Toyota 4Runner (2023 year). Manual in english

241

4-5. Using the driving support systems

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WARNING

■

When to disable the pre-collision system

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

●

When the vehicle is being towed

●

When your vehicle is towing another vehicle

●

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

●

When the vehicle is raised on a lift with the engine running and the tires
are allowed to rotate freely

●

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

●

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

●

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

●

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

●

When the tires are not properly inflated

●

When the tires are very worn

●

When tires of a size other than specified are installed

●

When tire chains are installed

●

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

●

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

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4-5. Using the driving support systems

■

Enabling/disabling the pre-collision system

The pre-collision system can be enabled/disabled on

(



P. 96)

of the multi-information display.

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

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

■

Changing the pre-collision warning timing

The pre-collision warning timing can be changed on

(



P. 96) of

the multi-information display.

The operation timing setting is retained when the engine switch is
turned off.

Far

The warning will begin to oper-
ate earlier than with the default
timing.

Middle

This is the default setting.

Near

The warning will begin to oper-
ate later than with the default
timing.

Changing settings of the pre-collision system

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■

Operational conditions

The pre-collision system is enabled and the system determines that the pos-
sibility of a frontal collision with a vehicle or pedestrian is high.
Each function is operational at the following speeds:

●

Pre-collision warning:
• Vehicle speed is between approximately 7 and 110 mph (10 and 180

km/h). (For detecting a pedestrian, vehicle speed is between approxi-
mately 7 and 50 mph [10 and 80 km/h].)

• The relative speed between your vehicle and the vehicle or pedestrian

ahead is approximately 7 mph (10 km/h) or more.

●

Pre-collision brake assist:
• Vehicle speed is between approximately 20 and 110 mph (30 and 180

km/h). (For detecting a pedestrian, vehicle speed is between approxi-
mately 20 and 50 mph [30 and 80 km/h].)

• The relative speed between your vehicle and the vehicle or pedestrian

ahead is approximately 20 mph (30 km/h) or more.

●

Pre-collision braking:
• Vehicle speed is between approximately 7 and 110 mph (10 and 180

km/h). (For detecting a pedestrian, vehicle speed is between approxi-
mately 7 and 50 mph [10 and 80 km/h].)

• The relative speed between your vehicle and the vehicle or pedestrian

ahead is approximately 7 mph (10 km/h) or more.

The system may not operate in the following situations:

●

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

●

If the shift lever is in R

●

If VSC is disabled (only the pre-collision warning function will be opera-
tional)

●

If the low speed four-wheel drive indicator is illuminated (only the pre-colli-
sion warning function will be operational)

■

Pedestrian detection function

The pre-collision system detects pedestri-
ans based on the size, profile, and motion
of  a  detected  object.  However,  a  pedes-
trian  may  not  be  detected  depending  on
the  surrounding  brightness  and  the
motion,  posture,  and  angle  of  the
detected  object,  preventing  the  system
from operating properly. (



P. 248)

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4-5. Using the driving support systems

■

Cancelation of the pre-collision braking

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

●

The accelerator pedal is depressed strongly.

●

The steering wheel is turned sharply or abruptly.

■

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

●

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

• When rapidly closing on a vehicle ahead
• If the front of the vehicle is raised or lowered, such as when the road sur-

face is uneven or undulating

• When approaching objects on the roadside, such as guardrails, utility

poles, trees, or walls

• When overtaking a preceding vehicle

that is making a left/right turn

• When passing a vehicle in an oncom-

ing lane that is stopped to make a
right/left turn

• When driving on a road where relative

location to vehicle ahead in an adja-
cent lane may change, such as on a
winding road

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4-5. Using the driving support systems

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

tunnel or on an iron bridge

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

protrusion on the road surface or roadside

• When rapidly closing on an electric toll gate barrier, parking area barrier,

or other barrier that opens and closes

• When using an automatic car wash

• When there is a vehicle, pedestrian,

or object by the roadside at the
entrance of a curve

• When

crossing

pedestrian

approaches very close to the vehicle

• When passing through a place with a

low structure above the road (low ceil-
ing, traffic sign, etc.)

