Toyota Corolla Cross (2023 year). Manual in english - page 13

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



When the system is disabled,
the PCS warning light will illu-
minate and a message will be
displayed on the multi-infor-
mation display.



The pre-collision setting can
be changed on the customize
settings. (





When the pre-collision warn-
ing timing is changed, the
emergency steering assist

Changing the pre-colli-
sion setting

208

4-5. Using the driving support systems

timing will also be changed.
When “Later” is selected, the
emergency steering assist will
not operate in most cases.



When the dynamic radar
cruise control is operating, the
pre-collision warning will
operate at the “Earlier” timing,
regardless of the user setting.



When driving on a road with
clear lane lines with the
dynamic radar cruise control
operating, lane lines and pre-
ceding and surrounding vehi-
cles are detected using the
front camera and radar sen-
sor, and the steering wheel is
operated to maintain the vehi-
cle’s lane position.

Use this function only on highways
and expressways.
If the dynamic radar cruise control
is not operating, the function will not
operate.
In situations where the lane lines
are difficult to see or are not visible,
such as when in a traffic jam, sup-
port will be provided using the path
of preceding and surrounding vehi-
cles.
If the system determines that the
steering wheel has not been oper-
ated for a certain amount of time or
the steering wheel is not being
firmly gripped, the driver will be
alerted and this function will be
temporarily canceled.
If the steering wheel is firmly
gripped, the function will begin
operating again.

LTA (Lane Tracing

Assist)

LTA functions

209

4-5. Using the driving support systems

ing



When the function is operat-
ing, if the vehicle is likely to
depart from its lane, the driver
will be alerted via a display
and buzzer.

When the buzzer sounds, check
the area around the vehicle and
carefully operate the steering wheel
to move the vehicle back to the
center of the lane.

■

Operating conditions of func-

tion

This function is operable when all of

WARNING

■

Before using the LTA system

●

Do not overly rely on the LTA

system. The LTA system is not a

system which provides auto-

mated assistance in driving and

it is not a system which reduces

the amount of attention neces-

sary for safe driving. The driver

is solely responsible for paying

attention to their surroundings

and operating the steering

wheel as necessary to ensure

safety. Also, the driver is

responsible for taking adequate

breaks when fatigued, such as

when driving for a long time.

●

Failure to perform appropriate

driving operations and pay care-

ful attention may lead to an

accident.

●

When not using the LTA system,

turn it off using the LTA switch.

210

4-5. Using the driving support systems

the following conditions are met:

●

The LTA system detects lane lines

or the path of preceding or sur-

rounding vehicles.

●

The dynamic radar cruise control

is operating.

●

The lane width is approximately

10 to 13 ft. (3 to 4 m).

●

The turn signal lever is not being

operated.

●

The vehicle is not being driven

around a sharp curve.

●

The vehicle is not accelerating or

decelerating more than a certain

amount.

●

The steering wheel is not being

turned with a large force.

●

The hands off steering wheel

warning (



P.210) is not operat-

ing.

●

The vehicle is being driven in the

center of a lane.

■

Temporary cancelation of func-

tions

●

When the operating conditions are

no longer met, a function may be

temporarily canceled. However,

when the operation conditions are

met again, operation of the func-

tion will automatically be restored.

(

P.209)

●

If the operating conditions of a

function are no longer met while

the function is operating, a buzzer

may sound to indicate that the

function has been temporarily

canceled.

●

The steering assist operation of

the function can be overridden by

the steering wheel operation of

the driver.

■

Lane departure warning func-

tion when the LTA is operating

●

Even if the LDA warning method is

changed to vibration of the steer-

ing wheel, if the vehicle deviates

from the lane while the LTA is

operating, the warning buzzer will

sound to alert the driver.

●

If steering wheel operation equiv-

alent to that necessary for a lane

change is detected, the system

will determine the vehicle is not

deviating from the lane and the

warning will not operate.

