turn, 

when an oncoming vehicle or a 

crossing pedestrian has already 

exited the path of your vehicle

• While making a right/left turn, 

closely in front of an oncoming 

vehicle or a crossing pedestrian.

• While making a right/left turn, 

when an oncoming vehicle or a 

crossing pedestrian stops before 

entering the path of your vehicle

• While making a right/left turn, 

when an oncoming vehicle turns 

right/left in front of your vehicle

• While steering into the direction of 

oncoming traffic

■

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 

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

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• When part of a detectable object 

is hidden by an object, such as 

large baggage, an umbrella, or 

guardrail

• When there are many things 

which can reflect the radio waves 

of the radar in the vicinity (tunnels, 

truss bridges, gravel roads, snow 

covered road that have tracks, 

etc.)

• When there is an effect on the 

radio waves to the radar that is 

installed on another vehicle

• 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

• 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 fuel cell system has 

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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

• When driving in a traffic lane sep-

arated by more than one lane 

where oncoming vehicles are driv-

ing while making a right/left turn

• When largely out of place with the 

opposite facing targeted oncom-

ing vehicle during a right/left turn

• While making a right/left turn, 

when a pedestrian approaches 

from behind or side of your vehicle

●

In addition to the above, in some 

situations, such as the following, 

the emergency steering assist 

may not operate.

• When the white (yellow) lane lines 

are difficult to see, such as when 

they are faint, diverging/merging, 

or a shadow is cast upon them

• When the lane is wider or nar-

rower than normal

• When there is a light and dark pat-

tern on the road surface, such as 

due to road repairs

• When the target is too close

• When there is insufficient safe or 

unobstructed space for the vehicle 

to be steered into

• If oncoming vehicle is present

• If VSC function is operating

●

In some situations such as the fol-

lowing, sufficient braking force or 

steering 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 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

• When the road surface has deep 

wheel tracks

• When driving on a hill road

• When driving on a road that has 

inclines to the left or right

■

If VSC is disabled

●

If VSC is disabled (



P.317), the 

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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.

While driving on a road with 
clear white (yellow) lane lines, 
the LTA system warns the driver 
if the vehicle may deviate from 
the current lane or course

*

, and 

also can slightly operate the 
steering wheel to help avoid 
deviation from the lane or 
course

*

. Also, while the dynamic 

radar cruise control with full-
speed range is operating, this 
system will operate the steering 
wheel to maintain the vehicle’s 
lane position.
The LTA system recognizes 
white (yellow) lane lines or a 
course

*

 using the front camera. 

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

LTA (Lane Tracing 

Assist)

Summary of functions

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WARNING

■

Before using LTA system

●

Do not rely solely upon the LTA 

system. The LTA system does 

not 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.

■

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.

●

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.

●

During emergency towing.

■

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.

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WARNING

●

When the follow-up cruising dis-

play is displayed (



P.229) 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.229) 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.229) 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.229) 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.

●

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.

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WARNING

●

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.

●

The traffic lane is excessively 

narrow or wide.

●

The vehicle is extremely tilted 

due to carrying heavy luggage 

or having improper tire pres-

sure.

●

The distance to the preceding 

vehicle is extremely short.

●

The vehicle is moving up and 

down a large amount due to 

road conditions during driving 

(poor roads or road seams).

●

When driving in a tunnel or at 

night with the headlights off or 

when a headlight is dim due to 

its lens being dirty or it being 

misaligned.

●

The vehicle is struck by a cross-

wind.

●

The vehicle is affected by wind 

from a vehicle driven in a 

nearby lane.

●

The vehicle has just changed 

lanes or crossed an intersec-

tion.

●

Tires which differ by structure, 

manufacturer, brand or tread 

pattern are used.

●

When tires of a size other than 

specified are installed.

●

Snow tires, etc., are equipped.

●

The vehicle is being driven at 

extremely high speeds.

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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 either a 
warning buzzer will sound or the 
steering wheel will vibrate to 
alert the driver.

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

*

: Boundary between asphalt and 

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

■

Steering assist function

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

*

, the sys-

tem provides assistance as nec-
essary by operating the steering 
wheel in small amounts for a 
short period of time to keep the 
vehicle in its lane.

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

Functions included in LTA 
system

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■

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

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Press the LTA switch to turn the 
LTA system on.

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

“LTA Turned ON Steering 
Assist Active”

LTA indicator

The illumination condition of the 
indicator informs the driver of the 
system operation status.
Illuminated in white: LTA system is 
operating.
Illuminated in green: Steering wheel 
assistance of the steering assist 
function or lane centering function 
is operating.
Flashing in orange: Lane departure 
alert function is operating.

Operation display of steering 
wheel operation support

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

Turning LTA system on

Indications on multi-infor-
mation display

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5-5. Using the driving support systems

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One outer side of the lane is dis-
played: Indicates that steering 
wheel assist of the steering assist 
function is operating.
Both outer sides of the lane are 
flashing: Alerts the driver that their 
input is necessary to stay in the 
center of the lane (lane centering 
function).

Follow-up cruising display

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

Lane departure alert function 
display

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



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

■

Operation conditions of each 

function

●

Lane departure alert function

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5

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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.233)

*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.
• 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.

●

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.500)

• 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.233)

●

Lane centering function

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

 of 

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



P.500)

• 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.233)

• 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.232)

• 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 

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5-5. Using the driving support systems

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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.230)

●

If the operation conditions 
(



P.230) are no longer met while 

the lane centering function is 
operating, the steering wheel may 
vibrate and the buzzer may sound 
to indicate that the function has 
been temporarily canceled. How-
ever, if the “Alert” customization 
setting is set to 

, the system 

will notify the driver by vibrating 
the steering wheel instead of 
sounding the buzzer.

■

Steering assist function/lane 

centering function

●

Depending on the vehicle speed, 

lane departure situation, road con-

ditions, etc., the driver may not 

feel the function is operating or 

the function may not operate at 

all.

●

The steering control of the func-

tion is overridden by the driver’s 

steering wheel operation.

●

Do not attempt to test the opera-

tion of the steering assist function.

■

Lane departure alert function

●

The warning buzzer may be diffi-

cult to hear due to external noise, 

audio playback, etc. Also, it may 

be difficult to feel steering wheel 

vibrations due to the road condi-

tions, etc.

●

If the edge of the course

*

 is not 

clear or straight, the lane depar-

ture alert function may not oper-

ate.

●

Vehicle with BSM: It may not be 

possible for the system to deter-

mine if there is a danger of a colli-

sion with a vehicle in an adjacent 

lane.

●

Do not attempt to test the opera-

tion of the lane departure alert 

function.