• When passing under an object (bill-

board, etc.) at the top of an uphill road

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4-5. Using the driving support systems

• When the vehicle is hit by water, snow, dust, etc. from a vehicle ahead
• When driving through steam or smoke
• When there are patterns or paint on the road or a wall that may be mis-

taken for a vehicle or pedestrian

• When driving near an object that reflects radio waves, such as a large

truck or guardrail

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

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

■

Situations in which the system may not operate properly

●

In some situations such as the following, a vehicle may not be detected by
the radar sensor and front camera, preventing the system from operating
properly:
• If an oncoming vehicle is approaching your vehicle
• If a vehicle ahead is a motorcycle or bicycle
• When approaching the side or front of a vehicle
• If a preceding vehicle has a small rear end, such as an unloaded truck

• If a vehicle ahead is carrying a load which protrudes past its rear bumper

• If a vehicle ahead is irregularly shaped, such as a tractor or side car
• If the sun or other light is shining directly on a vehicle ahead
• If a vehicle cuts in front of your vehicle or emerges from beside a vehicle

• When driving through or under

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

• If a preceding vehicle has a low rear

end, such as a low bed trailer

• If a vehicle ahead has extremely high

ground clearance

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4-5. Using the driving support systems

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• If a vehicle ahead makes an abrupt maneuver (such as sudden swerving,

acceleration or deceleration)

• When suddenly cutting behind a preceding vehicle

• When driving in inclement weather such as heavy rain, fog, snow or a

sandstorm

• When the vehicle is hit by water, snow, dust, etc. from a vehicle ahead
• When driving through steam or smoke
• When driving in a place where the surrounding brightness changes sud-

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

• When a very bright light, such as the sun or the headlights of oncoming

traffic, shines directly into the front camera

• When the surrounding area is dim, such as at dawn or dusk, or while at

night or in a tunnel

• After the engine has started the vehicle has not been driven for a certain

amount of time

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

right turn

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

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

• When a vehicle ahead is not directly

in front of your vehicle

• If the front of the vehicle is raised or

lowered

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4-5. Using the driving support systems

●

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

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

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

worn, improper tire inflation pressure, etc.)

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

face

●

Some pedestrians such as the following may not be detected by the radar
sensor and front camera, preventing the system from operating properly:
• Pedestrians shorter than approximately 3.2 ft. (1 m) or taller than approx-

imately 6.5 ft. (2 m)

• Pedestrians wearing oversized clothing (a rain coat, long skirt, etc.), mak-

ing their silhouette obscure

• Pedestrians who are carrying large baggage, holding an umbrella, etc.,

hiding part of their body

• Pedestrians who are bending forward or squatting
• Pedestrians who are pushing a stroller, wheelchair, bicycle or other vehi-

cle

• Groups of pedestrians which are close together
• Pedestrians who are wearing white and look extremely bright
• Pedestrians in the dark, such as at night or while in a tunnel
• Pedestrians whose clothing appears to be nearly the same color or

brightness as their surroundings

• Pedestrians near walls, fences, guardrails, or large objects
• Pedestrians who are on a metal object (manhole cover, steel plate, etc.)

on the road

• Pedestrians who are walking fast
• Pedestrians who are changing speed abruptly
• Pedestrians running out from behind a vehicle or a large object
• Pedestrians who are extremely close to the side of the vehicle (outside

rear view mirror, etc.)

■

If VSC is disabled

●

If VSC is disabled (



P. 324, 325), the pre-collision brake assist and pre-col-

lision braking functions are also disabled.

●

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

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4-5. Using the driving support systems

◆

Lane departure alert function

When  the  system  determines
that  the  vehicle  might  depart
from  its  lane,  a  warning  is  dis-
played  on  the  multi-information
display and the warning buzzer
sounds to alert the driver.

When  the  warning  buzzer
sounds,  check  the  surrounding
road  situation  and  carefully
operate  the  steering  wheel  to
move  the  vehicle  back  to  the
center of the lane.

◆

Vehicle sway warning function

When the vehicle is swaying or
appears as if it may depart from
its  lane  multiple  times,  the
warning  buzzer  sounds  and  a
message  is  displayed  on  the
multi-information display to alert
the driver.

Functions included in LDA system

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WARNING

■

Before using LDA system

Do not rely solely upon the LDA system. The LDA system does not auto-
matically drive the vehicle or reduce the amount of attention that must be
paid to the area in front of the vehicle. The driver must always assume full
responsibility for driving safely by paying careful attention to the surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigued, such as
from driving for a long period of time.
Failure to perform appropriate driving operations and pay careful attention
may lead to an accident, resulting in death or serious injury.

■

To avoid operating LDA system by mistake

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

■

Situations unsuitable for LDA system

Do not use the LDA system in the following situations.
The system may not operate properly and lead to an accident, resulting in
death or serious injury.

●

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

●

Objects or patterns that could be mistaken for white (yellow) lines are
present on the side of the road (guardrails, curbs, reflective poles, etc.).

●

Vehicle is driven on a snow-covered road.

