Toyota Corolla Cross (2023 year). Manual in english - page 14

222

4-5. Using the driving support systems

Constant speed cruising:
When there are no vehicles ahead

The vehicle drives at the speed set by the driver.
If the set vehicle speed is exceeded while driving down a hill, the set vehicle 
speed display will blink and a buzzer will sound.

Deceleration and follow-up cruising:
When a preceding vehicle driving slower than the set vehicle 
speed is detected

When a vehicle is detected driving ahead of your vehicle, the vehicle auto-
matically decelerates and if a greater reduction in vehicle speed is neces-
sary, the brakes are applied (the stop lights will come on at this time). The 
vehicle is controlled to maintain the vehicle-to-vehicle distance set by the 
driver, in accordance with changes in the speed of the preceding vehicle. If 
vehicle deceleration is not sufficient and the vehicle approaches the vehicle 
ahead, the approach warning will sound.

Acceleration:
When there are no longer any preceding vehicles driving slower 
than the set vehicle speed

The vehicle accelerates until the set vehicle speed is reached and then 
resumes constant speed cruising.

Starting off:
If a preceding vehicle stops, the vehicle will also stop (controlled 
stop). After the preceding vehicle starts off, pressing the “RES” 
switch or depressing the accelerator pedal will resume follow-up 
cruising (start off operation). If a start off operation is not per-

Basic functions

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4-5. Using the driving support systems

4

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formed, the controlled stop will continue.

■

Meter display

Multi-information display
Set vehicle speed
Indicators

■

Switches

Driving assist mode select 
switch
Driving assist switch
“+” switch / “RES” switch
“-” switch
Cancel switch
Vehicle-to-vehicle distance 
switch

1

Press the driving assist mode 
select switch to select 
dynamic radar cruise control.

The dynamic radar cruise control 

indicator will illuminate.

2

Using the accelerator pedal, 
accelerate or decelerate to 
the desired vehicle speed 
(approximately 20 mph [30 
km/h] or more), and press the 
driving assist switch to set 
the set vehicle speed.

The set vehicle speed will be dis-

played on the multi-information dis-

play.
The vehicle speed at the moment 

the switch is released will be the set 

System Components

Using the dynamic radar 
cruise control

Setting the vehicle speed

224

4-5. Using the driving support systems

vehicle speed.



Adjusting the set vehicle 
speed using the switches

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

1

Increase set vehicle speed

2

Decrease set vehicle speed

Short press adjustment: Press the 
switch
Long press adjustment: Press and 
hold the switch until the desired set 
vehicle speed is reached.

The set vehicle speed will 
increase or decrease as follows:



For the U.S.A.

Short press adjustment: Increases 

or decreases by 1 mph (1.6 km/h) 
each time the switch is pressed
Long press adjustment: Increases 
or decreases in 1 mph (1.6 km/h) 
increments continuously while the 
switch is pressed and held



For Canada

Short press adjustment: By 1 km/h 
(0.6 mph) or 1 mph (1.6 km/h) each 
time the switch is pressed
Long press adjustment: Increases 
or decreases in 5 km/h (3.1 mph) or 
5 mph (8 km/h) increments continu-
ously while the switch is pressed 
and held



Increasing the set vehicle 
speed using the accelerator 
pedal

1

Depress the accelerator 
pedal to accelerate the vehi-
cle to the desired vehicle 
speed.

2

Press the “+” switch.

1

Press the cancel switch or 
driving assist switch to cancel 
control.

Control will also be canceled if the 

Adjusting the set vehicle 
speed

Canceling/resuming con-
trol

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4-5. Using the driving support systems

4

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brake pedal is depressed.
(If the vehicle has been stopped by 

system control, depressing the 

brake pedal will not cancel control.)

2

Press the “RES” switch to 
resume control.

Each time the switch is pressed, the vehicle-to-vehicle distance set-
ting will change as follows:

If a preceding vehicle is detected, the preceding vehicle mark will be dis-
played.

The actual vehicle-to-vehicle distance varies in accordance with the vehicle 
speed. Also, when the vehicle is stopped by system control, it will be 
stopped at a certain distance from the preceding vehicle, depending on the 
situation, regardless of the setting.