*

: Boundary between asphalt and 

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

■

Hands off steering wheel warn-

ing

In the following situations, a warning 

message urging the driver to hold 

the steering wheel and the symbol 

shown in the illustration are dis-

played on the multi-information dis-

play to warn the driver. The warning 

stops when the system determines 

that the driver holds the steering 

wheel. Always keep your hands on 

the steering wheel when using this 

system, regardless of warnings.

●

When the system determines the 

driver is not holding the steering 

wheel while the lane centering 

function is operating.

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

The buzzer also sounds even if the 
alert type is set to 

.

●

When the system determines that 

the vehicle may deviate from the 

lane while driving around a curve 

while the lane centering function is 

operating.

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Depending on the vehicle condition 
and road conditions, the warning 
may not operate. Also, if the system 
determines that the vehicle is driv-
ing around a curve, warnings will 
occur earlier than during straight-
lane driving.

●

When the system determines that 

the driver is driving without hold-

ing the steering wheel while the 

steering wheel assist of the steer-

ing assist function is operating.

If the driver continues to keep their 
hands off of the steering wheel and 
the steering wheel assist is operat-
ing, the buzzer sounds and the 
driver is warned. Each time the 
buzzer sounds, the continuing time 
of the buzzer becomes longer.

The buzzer also sounds even if the 
alert type is set to 

.

■

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.500)

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5-5. Using the driving support systems

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*

: If equipped

The RSA system recognizes 
specific road signs using the 
front camera and/or navigation 
system (when speed limit infor-
mation is available) to provide 
information to the driver via the 
display.

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



P.100)



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



P.100)

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

tion is necessary)

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

RSA (Road Sign 

Assist)

*

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 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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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

1

Press 

 or 

 of the meter 

control switches and select 

.

2

Press 

 or 

 of the meter 

control switches and select 
“

 RSA”, then press 

.

■

Automatic turn-off of RSA sign 

display

In the following situations, a dis-

played speed limit sign and/or do 

not enter sign will stop being dis-

played automatically:

●

No sign has been recognized for a 

certain distance.

●

The road changes due to a left or 

right turn, etc.

In the following situations, stop and 

yield signs will stop being displayed 

automatically:

●

The system determines that your 

vehicle has passed the sign.

●

The road changes due to a left or 

right turn, etc.

■

Conditions in which the func-

tion may not operate or detect 

correctly

In the following situations, RSA 

does not operate normally and may 

not recognize signs, display the 

incorrect sign, etc. However, this 

does not indicate a malfunction.

●

The front camera is misaligned 

due to a strong impact being 

applied to the sensor, etc.

●

Dirt, snow, stickers, etc., are on 

the windshield near the front cam-

era.

●

In inclement weather such as 

heavy rain, fog, snow or sand 

storms

Supported types of road 
signs

Speed limit

Do Not Enter

Stop

Yield

Notification function

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●

Light from an oncoming vehicle, 

the sun, etc., enters the front cam-

era.

●

The sign is dirty, faded, tilted or 

bent.

●

The contrast of electronic sign is 

low.

●

All or part of the sign is hidden by 

the leaves of a tree, a pole, etc.

●

The sign is only visible to the front 

camera for a short amount of time.

●

The driving scene (turning, lane 

change, etc.) is judged incorrectly.

●

If a sign not appropriate for the 

currently traveled lane, but the 

sign exists directly after a freeway 

branches, or in an adjacent lane 

just before merging.

●

Stickers are attached to the rear of 

the preceding vehicle.

●

A sign resembling a system com-

patible sign is recognized.

●

Side road speed signs may be 

detected and displayed (if posi-

tioned in sight of the front camera) 

while the vehicle is traveling on 

the main road.

●

Roundabout exit road speed signs 

may be detected and displayed (if 

positioned in sight of the front 

camera) while traveling on a 

roundabout.

●

The front of the vehicle is raised or 

lowered due to the carried load.

●

The surrounding brightness is not 

sufficient or changes suddenly.

●

When a sign intended for trucks, 

etc., is recognized.

●

The navigation system map data 

is outdated.

●

The navigation system is not oper-

ating.

●

The speed information displayed 

on the meter and on the naviga-

tion system may be different due 

to the navigation system using 

map data.

■

Speed limit sign display

If the power switch was last turned 

off while a speed limit sign was dis-

played on the multi-information dis-

play, the same sign displays again 

when the power 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.500)

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In vehicle-to-vehicle distance 
control mode, the vehicle auto-
matically accelerates, deceler-
ates and stops to match the 
speed changes of the preceding 
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 with full-speed range on 
freeways and highways.



Vehicle-to-vehicle distance 
control mode (



P.240)



Constant speed control mode 
(



P.245)

■

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

Summary of functions

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.247

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WARNING

• Conditions under which the 

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly: 



P.248

●

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.

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WARNING

●

Assisting the driver to operate 

the vehicle

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

■

Situations unsuitable for 

dynamic radar cruise control 

with full-speed range

Do not use dynamic radar cruise 

control with full-speed range in 

any of the following situations. 

Doing so may result in inappropri-

ate speed control and could 

cause an accident resulting in 

death or serious injury.

●

Roads where there are pedes-

trians, cyclists, etc.

●

In heavy traffic

●

On roads with sharp bends

●

On winding roads

●

On slippery roads, such as 

those covered with rain, ice or 

snow

●

On steep downhills, or where 

there are sudden changes 

between sharp up and down 

gradients

Vehicle speed may exceed the 

set speed when driving down a 

steep hill.

●

At entrances to freeways and 

highways

●

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

●

During emergency towing

●

When an approach warning 

buzzer is heard often

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

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

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 

Driving in vehicle-to-vehicle distance control mode

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control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) or more, the vehicle will accel-
erate to help to overtake a passing vehicle.
The system’s identification of what is an overtaking lane may be determined 
solely based on the location of the steering wheel in the vehicle (left side 
driver position versus right side driver position.) If the vehicle is driven to a 
region where the overtaking lane is on a different side from where the vehi-
cle is normally driven, the vehicle may accelerate when the turn signal lever 
is operated in the opposite direction to the overtaking lane (e.g., if the driver 
normally operates the vehicle in a region where the overtaking lane is to the 
right but then drives to a region where the overtaking lane is to the left, the 
vehicle may accelerate when the right turn signal is activated).

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

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

1

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.245)

“Radar Ready”

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 

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

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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 
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 (0.6mph)

*2

 each 

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

*1

 or 

1 km/h (0.6 mph)

*2

 increments for 

as long as the switch is held



Except for the U.S. mainland 
and Hawaii

Fine adjustment: By 1 mph (1.6 
km/h)

*1

 or 1 km/h (0.6mph)

*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.245), 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

Adjusting the set speed

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2

Press the “SET” switch

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

1

Long

2

Medium

3

Short

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

 will 

also be displayed.

