Toyota Mirai (2023 year). Manual in english

291

5-5. Using the driving support systems

ing

with normal brake operation.

• A vehicle is no longer approaching

from the right or left at the rear of

the vehicle.

●

Brake control

• The Parking Support Brake is dis-

abled.

• Approximately 2 seconds have

elapsed since the vehicle was

stopped by brake control.

• The brake pedal is depressed

after the vehicle is stopped by

brake control.

• A vehicle is no longer approaching

from the right or left at the rear of

the vehicle.

■

Detection range

The detection range of the moving

vehicles rear of the vehicle differs

from the detection area of the RCTA

function (



P.274). Therefore, even

if the RCTA function detects a vehi-

cle and provides an alert, the mov-

ing vehicles rear of the vehicle may

not start operating.

■

RCTA buzzer

Regardless of weather the RCTA

function is on or off, if the PKSB

(Parking Support Brake) system is

not disabled, when the brake control

operates, the buzzer will sounds to

alert the driver.

■

Situations in which the system

may not operate properly



P.275

■

Situations in which the system

may operate even if there is no

possibility of a collision



P.276

: If equipped

When a pedestrian is detected
behind the vehicle while backing
up, the brake pedal is not
depressed or is depressed late.

Parking Support Brake

function (pedestrians

rear of the vehicle)

If the rear camera sensor
detects a pedestrian behind
the vehicle while backing
up and the system deter-
mines that the possibility of
colliding with the detected
pedestrian is high, a buzzer
will sound. If the system
determines that the possi-
bility of colliding with the
detected pedestrian is
extremely high, the brakes
will be applied automati-
cally to help reduce the
impact of the collision.

Examples of system oper-
ation

292

5-5. Using the driving support systems

Displays a message to urge the
driver to take evasive action
when a pedestrian is detected in
the detection area behind the
vehicle. (A message will also be
displayed on the multi-informa-
tion display and head-up display
[if equipped].)

Pedestrian detection icon

“BRAKE”

■

The system will operate when

The function will operate when the

PKSB OFF indicator is not illumi-

nated (



P.97, 457) and all of the

following conditions are met:

●

Fuel cell system output restriction

control

• The Parking Support Brake is

enabled.

• The vehicle speed is 9 mph (15

km/h) or less.

• The shift position is in R.

• The rear camera sensor detects a

pedestrian behind the vehicle

while backing up and the system

determines that the possibility of

colliding with the detected pedes-

trian is high.

• When a pedestrian is detected

behind the vehicle.

• The PKSB (Parking Support

Brake) determines that a stronger-

than-normal brake operation is

necessary to avoid a collision.

●

Brake control

• Fuel cell system output restriction

control is operating.

• The Parking Support Brake deter-

mines that an emergency brake

operation is necessary to avoid a

collision with a pedestrians.

■

The system will stop operating

when

The function will stop operating if

any of the following conditions are

met:

Multimedia display

WARNING

■

If the PKSB (Parking Support

Brake) operates unnecessar-

ily

Depress the brake pedal immedi-

ately after the PKSB (Parking

Support Brake) system operates.

(Operation of the function is can-

celed by depressing the brake

pedal.)

■

Correct use of the PKSB

(Parking Support Brake) sys-

tem



P.277

NOTICE

■

If “Parking Support Brake

Unavailable Remove the Dirt

of Rear Camera” is displayed

on the multi-information dis-

play and the PKSB OFF indi-

cator is illuminated

If this message is displayed

immediately after the power

switch is changed to ON, operate

the vehicle carefully, paying atten-

tion to your surroundings.

293

5-5. Using the driving support systems

ing

●

Fuel cell system output restriction

control

• The Parking Support Brake is dis-

abled.

• The collision becomes avoidable

with normal brake operation.

• The pedestrian is no longer

detected behind your vehicle.

●

Brake control

• The Parking Support Brake is dis-

abled.

• Approximately 2 seconds have

elapsed since the vehicle was

stopped by brake control.

• The brake pedal is depressed

after the vehicle is stopped by

brake control.

• The pedestrian is no longer

detected behind your vehicle.