■

Hands off steering wheel warn-

ing operation

●

When the system determines the

driver is not holding the steering

wheel, a message urging the

driver to grip the steering wheel

and the icon shown in the illustra-

tion will be displayed on the

multi-information display to warn

the driver. If the system detects

that the steering wheel is held, the

warning will be canceled. When

using the system, make sure to

grip the steering wheel firmly,

regardless of whether the warn-

ing is operating or not.

●

If no operations are detected for a

certain amount of time, the warn-

ing will operate and the function

will be temporarily canceled. This

warning may also operate if the

driver only operates steering

wheel a small amount continu-

ously.

■

Situations in which the hands

off steering wheel warning may

not operate properly

●

Depending on the condition of the

vehicle,handle control condition

and road surface, the warning

function may not operate.

211

4-5. Using the driving support systems

ing

The LTA will change between
ON/OFF each time the LTA
switch is pressed.

When the LTA is ON, the LTA indi-
cator will illuminate.

Enabling/disabling the
system

WARNING

■

Situations in which the func-

tions may not operate prop-

erly

In the following situations, the

functions may not operate prop-

erly and the vehicle may depart

from its lane. Do not overly rely on

these functions. The driver is

solely responsible for paying

attention to their surroundings

and operating the steering wheel

as necessary to ensure safety.

●

When a preceding or surround-

ing vehicle changes lanes (Your

vehicle may follow the preced-

ing or surrounding vehicle and

also change lanes)

●

When a preceding or surround-

ing vehicle is swaying (Your

vehicle may sway accordingly

and depart from the lane)

●

When a preceding or surround-

ing vehicle departs from a lane

(Your vehicle may follow the

preceding or surrounding vehi-

cle and also depart from the

lane)

●

When a preceding or surround-

ing vehicle is being driven

extremely close to the left/right

lane line (Your vehicle may fol-

low the preceding or surround-

ing vehicle accordingly and

depart from the lane)

●

When there are moving objects

or structures in the surrounding

area (Depending on the position

of the moving object or structure

relative to your vehicle, your

vehicle may sway)

●

When the vehicle is struck by a

crosswind or the turbulence of

other nearby vehicles

●

Situations in which the sensors

may not operate properly:



●

Situations in which the lane may

not be detected:



P.197

●

When it is necessary to disable

the system:



213

4-5. Using the driving support systems

ing

The LDA 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

The front camera is used to
detect lane lines or a course

: Boundary between the asphalt

and grass, soil, etc., or structures,
such as a curb, guardrail, etc.

■

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

Check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane or course

Vehicles with BSM: If the system
determines that the vehicle may
collide with a vehicle in an adjacent
lane, the lane departure alert will
operate even if the turn signals are
operating.

: Boundary between the asphalt

and grass, soil, etc., or structures,

such as a curb, guardrail, etc.

■

Lane departure prevention
function

If the system determines that
the vehicle is likely to depart
from its lane or course

, it pro-

vides assistance through steer-
ing wheel operations to help
avoid deviation from the lane or
course.

If the system determines that the
steering wheel has not been oper-
ated for a certain amount of time or
the steering wheel is not being
firmly gripped, a warning message
may be displayed and a warning
buzzer may sound to alert the
driver.
Vehicles with BSM: If the system
determines that the vehicle may
collide with a vehicle in an adjacent
lane, the lane departure prevention
function will operate even if the turn
signals are operating.

LDA (Lane Departure

Alert)

Basic functions

214

4-5. Using the driving support systems

: Boundary between the asphalt

and grass, soil, etc., or structures,
such as a curb, guardrail, etc.

■

Break suggestion function

If the vehicle is swaying, a mes-
sage will be displayed and a
buzzer will sound to urge the
driver to take a break.

■

Operating conditions of each

function

●

Lane departure alert/prevention

function

WARNING

■

Before using the LDA system

●

Do not overly rely on the LDA

system. The LDA system is a

system which provides auto-

mated assistance in driving.