Select a distance from the table 
below. Note that the distances 
shown correspond to a vehicle 
speed of 50 mph (80 km/h). 
Vehicle-to-vehicle distance 
increases/decreases in accor-
dance with vehicle speed. When 
the vehicle is stopped by system 

control, the vehicle stops at a 
certain vehicle-to-vehicle dis-
tance depending on the situa-
tion.

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.

“Push Cruise Control Switch 
or Press Accelerator to 

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

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

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 (vehicle-to-
vehicle distance control 
mode)

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Resume”

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.

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

While driving in vehicle-to-vehi-
cle distance control mode, this 
function will reduce the vehicle 
speed, if it is determined to be 
necessary.

■

Function operation

When the steering wheel begins 

Canceling and resuming 
the speed control

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

Curve speed reduction 
function

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to be turned, the vehicle speed 
will begin being reduced. When 
the steering wheel is returned to 
the center position, the vehicle 
speed reduction will end.
Depending on the situation, the 
vehicle speed will then return to 
the vehicle-to-vehicle distance 
control mode set speed.

In situations where vehicle-to-vehi-
cle distance control needs to oper-
ate, such as when a preceding 
vehicle cuts in front of your vehicle, 
the curve speed reduction function 
will be canceled.

■

Operation display

Displayed when the vehicle 
speed is being reduced.

When the vehicle speed reduction 
ends, the display will disappear.

■

Changing the settings of 
the curve speed reduction 
function

The curve speed reduction func-
tion can be enabled/disabled 
and the vehicle speed reduction 
strength can be adjusted.

1

Press 

 or 

 of the meter 

control switches and select 

.

2

Press 

 or 

 of the meter 

control switches and select 
“

 DRCC”, then press and 

hold 

.

3

Press 

 or 

 of the meter 

control switches and select 
“Curve Spd. Reduction”, then 
press 

.

The setting will change each time 

 meter control switch is pressed.

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 

Selecting constant speed 
control mode

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5-5. Using the driving support systems

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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]) 
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.242

Canceling and resuming the speed 

setting: 



P.244

■

Dynamic radar cruise control 

with full-speed range can be set 

when

●

The shift position is in D.

●

The desired set speed can be set 

when the vehicle speed is approx-

imately 20 mph (30 km/h) or more. 

(However, when the vehicle speed 

is set while driving at below 

approximately 20 mph [30 km/h], 

the set speed will be set to 

approximately 20 mph [30 km/h].)

■

Accelerating after setting the 

vehicle speed

The vehicle can accelerate by oper-

ating the accelerator pedal. After 

accelerating, the set speed 

resumes. However, during vehicle-

to-vehicle distance control mode, 

the vehicle speed may decrease 

below the set speed in order to 

maintain the distance to the preced-

ing vehicle.

■

When the vehicle stops while 

follow-up cruising

●

Pressing the “+RES” switch while 

the vehicle ahead stops will 

resume follow-up cruising if the 

vehicle ahead starts off within 

approximately 3 seconds after the 

switch is pressed.

●

If the vehicle ahead starts off 

within 3 seconds after your vehicle 

stops, follow-up cruising will be 

resumed.

■

Automatic cancelation of vehi-

cle-to-vehicle distance control 

mode

Vehicle-to-vehicle distance control 

mode is automatically canceled in 

the following situations.

●

VSC is activated.

●

TRAC is activated for a period of 

time.

●

When the VSC or TRAC system is 

turned off.

●

The sensor cannot detect cor-

rectly because it is covered in 

some way.

●

When the brake control or output 

restriction control of a driving sup-

port system operates. (For exam-

ple: Pre-Collision System, Drive-

Start Control)

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●

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.

●

When the Br mode is selected.

If vehicle-to-vehicle distance control 

mode is automatically canceled for 

any reasons other than the above, 

there may be a malfunction in the 

system. Contact your Toyota dealer.

■

Automatic cancelation of con-

stant speed control mode

Constant speed control mode is 

automatically canceled in the follow-

ing situations:

●

Actual vehicle speed is more than 

approximately 10 mph (16 km/h) 

below the set vehicle speed.

●

Actual vehicle speed falls below 

approximately 20 mph (30 km/h).

●

VSC is activated.

●

TRAC is activated for a period of 

time.

●

When the VSC or TRAC system is 

turned off.

●

When the brake control or output 

restriction control of a driving sup-

port system operates. (For exam-

ple: Pre-Collision System, Drive-

Start Control)

●

When the Br mode is selected.

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.

■

Situations in which the curve 

speed reduction function may 

not operate

In situations such as the following, 

the curve speed reduction function 

may not operate:

●

When the vehicle is being driven 

around a gentle curve

●

When the accelerator pedal is 

being depressed

●

When the vehicle is being driven 

around an extremely short curve

■

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.210, 453)

■

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.244) may not be activated.

●

Vehicles that cut in suddenly

●

Vehicles traveling at low speeds

●

Vehicles that are not moving in the 

same lane

●

Vehicles with small rear ends 

(trailers with no load on board, 

etc.)

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5-5. Using the driving support systems

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●

Motorcycles traveling in the same 

lane

●

When water or snow thrown up by 

the surrounding vehicles hinders 

the detecting of the sensor

●

When your vehicle is pointing 

upwards (caused by a heavy load 

in the luggage compartment, etc.)

●

Preceding vehicle has an 

extremely high ground clearance

■

Conditions under which the 

vehicle-to-vehicle distance con-

trol mode may not function cor-

rectly

In the case of the following condi-

tions, operate the brake pedal (or 

accelerator pedal, depending on the 

situation) as necessary.

As the sensor may not be able to 

correctly detect vehicles ahead, the 

system may not operate properly.

●

When the road curves or when the 

lanes are narrow

●

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

■

Situations in which the curve 

speed reduction function may 

not operate properly

In situations such as the following, 

the curve speed reduction function 

may not operate properly:

●

When the vehicle is being driven 

around a curve on an 

incline/decline

●

When the course of the vehicle 

differs from the shape of the curve

●

When the vehicle speed is exces-

sively high when entering a curve

●

When the steering wheel is sud-

denly operated

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*

: If equipped

Meter control switches

Turning the Blind Spot Monitor 
on/off.

Outside rear view mirror indi-
cators

When a vehicle is detected in a 
blind spot of the outside rear view 
mirrors or approaching rapidly from 
behind into a blind spot, the outside 
rear view mirror indicator on the 
detected side will illuminate. If the 
turn signal lever is operated toward 
the detected side, the outside rear 
view mirror indicator flashes.