■

Re-enabling the pedestrians of

the vehicle



P.285

■

Detection range

The detection area of the pedestri-

ans rear of the vehicle differs from

the detection area of the RCD func-

tion (



P.278). Therefore, even if the

RCD function detects a pedestrian

and provides an alert, the pedestri-

ans rear of the vehicle may not start

operating.

■

Situations in which the system

may not operate properly



P.280

■

Situations in which the system

may operate unexpectedly



P.280

: If equipped

The Advanced Park is a system
which assists in a safe and
smooth parking or exiting from a
parking space by displaying the
blind spots around the vehicle
and the target parking spot
through a bird’s eye view, deliv-
ering operation guidance
through displays and buzzer
operation, and changing the
shift position, operating the
steering wheel, accelerator
pedal, and brake pedal.
Additionally, the panoramic view
monitor

can display the area in

front, behind, and from above
the vehicle, helping confirm the
condition of the area around the
vehicle.
Depending on the condition of
the road surface or the vehicle,
the distance between the vehi-
cle and a parking space, etc., it
may not be possible to assist in
parking in the target space.

: For details on the panoramic view

monitor refer to “MULTIMEDIA
OWNER’S MANUAL”.

Toyota Teammate

Advanced Park

Function description

294

5-5. Using the driving support systems

■

Perpendicular parking (for-
ward/reverse) function

Assistance is provided from the
position the vehicle is stopped
near the target parking space
until the vehicle is in the parking
space. (



P.301)

■

Perpendicular exiting (for-
ward/reverse) function

Assistance is provided from the
parked position until the vehicle
is in a position where you can
easily exit from the parking
space. (



P.304)

■

Parallel parking function

Assistance is provided from the
position the vehicle is stopped
near the target parking space
until the vehicle is in the parking
space. (



P.306)

■

Parallel exiting function

Assistance is provided from the
parked position until the vehicle
is in a position where you can
easily exit from the parking
space. (



P.309)

■

Memory function

Assistance is provided until the
vehicle is guided into a previ-
ously registered parking space.
(



P.311)

Functions

WARNING

■

Cautions regarding the use of

the system

The recognition and control capa-

bilities for this system are limited.

The driver should always drive

safety by always being responsi-

ble without over relying on the

system and have a understanding

of the surrounding situations.

●

As with a normal vehicle, take

care to observe your surround-

ings while the vehicle is moving.

●

Always pay attention to the

vehicle’s surroundings while the

system is operating and

depress the brake pedal as nec-

essary to slow or stop the vehi-

cle.

●

When parking, make sure that

the vehicle can be parked in the

target parking space before

beginning operation.

●

Depending on the condition of

the road surface or the vehicle,

the distance between the vehi-

cle and a parking space, etc., it

may not be possible to detect a

parking space or the system

may not be able to provide

assistance to the point the vehi-

cle is fully parked.

●

This system will guide the vehi-

cle to appropriate positions for

changing the direction of travel,

however, if you feel that the

vehicle is approaching too close

to an adjacent parked vehicle at

any time, depress the brake

pedal and change the shift posi-

tion. However, if this is per-

formed, the number of times the

vehicle changes direction may

increase, and the vehicle may

be parked at an angle.

295

5-5. Using the driving support systems

ing

WARNING

●

As following objects may not be

detected, make sure to check

the safety of the area around

your vehicle and depress the

brake pedal to stop the vehicle if

it may collide with an object.

• Wires, fences, ropes, etc.

• Cotton, snow and other materi-

als that absorb sound waves

• Sharply-angled objects

• Low objects (curb stones, park-

ing blocks, etc.)

• Tall objects with upper sections

projecting outwards in the direc-

tion of your vehicle

●

Even if there is an object in the

target parking space, it may not

be detected and assistance

may be performed.

●

While the system is operating, if

it is likely that your vehicle will

collide with a nearby vehicle,

parking block, object, or person,

depress the brake pedal to stop

the vehicle and press the

Advanced Park main switch to

disable the system.

●

Never use only the multimedia

display to view the area behind

the vehicle. The image dis-

played may differ than the

actual situation. Using only the

screen when backing up may

lead to an accident, such as a

collision with another vehicle.