However, as it is not a system

which reduces the amount of

attention necessary for safe

driving. The driver is solely

responsible for paying attention

to their surroundings and oper-

ating the steering wheel as nec-

essary to ensure safety. Also,

the driver is responsible for tak-

ing adequate breaks when

fatigued, such as when driving

for a long time.

●

Failure to perform appropriate

driving operations and pay care-

ful attention may lead to an

accident.

215

4-5. Using the driving support systems

ing

This function is operable when all of

the following conditions are met:

• The vehicle speed is approxi-

mately 30 mph (50 km/h) or more.

Operation may be possible when
the vehicle speed is approximately
25 mph (40 km/h) or more if vehi-
cles, motorcycles, bicycles, or
pedestrians are detected near the
lane.
• The system recognizes a lane or

course

. (When recognized on

only one side, the system will

operate only for the recognized

side.)

• The lane width is approximately

9.8 ft. (3 m) or more.

• The turn signal lever is not being

operated. (Vehicles with BSM:

Except when a vehicle is detected

in the direction that the turn signal

lever is operated.)

• The vehicle is not being driven

around a sharp curve.

• The vehicle is not accelerating or

decelerating more than a certain

amount.

• The steering wheel is not being

turned sufficiently to perform a

lane change.

: Boundary between the asphalt

and grass, soil, etc., or structures,
such as a curb, guardrail, etc.

■

Temporary cancellation of func-

tions

When the operating conditions are

no longer met, a function may be

temporarily canceled. However,

when the operation conditions are

met again, operation of the function

will automatically be restored.

(

P.214)

■

Operation of the lane departure

alert function/lane departure

prevention function

●

Depending on the vehicle speed,

road conditions, lane departure

angle, etc., operation of the lane

departure prevention function may

not be felt or the function may not

operate.

●

Depending on the conditions, the

warning buzzer may operate even

if vibration is selected through a

customize setting.

●

If a course

is not clear or straight,

the lane departure alert function or

lane departure prevention function

may not operate.

●

The lane departure alert function

or lane departure prevention func-

tion may not operate if the system

judges that the vehicle is inten-

tionally being steered to avoid a

pedestrian or parked vehicle.

●

Vehicles with BSM: It may not be

possible for the system to judge if

there is danger of a collision with a

vehicle in an adjacent lane.

●

The steering assist operation of

the lane departure prevention

function can be overridden by the

steering wheel operation of the

driver.

: Boundary between the asphalt

and grass, soil, etc., or structures,
such as a curb, guardrail, etc.

■

Hands off steering wheel warn-

ing operation

In the following situations, a mes-

sage urging the driver to operate the

steering wheel and an icon will be

displayed and a buzzer will sound to

warn the driver. When using the sys-

tem, make sure to grip the steering

wheel firmly, regardless of whether

the warning is operating or not.

●

When the system determines that

the driver is not securely holding

216

4-5. Using the driving support systems

the steering wheel, or the steering

wheel is not being operated when

the steering assist operation of the

lane departure prevention function

is operating

The length of time that the warning

buzzer operates will become longer

as the frequency of the steering

assist operating increases. If the

system judges that the steering

wheel has been operated, the warn-

ing buzzer will stop.

■

Break suggestion function

This function is operable when all of

the following conditions are met:

●

The vehicle speed is approxi-

mately 32 mph (50 km/h) or more.

●

The lane width is approximately

9.8 ft. (3 m) or more.

Depending on the condition of the

vehicle and road surface, the break

suggestion function may not oper-

ate.



The LDA system can be
enabled/disabled through a
customize setting. (





The settings of the LDA can
be changed on the customize
settings. (



The operating state of the lane departure alert function and steering
assist operation of the lane departure prevention function are indi-
cated.

Changing LDA settings

WARNING

■

Situations in which the sys-

tem may not operate properly

In the following situations, the

system may not operate properly

and the vehicle may depart from

its lane. Do not overly rely on

these functions. The driver is

solely responsible for paying

attention to their surroundings

and operating the steering wheel

as necessary to ensure safety.