■

Outside rear view mirror indica-

tor visibility

In strong sunlight, the outside rear 

view mirror indicator may be difficult 

to see.

■

When “Blind Spot Monitor 

Unavailable See Owner’s Man-

ual” is shown on the multi-

information display

Ice, snow, mud, etc., may be 

attached to the rear bumper around 

the sensors. (



P.250) The system 

should return to normal operation 

after removing the ice, snow, mud, 

etc., from the rear bumper. Addition-

ally, the sensors may not operate 

normally when driving in extremely 

hot or cold environments.

BSM (Blind Spot Moni-

tor)

*

The Blind Spot Monitor is a 
system that uses rear side 
radar sensors installed on 
the inner side of the rear 
bumper on the left and right 
side to assist the driver in 
confirming safety when 
changing lanes.

WARNING

■

Cautions regarding the use of 

the system

The driver is solely responsible for 

safe driving. Always drive safely, 

taking care to observe your sur-

roundings.
The Blind Spot Monitor is a sup-

plementary function which alerts 

the driver that a vehicle is in a 

blind spot of the outside rear view 

mirrors or is approaching rapidly 

from behind into a blind spot. Do 

not overly rely on the Blind Spot 

Monitor. As the function cannot 

judge if it is safe to change lanes, 

over reliance could lead to an 

accident resulting in death or seri-

ous injury.
As the system may not function 

correctly under certain condi-

tions, the driver’s own visual con-

firmation of safety is necessary.

System components

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■

When “Blind Spot Monitor Mal-

function Visit Your Dealer” is 

shown on the multi-information 

display

There may be a sensor malfunction 

of misaligned. Have the vehicle 

inspected by your Toyota dealer.

■

Customization

Some functions can be customized. 

(



P.500)

■

Certification



P.552

WARNING

■

To ensure the system can 

operate properly

Blind Spot Monitor sensors are 

installed behind the left and right 

sides of the rear bumper respec-

tively. Observe the following to 

ensure the Blind Spot Monitor can 

operate correctly.

●

Keep the sensors and the sur-

rounding areas on the rear 

bumper clean at all times.

If a sensor or its surrounding area 
on the rear bumper is dirty or cov-
ered with snow, the Blind Spot 
Monitor may not operate and a 
warning message (



P.249) will 

be displayed. In this situation, 
clear off the dirt or snow and drive 
the vehicle with the operation con-
ditions of the BSM function 
(



P.252) satisfied for approxi-

mately 10 minutes. If the warning 
message does not disappear, 
have the vehicle inspected by 
your Toyota dealer.

●

Do not attach accessories, 

stickers (including transparent 

stickers), aluminum tape, etc., 

to a sensor or its surrounding 

area on the rear bumper.

●

Do not subject a sensor or its 

surrounding area on the rear 

bumper to a strong impact.

If a sensor is moved even 

slightly off position, the system 

may malfunction and vehicles 

may not be detected correctly.

In the following situations, have 

your vehicle inspected by your 

Toyota dealer.

• A sensor or its surrounding area 

is subject to a strong impact.

• If the surrounding area of a sen-

sor is scratched or dented, or 

part of them has become dis-

connected.

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Use the meter control switches 
to turn on/off the function. 
(



P.100)

1

Press 

 or 

 to select 

.

2

Press 

 or 

 to select “

 

BSM” and then press 

.

When the BSM function is disabled, 

the BSM OFF indicator illuminates. 

(Each time the power switch is 

turned off then changed to ON, the 

Blind Spot Monitor will be enabled 

automatically.)

■

Vehicles that can be detected by the Blind Spot Monitor

The Blind Spot Monitor uses rear side radar sensors to detect the fol-
lowing vehicles traveling in adjacent lanes and advises the driver of 
the presence of such vehicles via the indicators on the outside rear 
view mirrors.

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

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

■

The Blind Spot Monitor detection areas

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

WARNING

●

Do not disassemble the sensor.

●

Do not modify the sensor or sur-

rounding area on the rear 

bumper.

●

If a sensor or the rear bumper 

needs to be removed/installed 

or replaced, contact your Toyota 

dealer.

●

Do not paint the rear bumper 

any color other than an official 

Toyota color.

Turning the Blind Spot 
Monitor on/off

Blind Spot Monitor operation

252

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The range of each detection area is:

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

*1

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

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

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

*2

*1

:The area between the side of the vehicle and 1.6 ft. (0.5 m) from the side 

of the vehicle cannot be detected.

*2

:The greater the difference in speed between your vehicle and the 

detected vehicle is, the farther away the vehicle will be detected, causing 
the outside rear view mirror indicator to illuminate or flash.

■

The Blind Spot Monitor is oper-

ational when

The Blind Spot Monitor is opera-

tional when all of the following con-

ditions are met:

●

The Blind Spot Monitor is on.

●

The shift position is in a position 

other than R.

●

The vehicle speed is greater than 

approximately 10 mph (16 km/h).

■

The Blind Spot Monitor will 

detect a vehicle when

The Blind Spot Monitor will detect a 

vehicle present in the detection area 

in the following situations:

●

A vehicle in an adjacent lane over-

takes your vehicle.

●

You overtake a vehicle in an adja-

cent lane slowly.

●

Another vehicle enters the detec-

tion area when it changes lanes.

■

Conditions under which the 

system will not detect a vehicle

The Blind Spot Monitor is not 

designed to detect the following 

types of vehicles and/or objects:

●

Small motorcycles, bicycles, 
pedestrians, etc.

*

●

Vehicles traveling in the opposite 

direction

●

Guardrails, walls, signs, parked 

vehicles and similar stationary 
objects

*

●

Following vehicles that are in the 
same lane

*

●

Vehicles traveling 2 lanes away 
from your vehicle

*

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●

Vehicles which are being over-
taken rapidly by your vehicle

*

*

: Depending on the conditions, 

detection of a vehicle and/or 
object may occur.

■

Conditions under which the 

system may not function cor-

rectly

●

The Blind Spot Monitor may not 

detect vehicles correctly in the fol-

lowing situations:

• When the sensor is misaligned 

due to a strong impact to the sen-

sor or its surrounding area

• When mud, snow, ice, a sticker, 

etc., is covering the sensor or sur-

rounding area on the rear bumper

• When driving on a road surface 

that is wet with standing water 

during bad weather, such as 

heavy rain, snow, or fog

• When multiple vehicles are 

approaching with only a small gap 

between each vehicle

• When the distance between your 

vehicle and a following vehicle is 

short

• When there is a significant differ-

ence in speed between your vehi-

cle and the vehicle that enters the 

detection area

• When the difference in speed 

between your vehicle and another 

vehicle is changing

• When a vehicle enters a detection 

area traveling at about the same 

speed as your vehicle

• As your vehicle starts from a stop, 

a vehicle remains in the detection 

area

• When driving up and down con-

secutive steep inclines, such as 

hills, dips in the road, etc.