■

Operating conditions

●

The shift lever is in D.

●

The desired set speed can be set 

when the vehicle speed is approx-

imately 20 mph (30 km/h) or more.

• If the vehicle speed is set while 

driving at below approximately 20 

mph (30 km/h), the set vehicle 

speed will be approximately 20 

mph (30 km/h).

• If the vehicle speed is set while 

driving at a speed that exceeds 

the system’s upper limit, the set 

vehicle speed will be the system’s 

upper limit.

■

Accelerating after setting the 

vehicle speed

As with normal driving, acceleration 

can be performed by depressing the 

accelerator pedal. After accelerat-

ing, the vehicle will return to the set 

Changing the vehicle-to-vehicle distance

Illustration 

Number

Vehicle-to-vehicle 

distance

Approximate Distance (Vehicle 

Speed: 60 mph [100 km/h])

1

Short

Approximately 85 ft. (25 m)

2

Medium

Approximately 100 ft. (30 m)

3

Long

Approximately 145 ft. (45 m)

4

Extra long

Approximately 200 ft. (60 m)

226

4-5. Using the driving support systems

vehicle speed. However, while in 

vehicle-to-vehicle distance control 

mode, the vehicle speed may 

decrease to below the set vehicle 

speed in order to maintain the dis-

tance from the preceding vehicle.

■

When the vehicle is stopped by 

system control during follow-up 

cruising

●

When the “+RES” switch is 

pressed while the vehicle is 

stopped by system control, if the 

preceding vehicle starts off within 

approximately 3 seconds, fol-

low-up cruising will resume.

●

If the preceding vehicle starts off 

within approximately 3 seconds of 

the vehicle being stopped by sys-

tem control, follow-up cruising will 

resume.

■

Automatic cancellation of vehi-

cle-to-vehicle distance control 

mode

In the following situations, vehi-

cle-to-vehicle distance control mode 

will be canceled automatically:

●

When the brake control or output 

restriction control of a driving sup-

port system operates

(For example: Pre-Collision Sys-

tem, drive-start control)

●

When the parking brake has been 

operated

●

When the vehicle is stopped by 

system control on a steep incline

●

When any of the following are 

detected while the vehicle is 

stopped by system control:

• The driver’s seat belt is unfas-

tened

• The driver’s door is opened

• Approximately 3 minutes have 

elapsed since the vehicle was 

stopped

The parking brake may be actived 

automatically.

●

Situations in which some or all of 

the functions of the system cannot 

operate: 



P.197

■

Dynamic radar cruise control 

system warning messages and 

buzzers

For safe use: 



P.192

■

Preceding vehicles that the sen-

sor may not detect correctly

In the following situations, depend-

ing on the conditions, if the system 

cannot provide sufficient decelera-

tion or acceleration is necessary, 

operate the brake pedal or accelera-

tor pedal.
As the sensor may not be able to 

correctly detect these types of vehi-

cles, the approach warning 

(



P.226) may not operate.

●

When a vehicle cuts in front of 

your vehicle or changes lanes 

away from your vehicle extremely 

slowly or quickly

●

When changing lanes

●

When a preceding vehicle is driv-

ing at a low speed

●

When a vehicle is stopped in the 

same lane as the vehicle

●

When a motorcycle is traveling in 

the same lane as the vehicle

■

Conditions under which the 

system may not operate cor-

rectly

In the following situations, operate 

the brake pedal (or accelerator 

pedal, depending on the situation) 

as necessary.
As the sensor may not be able to 

correctly detect a vehicle, the sys-

tem may not operate properly.

●

When a preceding vehicle brakes 

suddenly

●

When changing lanes at low 

speeds, such as in a traffic jam

In situations where the vehicle 
approaches a preceding vehicle 

Approach warning

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4-5. Using the driving support systems

4

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and the system cannot provide 
sufficient deceleration, such as 
if a vehicle cuts in front of the 
vehicle, a warning display will 
flash and a buzzer will sound to 
alert the driver. Depress the 
brake pedal to ensure appropri-
ate vehicle-to-vehicle distance.

