Toyota GR Corolla (2023 year). Manual in english

159

4-5. Using the driving support systems

ing

■

Operating conditions of each function of the pre-collision system

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

sibility of a frontal collision with a detected object is high.
However, the system will not operate in the following situations:

●

When the vehicle has not been driven a certain amount after a terminal of

the battery has been disconnected and reconnected

●

When the shift lever is in R

The following are the operational speeds and cancelation conditions of each

function:

●

Pre-collision warning

WARNING

• While the emergency steering

assist is operating, if the accel-

erator pedal is depressed

strongly, the steering wheel is

turned heavily, or the brake

pedal is depressed, the system

may determine that the driver is

taking evasive action and emer-

gency steering assist operation

may be canceled.

• While the emergency steering

assist is operating, if the steer-

ing wheel is held or turned in the

opposite direction of system

operation, emergency steering

assist operation will be can-

celed.

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles

Approximately 3 to 110
mph (5 to 180 km/h)

Oncoming vehicles

Approximately 20 to 110
mph (30 to 180 km/h)

Approximately 50 to 130
mph (80 to 220 km/h)

Bicycles

Approximately 3 to 50
mph (5 to 80 km/h)

Pedestrians

Approximately 3 to 50
mph (5 to 80 km/h)

160

4-5. Using the driving support systems

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

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

●

Pre-collision brake assist

●

Pre-collision braking

If either of the following occur while the pre-collision braking function is oper-

ating, it will be canceled:

Preceding motorcycles,
stopped motorcycles

Approximately 3 to 110
mph (5 to 180 km/h)

Approximately 3 to 50
mph (5 to 80 km/h)

Oncoming motorcycles

Approximately 20 to 110
mph (30 to 180 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles

Approximately 20 to 110
mph (30 to 180 km/h)

Approximately 7 to 110
mph (10 to 180 km/h)

Bicycles

Approximately 20 to 50
mph (30 to 80 km/h)

Pedestrians

Approximately 20 to 50
mph (30 to 80 km/h)

Preceding motorcycles,
stopped motorcycles

Approximately 20 to 110
mph (30 to 180 km/h)

Approximately 7 to 50
mph (10 to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles

Approximately 3 to 110
mph (5 to 180 km/h)

Oncoming vehicles

Approximately 20 to 110
mph (30 to 180 km/h)

Approximately 50 to 130
mph (80 to 220 km/h)

Bicycles

Approximately 3 to 50
mph (5 to 80 km/h)

Pedestrians

Approximately 3 to 50
mph (5 to 80 km/h)

Preceding motorcycles,
stopped motorcycles

Approximately 3 to 110
mph (5 to 180 km/h)

Approximately 3 to 50
mph (5 to 80 km/h)

Oncoming motorcycles

Approximately 20 to 110
mph (30 to 180 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

161

4-5. Using the driving support systems

ing

• The accelerator pedal is strongly depressed
• The steering wheel is operated heavily or suddenly

●

Emergency steering assist

The emergency steering assist will not operate when the turn signal lights

are flashing.
The emergency steering assist will not operate when the VSC OFF indicator

is illuminated.

While the emergency steering assist is operating, if any of the following are

performed, emergency steering assist operation may be cancelled:
• The accelerator pedal is strongly depressed
• The steering wheel is operated heavily or suddenly
• The brake pedal is depressed

●

Intersection collision avoidance support (left/right turn)

The intersection collision avoidance support (for left/right turning vehicles)

will not operate when the turn signal lights are not flashing.

●

Intersection collision avoidance support (crossing vehicles)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles, bicy-
cles, pedestrians,
motorcycles

Approximately 25 to 50
mph (40 to 80 km/h)

Detectable
objects

Vehicle speed

Oncoming vehicle
speed

Relative speed
between your
vehicle and object

Oncoming vehi-
cles

Approximately 3
to 25 mph (5 to
40 km/h)

Approximately 3
to 45 mph (5 to
75 km/h)

Approximately 7
to 70 mph (10 to
115 km/h)

Pedestrians

Approximately 3
to 20 mph (5 to
30 km/h)



Approximately 3
to 25 mph (5 to
40 km/h)

Bicycles

Approximately 3
to 20 mph (5 to
30 km/h)



Approximately 3
to 30 mph (5 to
50 km/h)

Oncoming motor-
cycles

Approximately 3
to 25 mph (5 to
40 km/h)

Approximately 3
to 45 mph (5 to
75 km/h)

Approximately 7
to 70 mph (10 to
115 km/h)

162

4-5. Using the driving support systems

■

Detection of detectable objects

Objects are detected based on their

size, shape, and move-

ment.Depending on the ambient

brightness, movement, posture and

direction of a detectable object, it

may not be detected and the system

may not operate properly.