• When driving on roads with sharp 

bends, consecutive curves, or 

uneven surfaces

• When vehicle lanes are wide, or 

when driving on the edge of a 

lane, and the vehicle in an adja-

cent lane is far away from your 

vehicle

• When an accessory (such as a 

bicycle carrier) is installed to the 

rear of the vehicle

• When there is a significant differ-

ence in height between your vehi-

cle and the vehicle that enters the 

detection area

• Immediately after the Blind Spot 

Monitor is turned on

●

Instances of the Blind Spot Moni-

tor unnecessarily detecting a vehi-

cle and/or object may increase in 

the following situations:

• When the sensor is misaligned 

due to a strong impact to the sen-

sor or its surrounding area

• When the distance between your 

vehicle and a guardrail, wall, etc., 

that enters the detection area is 

short

• When driving up and down con-

secutive steep inclines, such as 

hills, dips in the road, etc.

• When vehicle lanes are narrow, or 

when driving on the edge of a 

lane, and a vehicle traveling in a 

lane other than the adjacent lanes 

enters the detection area

• When driving on roads with sharp 

bends, consecutive curves, or 

uneven surfaces

• When the tires are slipping or 

spinning

• When the distance between your 

vehicle and a following vehicle is 

short

• When an accessory (such as a 

bicycle carrier) is installed to the 

rear of the vehicle

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*

: If equipped

■

Types of sensors

Front corner sensors

Front center sensors

Rear corner sensors

Rear center sensors

Front side sensors (vehicles 
with Advanced Park)

Rear side sensors (vehicles 
with Advanced Park)

■

Display

When the sensors detect an 
object, such as a wall, a graphic 
is shown on the multimedia dis-
play depending on the position 
and distance to the object. (As 
the distance to the object 
becomes short, the distance 
segments may blink.)



Multimedia display (vehicles 
without Advanced Park)



Multimedia display (vehicles 
with Advanced Park)

Front corner sensor detection

Front center sensor detection

Rear corner sensor detection

Rear center sensor detection

Front side sensors

Rear side sensors

Intuitive parking 

assist

*

The distance from your 
vehicle to objects, such as a 
wall, when parallel parking 
or maneuvering into a 
garage is measured by the 
sensors and communi-
cated via the multimedia 
display and a buzzer. 
Always check the surround-
ing area when using this 
system.

System components

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Use the meter control switches 
to enable/disable the intuitive 
parking assist. (



P.100)

1

Press 

 or 

 to select 

.

2

Press 

 or 

 to select 

 

and then press 

.

When the intuitive parking assist 

function is disabled, the intuitive 

parking assist OFF indicator 

(



P.95) illuminates.

To re-enable the system when it 
was disabled, select 

 on the 

multi-information display, select 

 and then On. If disabled using 

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

Turning intuitive parking 
assist on/off

WARNING

■

Cautions regarding the use of 

the system

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’ surroundings and 

driving safely.

■

To ensure the system can 

operate properly

Observe the following precau-

tions.
Failing to do so may result in the 

vehicle being unable to be driven 

safely and possibly cause an acci-

dent.

●

Do not damage the sensors, 

and always keep them clean.

●

Do not attach a sticker or install 

an electronic component, such 

as a backlit license plate (espe-

cially fluorescent type), fog 

lights, fender pole or wireless 

antenna near a radar sensor.

●

Do not subject the radar sensor 

or its surrounding area to a 

strong impact. If the radar sen-

sor, front grille, or front bumper 

has been subjected to a strong 

impact, have the vehicle 

inspected by your Toyota 

dealer. If a sensor or the rear 

bumper needs to be 

removed/installed or replaced, 

contact your Toyota dealer.

●

Do not modify, disassemble or 

paint the sensors.

●

Do not attach a license plate 

cover.

●

Keep your tires properly 

inflated.

■

When to disable the function

In the following situations, disable 

the function as it may operate 

even though there is no possibility 

of a collision.

●

Failing to observe the warnings 

above.

●

A non-genuine Toyota suspen-

sion (lowered suspension, etc.) 

is installed.

■

Notes when washing the vehi-

cle

Do not apply intensive bursts of 

water or steam to the sensor 

area.
Doing so may result in the sensor 

malfunctioning.

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■

The system can be operated 

when

●

The power switch is in ON.

●

Intuitive parking assist function is 

on.

●

The vehicle speed is less than 

about 6 mph (10 km/h).

●

A shift position other than P is 

selected.

■

If “Clean Parking Assist Sen-

sor” is displayed on the multi-

information display

A sensor may be covered with water 

drops, ice, snow, dirt, etc. Remove 

the water drops, ice, snow, dirt, etc., 

from the sensor to return the system 

to normal.
Also, due to ice forming on a sensor 

at low temperatures, a warning 

message may be displayed or the 

sensor may not be able to detect an 

object. Once the ice melts, the sys-

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

even if the sensor is clean, there 

may be a sensor malfunction. Have 

the vehicle inspected by your Toyota 

dealer.

■

If “Parking Assist Unavailable” 

is displayed on the multi-infor-

mation display

Water may be continuously flowing 

over the sensor surface, such as in 

a heavy rain. When the system 

determines that it is normal, the sys-

tem will return to normal.

■

Sensor detection information

●

The sensor’s detection areas are 

limited to the areas around the 

vehicle’ front and rear bumpers.

●

The following situations may occur 

during use.

• Depending on the shape of the 

object and other factors, the 

detection distance may shorten, or 

detection may be impossible.

• Detection may be impossible if 

static objects draw too close to the 

sensor.

• There will be a short delay 

between static object detection 

and display (warning buzzer 

sounds). Even at low speeds, 

there is a possibility that the object 

will come within 11.9 in. (30 cm) 

before the display is shown and 

the warning buzzer sounds.

• It might be difficult to hear the 

buzzer due to the volume of the 

audio system or air flow noise of 

the air conditioning system.

• It may be difficult to hear the 

sound of this system due to the 

buzzers of other systems.

■

Objects which the system may 

not be properly detected

The shape of the object may pre-

vent the sensor from detecting it. 

Pay particular attention to the follow-

ing objects:

WARNING

●

When using a high pressure 

washer to wash the vehicle, do 

not spray the sensors directly, 

as doing so may cause a sensor 

to malfunction.

●

When using steam to clean the 

vehicle, do not direct steam too 

close to the sensors as doing so 

may cause a sensor to malfunc-

tion.

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●

Wires, fences, ropes, etc.