■

Warnings may not occur 
when

In the following situations, the 
warning may not operate even 
though the vehicle-to-vehicle 
distance is short.



When the preceding vehicle is 
traveling at the same speed 
or faster than your vehicle



When the preceding vehicle is 
traveling at an extremely low 
speed



Immediately after the vehicle 
speed has been set



When the accelerator pedal is 
depressed

When a curve is detected, the 
vehicle speed will begin being 
reduced. When the curve ends, 
the vehicle speed reduction will 
end.

Depending on the situation, the 
vehicle speed will then return to the 
set vehicle 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.

■

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

If your vehicle is being driven at 
approximately 50 mph (80 km/h) 
or more and a lane change to 
the passing lane is performed, 
when the turn signal lever is 
operated and the lane is 
changed, the vehicle will accel-
erate up to the set speed to 
assist in overtaking.

The system’s recognition of which 
lane is the passing lane may be 
based solely on the location of the 
steering wheel in the vehicle 
(left-hand drive/right-hand drive). If 

Curve speed reduction 
function

Support for lane change

228

4-5. Using the driving support systems

the vehicle is driven in a location 
where the passing lane is on the 
opposite side of that where the 
vehicle was originally sold, the 
vehicle may accelerate when the 
turn signal lever is operated away 
from the passing lane. (e.g. The 
vehicle was manufactured for a 
right-hand traffic location, but is 
being driven in a left-hand traffic 
location. The vehicle may acceler-
ate when the turn signal lever is 
operated to the right.)
If your vehicle is being driven at 
approximately 50 mph (80 km/h) or 

more and the lane is changed to 
that with a vehicle traveling slower 
than your vehicle, when the turn 
signal lever is operated the vehicle 
will gradually decelerate to assist in 
changing lanes.



The settings of Dynamic radar 
cruise control can be changed 
through customize settings. 
(



P.449)

The operating state of Dynamic radar cruise control is indicated.

Changing Dynamic radar 
cruise control settings

Display and system operation state

Indicator

Multi-information display

Situation

White

Vehi-

cle-to-vehi-

cle distance 

setting: Gray

Dynamic 

radar cruise 

control being 

OFF

Green

Vehi-

cle-to-vehi-

cle distance 

setting: Blue

Set vehicle 

speed: 

Green

Constant 

speed cruis-

ing

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Green

Vehi-

cle-to-vehi-

cle distance 

setting: Blue

Set vehicle 

speed: 

Green

Preceding 

vehicle: 

White

Follow-up 

cruising

Green

Vehi-

cle-to-vehi-

cle distance 

setting: 

Orange 

flashing

Set vehicle 

speed: 

Green

Preceding 

vehicle: 

Orange 

flashing

Approach 

warning

Green

Vehi-

cle-to-vehi-

cle distance 

setting: Gray

Set vehicle 

speed: 

White

Preceding 

vehicle: 

Gray

Accelerat-

ing with the 

accelerator 

pedal

Indicator

Multi-information display

Situation

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4-5. Using the driving support systems

Green

Set vehicle 

speed: 

Green in 

reverse dis-

play

Set vehicle 

speed being 

exceeded

Green

Vehi-

cle-to-vehi-

cle distance 

setting: Gray

Set vehicle 

speed: 

White

Preceding 

vehicle: 

Gray

Vehicle in 
controlled 

stop

Indicator

Multi-information display

Situation

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■

Meter display

Set vehicle speed
Cruise control indicator

■

Switches

Driving assist mode select 
switch
Driving assist switch
“+” switch / “RES” switch
“-” switch
Cancel switch

Cruise control

The vehicle can be driven at 
a set speed even if the 
accelerator pedal is not 
depressed.

Use the cruise control only 
on highways and express-
ways.

WARNING

■

For safe use

●

Driving safely is solely the 

responsibility of the driver. 

Therefore, do not overly rely on 

this system. The driver is solely 

responsible for paying attention 

to the vehicle’s surroundings 

and driving safely.

●

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.

■

Situations in which cruise 

control should not be used

Do not use the cruise control in 

the following situations. As the 

system will not be able to provide 

appropriate control, using it may 

lead to an accident resulting in 

death or serious injury.

●

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.

●

When it is necessary to disable 

the system: 



P.192

System Components

232

4-5. Using the driving support systems

1

Press the driving assist mode 
select switch to select cruise 
control.

The cruise control indicator will illu-

minate.

2

Using the accelerator pedal, 
accelerate to the desired 
vehicle speed (approxi-
mately 20 mph [30 km/h] or 
more), and press the driving 
assist switch to set the set 
vehicle speed.

The vehicle speed at the moment 

the switch is released will be the set 

vehicle speed.



Adjusting the set vehicle 
speed using the switches

To change the set vehicle 
speed, press the “+” or “-” switch 
until the desired speed is dis-
played.

1

Increase set vehicle speed

2

Decrease set vehicle speed

The set vehicle speed will 
increase or decrease as follows:

Fine adjustment: By 0.6 mph (1 
km/h) or 1.6 km/h (1 mph) each 
time the switch is pressed
Large adjustment: Increases con-
tinuously while the switch is 
pressed and held



Increasing the set vehicle 
speed using the accelerator 
pedal

1

Depress the accelerator 
pedal to accelerate the vehi-
cle to the desired vehicle 
speed.

2

Press the “+” switch.

Using the cruise control

Setting the vehicle speed

Adjusting the set vehicle 
speed

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4-5. Using the driving support systems

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1

Press the cancel switch or 
driving assist switch to cancel 
control.

Control will also be canceled if the 
brake pedal is depressed.

2

Press the “RES” switch to 
resume control.

■

Automatic cancellation of the 

cruise control

In the following situations, the cruise 

control will be canceled automati-

cally:

●

When the vehicle speed drops 

approximately 10 mph (16 km/h) 

or more below the set vehicle 

speed

●

When the vehicle speed drops 

below approximately 20 mph (30 

km/h)

●

When the brake control or output 

restriction control of a driving sup-

port system operates (For exam-

ple: PCS, drive-start control)

●

When the parking brake has been 

operated

●

Situations in which some or all of 

the functions of the system cannot 

operate: 



P.197

The operating state of cruise control is indicated.

Canceling/resuming con-
trol

Display and system operation state

234

4-5. Using the driving support systems

Indicator

Multi-information display

Situation

White

Blank

Cruise con-

trol being 

OFF

Green

Set vehicle 

speed: 

Green

Constant 

speed cruis-

ing

Green

Set vehicle 

speed: 

Green in 

reverse dis-

play

Set vehicle 

speed being 

exceeded

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Operation of this system is sep-
arated into 4 control states. 

Emergency Driving 

Stop System

The emergency driving stop 
system is a system which 
automatically decelerates 
and stops the vehicle within 
its lane if the driver 
becomes unable to continue 
driving the vehicle, such as 
if they have suffered a medi-
cal emergency, etc.

During LTA (Lane Tracing 
Assist) control, if the sys-
tem does not detect driving 
operations, such as if the 
driver is not holding the 
steering wheel, and deter-
mines the driver is not 
responsive, the vehicle will 
be decelerated and stopped 
within its current lane to 
help avoid a collision or 
reduce the impact of a colli-
sion.

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. The emer-

gency driving stop system is 

designed to provide support in 

an emergency where it is diffi-

cult for the driver to continue 

driving, such as if they have had 

a medical emergency. It is not 

designed to support driving 

while drowsy or in poor physical 

health, or inattentive driving.

●

Although the emergency driv-

ing stop system is designed to 

decelerate the vehicle within its 

lane to help avoid or help 

reduce the impact of a collision 

if the system determines that it 

is difficult for the driver to con-

tinue driving, its effectiveness 

may change according to vari-

ous conditions. Therefore, it 

may not always be able to 

achieve the same level of per-

formance. Also, if the operating 

conditions are not met, this 

function will not operate.

●

After the emergency driving 

stop system operates, if driving 

becomes possible again, imme-

diately begin driving again or, if 

necessary, park the vehicle on 

the shoulder of the road and set 

a warning reflector and flare to 

warn other drivers of your 

stopped vehicle.

●

After this system operates, pas-

sengers should attend to the 

driver as necessary and take 

appropriate hazard prevention 

measures, such as moving to a 

place where safety can be 

ensured, such as the shoulder 

of the road or behind a guard-

rail.

●

This system detects the condi-

tion of the driver through the 

operation of the steering wheel. 

This system may operate if the 

driver is aware but intentionally 

and continuously does not oper-

ate the vehicle. Also, the system 

may not operate if it cannot 

determine that the driver is not 

responsive, such as if they are 

leaning on the steering wheel.

Summary of the system

236

4-5. Using the driving support systems

Through control state “Warning 
phase 1” and “Warning phase 
2”, the system determines if the 
driver is aware and responsive 
while outputting a warning and 
controlling the vehicle speed. If 
the system determines the 
driver is not responsive, it will 
operate in control state “Decel-
eration stop phase” and “Stop 
hold phase” and decelerate and 
stop the vehicle. It will then 
operate continuously in “Stop 
hold phase”.

■

Operating conditions

This system operates when all of 

the following conditions are met:

●

When the LTA is on

●

When the vehicle speed is 

approximately 30 mph (50 km/h) 

or more

■

Operation cancelation condi-

tions

In the following situations, system 

operation will be canceled:

●

When LTA control has been can-

celed (the LTA switch has been 

pressed, etc.)

●

When the dynamic radar cruise 

control has been canceled

●

When driver operations are 

detected (the steering wheel is 

held, the brake pedal, accelerator 

pedal, parking brake, hazard light 

switch, or turn signal lever is oper-

ated)

●

When the driving assist switch is 

pressed while in the stop and hold 

phase

●

When the engine switch has been 

turned from ON to off

●

Situations in which some or all of 

the functions of the system cannot 

operate: 



P.197

■

LTA control when operation is 

canceled

When emergency driving stop sys-

tem operation is canceled, LTA con-

trol may also be canceled.

If driving operations are not 
detected after the hands off 
steering wheel warning oper-
ates, a buzzer will sound inter-
mittently and a message will be 
displayed to warn the driver, and 
the system will judge if the driver 
is responsive or not. If driving 
operations, such as holding the 
steering wheel, are not per-
formed within a certain amount 
of time, the system will enter 
warning phase 2.

After entering warning phase 2, 
a buzzer will sound in short 
intervals and a message will be 
displayed to warn the driver, and 
the vehicle will slowly deceler-
ate. If driving operations, such 
as holding the steering wheel, 
are not performed within a cer-
tain amount of time, the system 
will determine that the driver is 
not responsive and enter the 
deceleration stop phase.

The audio system will be muted 
until the driver becomes respon-
sive.
When the vehicle is decelerating, 

Warning phase 1

Warning phase 2

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4-5. Using the driving support systems

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the brake lights may illuminate, 
depending on the road conditions, 
etc.

After entering the deceleration 
stop phase, a buzzer will sound 
continuously and a message will 
be displayed to warn the driver, 
and the vehicle will slowly decel-
erate and stop. After the vehicle 
stops, the system will enter the 
stop and hold phase.

After the vehicle is stopped, the 
parking brake will be applied 
automatically. After entering the 
stop and hold phase, the buzzer 
will continue sounding continu-
ously and the emergency flash-
ers (hazard lights) will flash to 
warn other drivers of the emer-
gency.

■

Restricted functions after the 

operation is canceled

After shifting to the deceleration 

stop phase, the following functions 

will not be available until the engine 

is re-started even though the emer-

gency driving stop system is can-

celed:

●

LTA

■

Stopping the engine

While driving with the D shift 
position selected, depress the 
brake pedal and stop the vehi-
cle. The engine will stop auto-
matically.

When the engine stops, the Stop & 
Start indicator will illuminate.

■

Restarting the engine

Release the brake pedal. The 
engine will start automatically.

When the engine starts, the Stop & 
Start indicator will turn off.

Deceleration stop phase

Stop hold phase

Stop & Start system

The Stop & Start system 
stops and starts the engine 
according to brake pedal or 
shift lever operation when 
the vehicle is stopped, such 
as at a stoplight, intersec-
tion, etc., in order to 
improve fuel economy and 
reduce noise pollution 
caused by the engine idling.

Stop & Start system oper-
ation