The system detects shapes, such as

the following, as detectable objects.

■

Situations in which the system

may operate even though the

possibility of a collision is not

high

●

In certain situations, such as the

following, the system may deter-

mine that the possibility of a colli-

sion is high and operate:

• When passing a detectable object

• When changing lanes while over-

taking a detectable object

• When suddenly approaching a

detectable object

• When approaching a detectable

object or other object on the road-

side, such as guardrails, utility

poles, trees, walls, etc.

• When there is a detectable object

or other object by the roadside at

the entrance of a curve

• When there are patterns or a

painting ahead of the vehicle that

may be mistaken for a detectable

object

• When passing a detectable object

that is changing lanes or turning

left/right

• When passing a detectable object

which is stopped to make a

left/right turn

Detectable
objects

Vehicle speed

Crossing vehicle
speed

Relative speed
between your
vehicle and object

Vehicles (side)

Approximately 3
to 38 mph (5 to
60 km/h)

• Your vehicle

speed or less

• Approximately

25 mph (40
km/h) or less

Approximately 3
to 38 mph (5 to
60 km/h)

Motorcycles
(side)

Approximately 3
to 38 mph (5 to
60 km/h)

• Your vehicle

speed or less

• Approximately

25 mph (40
km/h) or less

Approximately 3
to 38 mph (5 to
60 km/h)

163

4-5. Using the driving support systems

ing

• When a detectable object stops

immediately before entering the

path of the vehicle

• When passing through a location

with a structure above the road

(traffic sign, billboard, etc.)

• When approaching an electric toll

gate barrier, parking lot barrier, or

other barrier that opens and

closes

• When turning left/right and an

oncoming vehicle or pedestrian

crosses in front of the vehicle

• When attempting to turn left/right

in front of an oncoming vehicle or

pedestrian

• When turning left/right and an

oncoming vehicle or pedestrian

stops immediately before entering

the path of the vehicle

• When turning left/right and an

oncoming vehicle turns left/right in

front of the vehicle

• When the steering wheel is oper-

ated toward the path of an oncom-

ing vehicle

■

Situations in which the system

may not operate properly

●

In certain situations, such as the

following, a detectable object may

not be detected by the front sen-

sors, and the system may not

operate properly:

• When a detectable object is

approaching your vehicle

• When your vehicle or a detectable

object is wandering

• When a detectable object makes

an abrupt maneuver (such as sud-

den swerving, acceleration or

deceleration)

• When suddenly approaching a

detectable object

• When the detectable object is

near a wall, fence, guardrail, man-

hole cover, steel plate on the road

surface, or another vehicle

• When there is a structure above a

detectable object

• When part of a detectable object

is hidden by another object (large

luggage, umbrella, guardrail, etc.)

• When multiple detectable objects

are overlapping

• When a bright light, such as the

sun, is reflecting off of a detect-

able object

• When a detectable object is white

and looks extremely bright

• When the color or brightness of a

detectable object causes it to

blend in with its surroundings

• When a detectable object cuts in

front of or suddenly emerges in

front of your vehicle

• When approaching a vehicle

which is diagonal

• If a vehicle ahead is a child sized

bicycle, is carrying a large load, is

carrying an extra passenger, or

has an unusual shape (bicycles

equipped with a child seat, tan-

dem bicycles, etc.)

• If a pedestrian or bicycle is shorter

than approximately 3.2 ft. (1 m) or

taller than approximately 6.5 ft. (2

m).

• When the silhouette of a pedes-

trian or bicycle is unclear (such as

when they are wearing a raincoat,

164

4-5. Using the driving support systems

long skirt, etc.)