●

Cotton, snow and other materials 

that absorb sound waves

●

Sharply-angled objects

●

Low objects

●

Tall objects with upper sections 

projecting outwards in the direc-

tion of your vehicle

■

Situations in which the system 

may not operate properly

Certain vehicle conditions and the 

surrounding environment may affect 

the ability of a sensor to correctly 

detect objects. Particular instances 

where this may occur are listed 

below.

●

There is dirt, snow, water drops or 

ice on a sensor. (Cleaning the 

sensors will resolve this problem.)

●

A sensor is frozen. (Thawing the 

area will resolve this problem.) 

In especially cold weather, if a 

sensor is frozen the sensor dis-

play may be displayed abnormally, 

or objects, such as a wall, may not 

be detected.

●

When a sensor or the area around 

a sensor is extremely hot or cold.

●

On an extremely bumpy road, on 

an incline, on gravel, or on grass.

●

When vehicle horns, vehicle 

detectors, motorcycle engines, air 

brakes of large vehicles, the clear-

ance sonar of other vehicles or 

other devices which produce ultra-

sonic waves are near the vehicle

●

A sensor is coated with a sheet of 

spray or heavy rain.

●

If objects draw too close to the 

sensor.

●

When a pedestrian is wearing 

clothing that does not reflect ultra-

sonic waves (ex. skirts with gath-

ers or frills).

●

When objects that are not perpen-

dicular to the ground, not perpen-

dicular to the vehicle traveling 

direction, uneven, or waving are in 

the detection range.

●

Strong wind is blowing

●

When driving in inclement weather 

such as fog, snow or a sandstorm

●

When an object that cannot be 

detected is between the vehicle 

and a detected object

●

If an object such as a vehicle, 

motorcycle, bicycle or pedestrian 

cuts in front of the vehicle or runs 

out from the side of the vehicle

●

If the orientation of a sensor has 

been changed due to a collision or 

other impact

●

When equipment that may 

obstruct a sensor is installed, such 

as a towing eyelet, bumper pro-

tector (an additional trim strip, 

etc.), bicycle carrier, or snow plow

●

If the front of the vehicle is raised 

or lowered due to the carried load

●

If the vehicle cannot be driven in a 

stable manner, such as when the 

vehicle has been in an accident or 

is malfunctioning

●

When a tire chains, compact 

spare tire or an emergency tire 

puncture repair kit is used

■

Situations in which the system 

may operate even if there is no 

possibility of a collision

In some situations, such as the fol-

lowing, the system may operate 

even though there is no possibility of 

a collision.

●

When driving on a narrow road

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●

When driving toward a banner, 

flag, low-hanging branch or boom 

barrier (such as those used at rail-

road crossings, toll gates and 

parking lots)

●

When there is a rut or hole in the 

surface of the road

●

When driving on a metal cover 

(grating), such as those used for 

drainage ditches

●

When driving up or down a steep 

slope

●

If a sensor is hit by a large amount 

of water, such as when driving on 

a flooded road

●

There is dirt, snow, water drops or 

ice on a sensor. (Cleaning the 

sensors will resolve this problem.)

●

A sensor is coated with a sheet of 

spray or heavy rain

●

When driving in inclement weather 

such as fog, snow or a sandstorm

●

When strong winds are blowing

●

When vehicle horns, vehicle 

detectors, motorcycle engines, air 

brakes of large vehicles, the clear-

ance sonar of other vehicles or 

other devices which produce ultra-

sonic waves are near the vehicle

●

If the front of the vehicle is raised 

or lowered due to the carried load

●

If the orientation of a sensor has 

been changed due to a collision or 

other impact

●

The vehicle is approaching a tall 

or curved curb

●

Driving close to columns (H-

shaped steel beams, etc.) in multi-

story parking garages, construc-

tion sites, etc.

●

If the vehicle cannot be driven in a 

stable manner, such as when the 

vehicle has been in an accident or 

is malfunctioning

●

On an extremely bumpy road, on 

an incline, on gravel, or on grass

●

When a tire chains, compact 

spare tire or an emergency tire 

puncture repair kit is used

■

Certification



P.553

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■

Detection range of the sen-
sors (vehicles without 
Advanced Park)

Approximately 3.3 ft. (100 
cm)

Approximately 4.9 ft. (150 
cm)

Approximately 2.0 ft. (60 cm)

The diagram shows the detection 
range of the sensors. Note that the 
sensors cannot detect objects that 
are extremely close to the vehicle.

The range of the sensors may 
change depending on the shape of 
the object, etc.

■

Detection range of the sen-
sors (vehicles with 
Advanced Park)

Approximately 6.6 ft. (200 
cm)

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

■

The distance and buzzer



Vehicles without Advanced Park

Sensor detection display, 
object distance

Approximate distance to obstacle

Buzzer

Front sensor:

3.3 ft. to 2.0 ft. (100 cm to 60 cm)

*

Rear sensor:

4.9 ft. to 2.0 ft. (150 cm to 60 cm)

*

Slow

2.0 ft. to 1.5 ft. (60 cm to 45 cm)

*

Medium

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*

: Automatic buzzer mute function is enabled. (



P.260)



Vehicles with Advanced Park

*

: Automatic buzzer mute function is enabled. (



P.260)

■

Buzzer operation and dis-
tance to an object

A buzzer sounds when the sen-
sors are operating.



The buzzer beeps faster as 
the vehicle approaches an 
object.

When the vehicle comes 
within approximately 1.0 ft. 
(30 cm) of the object, the 
buzzer sounds continuously.



When 2 or more sensors 
simultaneously detect a static 
object, the buzzer sounds for 

1.5 ft. to 1.0 ft. (45 cm to 30 cm)

*

Fast

1.0 ft. to 0.5 ft. (30 cm to 15 cm)

Continuous

Less than 0.5 ft. (15 cm)

Approximate distance to obstacle

Buzzer

Front center sensor:
6.6 ft. to 3.3 ft. (200 cm to100 cm)
Rear center sensor:
6.6 ft. to 4.9 ft. (200 cm to 150 cm)
Side sensor:
6.6 ft. to 4.1 ft. (200 cm to 125 cm)
Corner sensor:
6.6 ft. to 2.0 ft. (200 cm to 60 cm)

Does not sound (Display only)

Front center sensor:
3.3 ft. to 2.0 ft. (100 cm to 60cm)
Rear center sensor:
4.9 ft. to 2.0 ft. (150 cm to 60cm)
Side sensor:
4.1 ft. to 2.0ft. (125 cm to 60 cm)

Slow

2.0 ft. to 1.5 ft. (60 cm to 45 cm)

Medium

1.5 ft. to 1.0 ft. (45 cm to 30 cm)

Fast

Less than 1.0 ft. (30 cm)

Continuous

Approximate distance to obstacle

Buzzer

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the nearest object.