●

When the boundary between

the asphalt and grass, soil, etc.,

or structures, such as a curb,

guardrail, etc. is not clear or

straight

●

When the vehicle is struck by a

crosswind or the turbulence of

other nearby vehicles

●

Situations in which the lane may

not be detected:



P.197

●

Situations in which the sensors

may not operate properly:



●

Situations in which some or all

of the functions of the system

cannot operate:

P.197

●

When it is necessary to disable

the system:



Displays and system operation

217

4-5. Using the driving support systems

ing

Indicator

Lane dis-

play

Steering

icon

Situation

Not illumi-

nated

Not illumi-

nated

Not illumi-

nated

System disabled

White

Grey

Not illumi-

nated

Lane lines are not detected by the
system

White

Not illumi-

nated

Lane lines are detected by the sys-
tem

Orange

Flashing

Orange

Flashing

Not illumi-

nated

Lane departure alert function is
operating for the side which the lane
display is flashing

Green

Lane departure prevention function
is operating for the side which the
lane display is illuminated

Orange

Flashing

Orange

Flashing

Green

Lane departure alert function/lane
departure prevention function is
operating for the side which the lane
display is flashing

218

4-5. Using the driving support systems

: If equipped



When the front camera

detects a sign or information
of a sign is available from the
navigation system, the sign
will be displayed on the dis-
play.



Multiple signs can be dis-
played.

Depending on the specifications of
the vehicle, the number of dis-
played signs may be limited.

■

Operating conditions of sign

display

Signs will be displayed when the fol-

lowing conditions are met:

●

The system has detected a sign

In the following situations, a dis-

played sign may stop being dis-

played:

●

When a new sign has not been

detected for a certain distance

●

When the system determines that

the road being driven on has

changed, such as after a left or

right turn

■

Situations in which the display

function may not operate prop-

erly

In the following situations, the RSA

system may not operate properly

and may not detect signs or may

display the incorrect sign. However,

this does not indicate a malfunction.

●

When a sign is dirty, faded, tilted

or bent

●

When the contrast of an electronic

sign is low

●

When all or part of a sign is hidden

by a tree, utility pole, etc.

●

When a sign is detected by the

front camera for a short amount of

time

●

When the driving state (turning,

changing lanes, etc.) is judged

incorrectly

RSA (Road Sign

Assist)

The RSA system detects
specific road signs using
the front camera and/or nav-
igation system (when speed
limit information is avail-
able) and warns the driver
via displays and buzzers.

WARNING

■

For safe use

●

Driving safely is solely the

responsibility of the driver. Pay

careful attention to the sur-

rounding conditions in order to

ensure safe driving.

●

Do not rely solely upon the

RSA. The RSA assists the

driver by providing road sign

information, but it is not a

replacement for the driver’s own

vision and awareness. Driving

safely is solely the responsibility

of the driver. Pay careful atten-

tion to the surrounding condi-

tions in order to ensure safe

driving.

■

Situations in which the RSA

should not be used

●

When it is necessary to disable

the system:

■

Situations in which the sys-

tem may not operate properly

●

Situations in which the sensors

may not operate properly:

Display Function

219

4-5. Using the driving support systems

ing

●

When a sign is immediately after a

freeway junction or in an adjacent

lane just before merging

●

When stickers are attached to the

rear of a preceding vehicle

●

When a sign similar to a system

compatible sign is detected as a

system compatible sign

●

When a speed limit sign for a

frontage road is within detection

range of the front camera

●

When driving around a round-

about

●

When a sign intended for trucks,

etc. is detected

●

When the navigation system map

data is out of date

●

When the navigation system can-

not be used

In this case, the speed limit signs

displayed on the multi-information

display and navigation system dis-

play may differ.

In the following situations, the
RSA system will output a warn-
ing to notify the driver.



If the vehicle speed exceeds
the speed warning threshold
of the speed limit sign dis-
played on the display, the sign
display will be emphasized
and a buzzer will sound.