• When a pedestrian or bicycle is

bending forward or squatting

• When a pedestrian or bicycle is

moving at high speed

• When a pedestrian is pushing a

stroller, wheelchair, bicycle or

other vehicle

• When a detectable object blends

in with the surrounding area, such

as when it is dim (at dawn or dusk)

or dark (at night or in a tunnel)

• When the vehicle has not been

driven for a certain amount of time

after the engine was started

• While turning left/right or a few

seconds after turning left/right

• While driving around a curve and

a few seconds after driving around

a curve

• When turning left/right and an

oncoming vehicle is driving in a

lane 3 or more lanes from the

vehicle

• When turning left/right and the

direction of the vehicle differs

greatly from the direction traffic

flows in the oncoming lane

• When turning left/right and

approaching a pedestrian which

was traveling in the same direc-

tion as the vehicle and continues

straight

●

In addition to the preceding, in

certain situations, such as the fol-

lowing, the emergency steering

assist may not operate properly:

• When a detectable object is too

close to the vehicle

• When there is insufficient space to

perform evasive steering maneu-

vers or an obstruction exists in the

evasion direction

• When there is an oncoming vehi-

cle



The pre-collision system can
be enabled/disabled through
a customize setting. (



P.371)

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. (



P.371)



When the pre-collision warn-
ing timing is changed, the
emergency steering assist
timing will also be changed.
When “Later” is selected, the
emergency steering assist will

Changing the pre-colli-
sion setting

165

4-5. Using the driving support systems

ing

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 via a display and this func-
tion will be temporarily canceled.
If the steering wheel is firmly
gripped, the function will begin
operating again.

LTA (Lane Tracing

Assist)

LTA functions

166

4-5. Using the driving support systems



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.

167

4-5. Using the driving support systems

ing

the following conditions are met:

●

The LTA system detects lane lines

or the path of preceding or sur-

rounding vehicles (except when

the preceding vehicle is small,

such as a motorcycle).

●

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.167) 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.166)

●

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

In the following situations, a mes-

sage urging the driver to grip the

steering wheel and the icon shown

in the illustration will be displayed on

the multi-information display to warn

the driver. If the system detects that

the steering wheel is held, the warn-

ing will be canceled. When using the

system, make sure to grip the steer-

ing wheel firmly, regardless of

whether the warning is operating or

not.

●

When the system determines the

driver is not holding the steering

wheel while the function is operat-

ing

If no operations are detected for a

certain amount of time, a buzzer will

sound, the warning will operate, and

the function will be temporarily can-

celed. This warning may also oper-

ate if the driver only operates

steering wheel a small amount con-

tinuously.
Depending on the condition of the

vehicle, handle control condition

and road surface, the warning func-

tion may not operate.

168

4-5. Using the driving support systems

The LTA will change between
enabled/disabled each time the
LTA switch is pressed.

When the LTA is enabled, the LTA
indicator 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:



P.153

●

Situations in which the lane may

not be detected:



P.154

●

When it is necessary to disable

the system:



P.149

169

4-5. Using the driving support systems

ing

The operating state of the LTA system is indicated.

Operation display of steering wheel operation support

Indicator

Lane dis-

play

Steering

icon

Situation

White

Grey

LTA is on standby

Green

LTA is operating

Orange

Flashing

Orange

Flashing

Green

The vehicle is departing the lane
toward the side which the lane dis-
play is flashing

170

4-5. Using the driving support systems

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

171

4-5. Using the driving support systems

ing

: 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
warning 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 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.

172

4-5. Using the driving support systems

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.

●

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.

■

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.171)

■

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.

173

4-5. Using the driving support systems

ing

●

When the system determines that

the driver is not securely holding

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. Even if

the system judges that the steering

wheel has been operated, the warn-

ing buzzer will sound for a certain

amount of time.

■

Break suggestion function

If the vehicle is swaying, a message

will be displayed and a warning

buzzer will sound to urge the driver

to take a break.

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. (



P.371)



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



P.371)

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.154

●

Situations in which the sensors

may not operate properly:



P.153

●

Situations in which some or all

of the functions of the system

cannot operate:



P.154

●

When it is necessary to disable

the system:



P.149

174

4-5. Using the driving support systems

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

Displays and system operation

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

Toyota GR Corolla (2023 year). Manual in english - page 10