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

■

Adjusting the buzzer vol-
ume

The buzzer volume can be 
adjusted on the multi-informa-
tion display.
Use the meter control switches 
to change settings. (



P.100)

1

Press 

 or 

 of the meter 

control switch to select 

.

2

Press 

 or 

 of the meter 

control switch to select 

 

and then press and hold 

.

3

Select the volume and then 
press 

.

Each time the switch is pressed, 

the volume level will change 

between 1, 2, and 3.

■

Muting a buzzer

A mute button will be displayed 
on the multi-information display 
when an object is detected. To 
mute the buzzer, press 

.

The buzzers for the intuitive 
parking assist and RCTA func-
tion (if equipped) will be muted 
simultaneously.
Mute will be canceled automati-

cally in the following situations:



When the shift position is 
changed.



When the vehicle speed 
exceeds a certain speed.



When there is a malfunction 
in a sensor or the system is 
temporarily unavailable.



When the operating function 
is disabled manually.



When the power switch is 
turned off.

The object warning function 
informs the driver of the exis-
tence of objects along the side 
of the vehicle, using a display 
and buzzer, if the objects are 
within the estimated path of the 
vehicle.

Object

Calculated vehicle route

Object warning function 
(vehicles with Advanced 
Park)

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When the vehicle is moving, the side sensors or side cameras can 
detect objects. While the vehicle is moving, if a detected object can 
no longer be detected by the side sensors or side cameras, the loca-
tion of the object relative to the vehicle is estimated. If the object is 
determined to be in the estimated path of the vehicle, the object 
warning function will operate.

Object detected by side sensors or side cameras

1

The vehicle is stopped and objects along the sides of the vehicle 
are not detected.

2

Objects are detected as the vehicle is moving.

3

Even though the objects are outside of the detection area of the 
side sensors or side cameras, a warning is displayed and a 
buzzer sounds.

■

Object warning function operat-

ing conditions

●

The Advanced Park is operating.

●

The vehicle moves about 23.0 ft. 

(7 m) after the fuel cell system is 

started.

●

The R shift position is selected.

●

After the D shift position has been 

selected, the vehicle has moved 

23.0 ft. (7 m) or less.

●

Camera switch has been pressed 

and the panoramic view monitor 

screen is displayed.

●

The front or rear sensor detects a 

stationary object.

■

Detection of objects along the 

sides of the vehicle

●

Objects along the sides of the 

vehicle are not instantaneously 

detected. The location of objects 

in relation to the vehicle is esti-

mated after they are first detected 

by the front or rear side sensors, 

or side cameras. Therefore, after 

the power switch is changed to 

ON, even if an object is along the 

side of the vehicle, it may not be 

detected until the vehicle has 

been driven a small amount and 

the side sensors or side cameras 

completely scan the areas along 

the sides of the vehicle.

●

If a vehicle, person, animal, etc., is 

detected by a side sensors or side 

cameras, but then leaves the 

detection area of the side sensors 

or side cameras, the system will 

assume the object has not moved.

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: If equipped

WARNING

■

Object warning function

In situations such as the following, 

the function may not operate cor-

rectly, possibly leading to an acci-

dent. Proceed carefully.

●

When starting off shortly after 

the power switch is turned to 

ON and a small vehicle or other 

object which cannot be detected 

by a front side sensor is next to 

the vehicle.

In the situation shown in the fol-
lowing illustration, even if the 
vehicle starts off, the vehicle on 
the left will not be detected and 
the object warning function will 
not operate.

●

When an object or person is in a 

position which cannot be 

detected by the side sensors or 

side cameras.

●

When, after the side sensors 

have completed scanning the 

areas along the sides of the 

vehicle, a vehicle, person, or 

other object approaches the 

side of the vehicle and cannot 

be detected.

RCTA (Rear Cross Traf-

fic Alert)

*

The RCTA function uses the 
BSM rear side radar sen-
sors installed behind the 
rear bumper. This function 
is intended to assist the 
driver in checking areas 
that are not easily visible 
when backing up.

WARNING

■

Cautions regarding the use of 

the system

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. (



P.249)

■

To ensure the system can 

operate properly



P.250

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Meter control switches

Turning the RCTA function on/off.

Outside rear view mirror indi-
cators

When a vehicle approaching from 
the right or left at the rear of the 
vehicle is detected, both outside 
rear view mirror indicators will flash.

Multimedia display

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



P.265) for the detected side will 

be displayed on the multimedia dis-
play. This illustration shows an 
example of a vehicle approaching 
from both sides of the vehicle.

RCTA buzzer

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

The buzzer also sounds for approx-
imately 1 second immediately after 
the RCTA function is turned on.

Use the meter control switches 
to enable/disable the RCTA 
function. (



P.100)

1

Press 

 or 

 to select 

.

2

Press 

 or 

 to select 

“RCTA” and then press 

.

When the RCTA function is dis-

abled, the RCTA OFF indicator 

(



P.95) illuminates. (Each time the 

power switch is turned off then 

changed to ON, the RCTA function 

will be enabled automatically.)

■

Outside rear view mirror indica-

tor visibility

In strong sunlight, the outside rear 

view mirror indicator may be difficult 

to see.

■

Hearing the RCTA buzzer

The RCTA buzzer may be difficult to 

hear over loud noises, such as high 

audio volume.

■

When “Rear Cross Traffic Alert 

Unavailable” is shown on the 

multi-information display

The sensor voltage has become 

abnormal, or water, snow, mud, etc., 

may be built up in the vicinity of the 

sensor area of the rear bumper. 

(



P.250)

Removing the water, snow, mud, 

etc., from the vicinity of the sensor 

area should return it to normal. Also, 

the sensor may not function nor-

mally when used in extremely hot or 

cold weather.

System components

Turning the RCTA func-
tion on/off

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■

When “Rear Cross Traffic Alert 

Malfunction Visit Your Dealer” 

is shown on the multi-informa-

tion display

There may be a sensor malfunction 

or misaligned. Have the vehicle 

inspected at your Toyota dealer.

■

Radar sensors



P.250

■

Operation of the RCTA 
function

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

Approaching vehicles

Detection areas of approach-
ing vehicles

■

RCTA icon display

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

This illustration shows an exam-
ple of a vehicle approaching 
from both sides of the vehicle.

■

RCTA function detection 
areas

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

The buzzer can alert for faster 
vehicles approaching from far-
ther away.
Example:

RCTA function

Approach-

ing vehicle

Speed

 

Approxi-

mate alert 

distance

Fast

34 mph 

(56 km/h)

131 ft. (40 

m)

Slow

5 mph (8 

km/h)

18 ft. (5.5 

m)

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■

The RCTA function is opera-

tional when

The RCTA function operates when 

all of the following conditions are 

met:

●

The power switch is in ON.

●

The RCTA function is on.

●

The shift position is in R.

●

The vehicle speed is less than 

approximately 9 mph (15 km/h).

●

The approaching vehicle speed is 

between approximately 5 mph (8 

km/h) and 34 mph (56 km/h).

■

Adjusting the buzzer volume

The buzzer volume can be adjusted 

on the multi-information display.
Use the meter control switches to 

change settings. (



P.100)

1

Press 

 or 

 of the meter 

control switch to select 

.

2

Press 

 or 

 of the meter 

control switch to select “RCTA” 
and then press and hold 

.

3

Press 

 to select the volume.

Each time the switch is pressed, the 

volume level will change between 1, 

2, and 3.

■

Muting a buzzer temporarily

A mute button will be displayed on 
the multi-information display when a 
vehicles or an object is detected. To 
mute the buzzer, press 

. 

The buzzers for the RCTA function 
and intuitive parking assist will be 
muted simultaneously.
Mute will be canceled automatically 

in the following situations:

●

When the shift lever is changed.

●

When the vehicle speed exceeds 

a certain speed.

●

When there is a malfunction in a 

sensor or the system is temporar-

ily unavailable.

●

When the operating function is 

disabled manually.

●

When the power switch is turned 

off.

■

Conditions under which the 

system will not detect a vehicle

The RCTA function is not designed 

to detect the following types of vehi-

cles and/or objects:

●

Vehicles approaching from directly 

behind

●

Vehicles backing up in a parking 

space next to your vehicle

●

Vehicles that the sensors cannot 

detect due to obstructions

●

Guardrails, walls, signs, parked 

vehicles and similar stationary 
objects

*

●

Small motorcycles, bicycles, 
pedestrians, etc.

*

●

Vehicles moving away from your 

vehicle

●

Vehicles approaching from the 

parking spaces next to your vehi-
cle

*

●

The distance between the sensor 

and approaching vehicle gets too 

close

*

: Depending on the conditions, 

detection of a vehicle and/or 
object may occur.

■

Situations in which the system 

may not operate properly

The RCTA function may not detect 

vehicles correctly in the following 

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situations:

●

When the sensor is misaligned 

due to a strong impact to the sen-

sor or its surrounding area

●

When mud, snow, ice, a sticker, 

etc.,is covering the sensor or sur-

rounding area on the position 

above the rear bumper

●

When driving on a road surface 

that is wet with standing water 

during bad weather, such as 

heavy rain, snow, or fog

●

When multiple vehicles are 

approaching with only a small gap 

between each vehicle

●

When a vehicle is approaching at 

high speed

●

When equipment that may 

obstruct a sensor is installed, such 

as a towing eyelet, bumper pro-

tector (an additional trim strip, 

etc.), bicycle carrier, or snow plow

●

When backing up on a slope with 

a sharp change in grade

●

When backing out of a sharp 

angle parking spot

●

When towing a trailer

●

When there is a significant differ-

ence in height between your vehi-

cle and the vehicle that enters the 

detection area

●

When a sensor or the area around 

a sensor is extremely hot or cold

●

If the suspension has been modi-

fied or tires of a size other than 

specified are installed

●

If the front of the vehicle is raised 

or lowered due to the carried load

●

When turning while backing up

●

When a vehicle turns into the 

detection area

■

Situations in which the system 

may operate even if there is no 

possibility of a collision

Instances of the RCTA function 

unnecessary detecting a vehicle 

and/or object may increase in the 

following situations:

●

When the parking space faces a 

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street and vehicles are being 

driven on the street

●

When the distance between your 

vehicle and metal objects, such as 

a guardrail, wall, sigh, or parked 

vehicle, which may reflect electri-

cal waves toward the rear of the 

vehicle, is short

●

When equipment that may 

obstruct a sensor is installed, such 

as a towing eyelet, bumper pro-

tector (an additional trim strip, 

etc.), bicycle carrier, or snow plow

●

When a vehicle passes by the 

side of your vehicle

●

When a detected vehicle turns 

while approaching the vehicle

●

When there are spinning objects 

near your vehicle such as the fan 

of an air conditioning unit

●

When water is splashed or 

sprayed toward the rear bumper, 

such as from a sprinkler

●

Moving objects (flags, exhaust 

fumes, large rain droplets or 

snowflakes, rain water on the road 

surface, etc.)

●

When the distance between your 

vehicle and a guardrail, wall, etc., 

that enters the detection area is 

short

●

Gratings and gutters

●

When a sensor or the area around 

a sensor is extremely hot or cold

●

If the suspension has been modi-

fied or tires of a size other than 

specified are installed

●

If the front of the vehicle is raised 

or lowered due to the carried load

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Pedestrian detection icon

Displayed automatically when a 
pedestrian is detected.

RCD OFF icon

When the RCD function is disabled, 
the RCD OFF icon illuminates. 
(Each time the power switch is 
turned off then changed to ON, the 

RCD (Rear Camera 

Detection)

*

When the vehicle is backing 
up, the rear camera detec-
tion function can detect 
pedestrians in the detec-
tion area behind the vehicle. 
If a pedestrian is detected, a 
buzzer will sound and an 
icon will be displayed on 
the multimedia display to 
inform the driver of the 
pedestrian.

WARNING

■

Cautions regarding the use of 

the system

The recognition and control capa-

bilities for this system are limited.
The driver should always drive 

safely by always being responsi-

ble without over relying on the 

system and have a understanding 

of the surrounding situations.

■

To ensure the system can 

operate properly

Observe the following, otherwise 

there is the danger that could lead 

to an accident.

●

Always clean the camera with 

damaging it.

●

Do not install market electronic 

parts (such as Illuminated 

license plate, fog lamps, etc.) in 

the camera vicinity.

●

Do not subject the camera vicin-

ity to strong impacts. If the vicin-

ity is subjected to a strong 

impact, have the vehicle 

inspected at a Toyota dealer.

●

Do not disassemble, remodel or 

paint the camera.

●

Do not attach accessories or 

stickers to the camera.

●

Do not install market protection 

parts (bumper trim, etc.) to the 

rear bumper.

●

Maintain suitable tire air pres-

sure.

●

Make sure the trunk and back 

doors are completely closed.

■

RCD function is turned off

In the following situations the sys-

tem turns off. The RCD function 

may not operate properly and 

thus there is the danger that an 

accident may occur.

●

The contents mentioned above 

are not observed

●

Suspensions other than Toyota 

genuine parts are installed

Multimedia display