When the RSA system
detects a do not enter sign
and determines that the vehi-
cle has entered a no-entry
area, the do not enter sign
displayed on the display will
flash and a buzzer will sound.

■

Operating conditions of the

notification functions

●

Excess speed notification function

This function will operate when the

following condition is met:

• A speed limit road sign is recog-

nized by the system.

●

No entry notification function

This function will operate when all of

the following conditions are met:

• More than one no entry road signs

are recognized by the system

simultaneously.

• The vehicle is passing between no

entry road signs recognized by the

system.



The following types of road
signs can be displayed.

However, non-standard or recently
introduced traffic signs may not be
displayed.

Notification function

Types of road signs sup-
ported

Speed limit

Do Not Enter

No U-turn

No Turn On Red

220

4-5. Using the driving support systems



Depending on the specifica-
tions of the vehicle, signs may
be displayed overlapping.

The following settings of the
RSA can be changed through
customize settings. (



Stop

Yield

Warning

(U.S.A.)

(Canada)

Duplicate display
example

Changing RSA settings

Dynamic radar cruise

control

This dynamic radar cruise
control detects the pres-
ence of vehicles ahead,
determines the current vehi-
cle-to-vehicle distance, and
operates to maintain a suit-
able distance from the vehi-
cle ahead. The desired
vehicle-to-vehicle distance
can be set by operating the
vehicle-to-vehicle distance
switch.

Use the dynamic radar
cruise control only on high-
ways and expressways.

WARNING

■

For safe use

●

Driving safely is solely the

responsibility of the driver. Do

not overly rely on this system,

and pay careful attention to the

surrounding conditions in order

to ensure safe driving.

●

The dynamic radar cruise con-

trol provides driving assistance

to reduce the driver’s burden.

However, there are limitations to

the assistance provided.

Read the following items carefully.

Do not overly rely on this system

and always drive carefully.

Conditions under which the sys-

tem may not operate correctly:

P.226

221

4-5. Using the driving support systems

ing

WARNING

●

Set the speed appropriately

according to the speed limit,

traffic flow, road conditions,

weather conditions, etc. The

driver is responsible for confirm-

ing the set speed.

●

Even if the system is operating

correctly, the condition of a pre-

ceding vehicle as recognized by

the driver and detected by the

system may differ. Therefore, it

is necessary for the driver to

pay attention, assess risks, and

ensure safety. Over-reliance on

this system to drive the vehicle

safely may lead to an accident

resulting in death or serious

injury.

■

Precautions for the driving

assist systems

Observe the following precau-

tions, as there are limitations to

the assistance provided by the

system. Over-reliance on this sys-

tem may lead to an accident

resulting in death or serious injury.

●

Details of support provided for

the driver’s vision

The dynamic radar cruise control

is only intended to help the driver

in determining the distance

between the driver’s own vehicle

and a designated preceding vehi-

cle. It is not a system which allows

for careless or inattentive driving,

and is not a system which assists

in poor visibility conditions.

The driver must pay attention to

their surroundings, even when the

vehicle stops.

●

Details of support provided for

the driver’s judgement

The dynamic radar cruise control

determines whether the distance

between the driver’s own vehicle

and a designated preceding vehi-

cle 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.

●

Details of support provided for

the driver’s operation

The dynamic radar cruise control

does not include functions which

will prevent or avoid collisions

with vehicles ahead of your vehi-

cle. 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

safety.

■

Situations in which the

dynamic radar cruise control

should not be used

Do not use the dynamic radar

cruise control in the following situ-

ations. As the system will not be

able to provide appropriate con-

trol, using it may lead to an acci-

dent resulting in death or serious

injury.

●

Roads where there are pedes-

trians, cyclists, etc.

●

When driving on a highway or

expressway entrance or exit

●

When the approach warning

sounds frequently

●

Situations in which the sensors

may not operate properly:



●

Situations in which the lane may

not be detected: