Content .. 12 13 14 15 ..

Toyota Mirai (2022 year). Manual in english - page 14

227

5-5. Using the driving support systems

ing

■

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

228

5-5. Using the driving support systems

■

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.

229

5-5. Using the driving support systems

ing

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

230

5-5. Using the driving support systems

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

231

5-5. Using the driving support systems

ing

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

• Vehicle speed is approximately 32

mph (50 km/h) or more.

• System recognizes white (yellow)

lane lines or a course

. (When a

white [yellow] line or course

recognized on only one side, the

system will operate only for the

recognized side.)

• Width of traffic lane is approxi-

mately 9.8 ft. (3 m) or more.

• Turn signal lever is not operated.

(Vehicle with BSM: Except when

another vehicle is in the lane on

the side where the turn signal was

operated)

• Vehicle is not being driven around

a sharp curve.

• No system malfunctions are

detected. (



P.233)

:The function operates even if the

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

:Boundary between asphalt and

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

●

Steering assist function

This function operates when all of
the following conditions are met in
addition to the operation conditions
for the lane departure alert function.
• 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.498)

• 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

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



P.498)

• 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

232

5-5. Using the driving support systems

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.

233

5-5. Using the driving support systems

ing

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.498)

234

5-5. Using the driving support systems

: 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

235

5-5. Using the driving support systems

ing

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

Press

of the meter

control switches and select

Press

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

236

5-5. Using the driving support systems

●

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.498)

237

5-5. Using the driving support systems

ing

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

238

5-5. Using the driving support systems

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.

239

5-5. Using the driving support systems

ing

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

240

5-5. Using the driving support systems

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

241

5-5. Using the driving support systems

ing

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.

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”

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)

242

5-5. Using the driving support systems

set speed.

■

Adjusting the set speed by
the switch

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

Increases the speed (Except
when the vehicle has been
stopped by system control in
vehicle-to-vehicle distance
control mode)

Decreases the speed

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

In the vehicle-to-vehicle dis-
tance control mode, the set

speed will be increased or
decreased as follows:



For the U.S. mainland, Hawaii

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

or 1 km/h (0.6mph)

each

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

1 km/h (0.6 mph)

increments for

as long as the switch is held



Except for the U.S. mainland
and Hawaii

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

or 1 km/h (0.6mph)

each

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

or 5

km/h (3.1 mph)

increments for as

long as the switch is held

In the constant speed control
mode (



P.245), the set speed

will be increased or decreased
as follows:

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

or 1 km/h (0.6 mph)

each

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

:When the set speed is shown in

“MPH”

:When the set speed is shown in

“km/h”

■

Increasing the set speed by
the accelerator pedal

Accelerate with accelerator
pedal operation to the
desired vehicle speed

Adjusting the set speed

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