●

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

●

Asphalt repair marks, white (yellow) line marks, etc. are present due to
road repair.

●

Vehicle is driven in a temporary lane or restricted lane due to construction
work.

●

Vehicle is driven in a construction zone.

■

Preventing LDA system malfunctions and operations performed by
mistake

●

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

●

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

●

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

●

If your windshield needs repairs, contact your Toyota dealer.

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4-5. Using the driving support systems

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The illustration used is intended as an example, and may differ from
the image that is actually displayed on the multi-information display.

LDA indicator
The illumination condition of the
indicator informs the driver of
the system operation status.

Illuminated in green:
LDA system is operating.
Flashing in Yellow:
Lane departure alert function is
operating.

Lane  departure  alert  function
display
Displayed when the multi-infor-
mation  display  is  switched  to
the  driving  assist  system  infor-
mation screen.

Indications on multi-information display



Inside of displayed white lines
is white



Inside of displayed white lines
is black

Indicates that the system is recog-
nizing  white  (yellow)  lines.  When
the  vehicle  departs  from  its  lane,
the  white  line  displayed  on  the
side  the  vehicle  departs  from
flashes yellow.

Indicates that the system is not
able to recognize white (yellow)
lines or is temporarily canceled.

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■

Operation conditions of each function

●

Lane departure alert function
This function operates when all of the following conditions are met.
• LDA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• System recognizes white (yellow) lines.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is driven on a straight road or around a gentle curve with a radius

of more than approximately 492 ft. (150 m).

• No system malfunctions are detected. (



P. 256)

●

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. 96)

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



P. 256)

■

Temporary cancellation of functions

When the operation conditions are no longer met, a function may be tempo-
rarily canceled. However, when the operation conditions are met again, oper-
ation of the function is automatically restored. (



P. 254)

■

Lane departure alert function

The warning buzzer may be difficult to hear due to external noise, audio play-
back, etc.

■

Vehicle sway warning function

Depending on the vehicle and road conditions, the warning may not operate.

■

White (yellow) lines are only on one side of road

The LDA system will not operate for the side on which white (yellow) lines
could not be recognized.

When  the  system  determines  that  the
vehicle is swaying while the vehicle sway
warning  function  is  operating,  a  buzzer
sounds  and  a  warning  message  urging
the driver to rest and  the  symbol shown
in the illustration are simultaneously dis-
played on the multi-information display.

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■

Conditions in which functions may not operate properly

In the following situations, the camera sensor may not detect white (yellow)
lines and various functions may not operate normally.

●

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

●

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

●

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

●

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

●

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

●

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

●

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

●

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

●

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

●

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

●

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

●

The vehicle is driven where the road diverges, merges, etc.

●

The vehicle is driven on a slope.

●

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

●

The vehicle is driven on an unpaved or rough road.

●

The vehicle is driven around a sharp curve.

●

The traffic lane is excessively narrow or wide.

●

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

●

The distance to the preceding vehicle is extremely short.

●

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

●

The headlight lenses are dirty and emit a faint amount of light at night, or the
beam axis has deviated.

●

The vehicle has just changed lanes or crossed an intersection.

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Warning message

If the following warning message is displayed on the multi-information display
and the LDA indicator illuminates in amber, follow the appropriate trouble-
shooting procedure.

If a different warning message is displayed, follow the instructions displayed
on the screen.

■

Customization

Some functions can be customized. (



P. 549)

Warning message

Details/Actions

“LDA Malfunction

Visit Your Dealer”

The system may not be operating
properly.



Have the vehicle inspected at your
Toyota dealer.

“Front Camera Unavailable”

The operation conditions of the cam-
era sensor (temperature, etc.) are not
met.



When  the  operation  conditions  of
the  camera  sensor  (temperature,
etc.)  are  met,  the  LDA  system  will
become  available.  Turn  the  LDA
system  off,  wait  for  a  little  while,
and then turn the LDA system back
on.

“LDA Unavailable”

The LDA system is temporarily can-
celed due to a malfunction in a sensor
other than the camera sensor.



Turn the LDA system off and follow
the  appropriate  troubleshooting
procedures  for  the  warning  mes-
sage.  Afterward,  wait  for  a  little
while,  and  then  turn  the  LDA  sys-
tem back on.

“LDA Unavailable Below

Approx 32MPH”

The LDA system cannot be used as
the vehicle speed is less than approxi-
mately 32 mph (50 km/h).



Drive the vehicle at approximately
32 mph (50 km/h) or more.

Toyota 4Runner (2023 year). Manual in english - page 15