When backing up, make sure to

look directly or use the mirrors

to check the safety of the area

around your vehicle, especially

behind the vehicle.

●

When the ambient temperature

is extremely low, the screen

may appear dark or the dis-

played image may become

unclear. Also, as moving objects

may appear distorted or may

not be able to be seen on the

screen, make sure to directly

check the safety of the area

around your vehicle.

●

In the following situations, while

the vehicle is stopped and held

by Advanced Park, it may be

canceled and the vehicle may

start moving. Immediately

depress the brake pedal. Fail-

ure to do so may lead to an

accident.

• When the driver’s door is

opened

• When operations instructed by

the system are not performed

within a certain amount of time

• When the brake pedal is

depressed and the vehicle is

stopped for a certain amount of

time

• When the system malfunctions

●

As the steering wheel will turn

while this system is operating,

pay attention to the following.

• Be careful so that a necktie,

scarf, or arm does not get

caught. Keep your upper body

away from the steering wheel.

Also, keep children away from

the steering wheel.

• Long fingernails may be caught

and when the steering wheel is

rotating, leading to injury.

• In an emergency, depress the

brake pedal to stop the vehicle,

and then press the Advanced

Park main switch to disable the

system.

296

5-5. Using the driving support systems

WARNING

●

Do not allow anyone to put their

hands outside of a window while

this system is operating.

■

To ensure correct operation

of the Advanced Park

Observe the following precau-

tions.

Failing to do so may result in the

vehicle being unable to be driven

safely and possibly cause an acci-

dent.

●

Do not use this system in situa-

tions such as the following:

• When in areas other than com-

mon parking spaces

• When the surface of the parking

space is sand or gravel and is

not clearly defined with parking

space lines

• When the parking space is not

level, such as when on a slope

or has differences in height

• Mechanical parking system

• Parking lot with a device which

raises to contact the bottom of

the vehicle

• When the road surface is fro-

zen, slick, or covered with snow

• When it is extremely hot and the

asphalt is melting

• When there are objects around

the vehicle

• When there is an object

between your vehicle and the

target parking spot or within the

target parking spot (within the

displayed blue box)

• When there is a gutter between

your vehicle and the target park-

ing space or within the target

parking spot (within the dis-

played blue box)

• When there is a hole or gutter in

the exit direction

• When in high pedestrian or

vehicle traffic areas

• When the parking space is in a

location that is difficult to park in

(too narrow for your vehicle,

etc.)

• When images are unclear due

to dirt or snow attached to the

camera lens, light being shined

into the camera or shadows

• When tire chains or a compact

spare tire is installed to the vehi-

cle

• When the doors or trunk are not

completely closed

• When an arm is held outside of

a window

• In inclement weather such as

heavy rain or snow

●

Make sure to use only standard

sized tires, such as those that

were installed to the vehicle

when it was shipped from the

factory. Otherwise, Advanced

Park may not operate properly.

Also, when the tires have been

replaced, the displayed position

of the lines or box displayed on

the screen may become incor-

rect. When replacing the tires,

contact your Toyota dealer.

●

In situations such as the follow-

ing, it may not be possible for

the system to provide assis-

tance to a registered parking

spot:

297

5-5. Using the driving support systems

ing

Cameras and sensors are used

to detect parked vehicles, mak-
ing it easier to identify parking
spaces.



Front camera



Side cameras



Rear camera



Sensors



P.261

■

Camera images

As special cameras are used, the

colors in displayed images may dif-

fer from the actual color.

WARNING

• When the tires are extremely

worn or the tire inflation pres-

sure is low

• When carrying a heavy load

• When the vehicle is tilted due to

the carried load

• When a heater is installed in the

surface of the parking space

(road surface freeze prevention

heater)

• When the wheels are mis-

aligned, such after a wheel has

been subjected to a strong

impact

• When a pedestrian or passing

vehicle is detected during assis-

tance

• When something is incorrectly

detected as a parking line (light,

reflections from a building, dif-

ference in height on the parking

surface, a gutter, painted road

lines, redrawn lines, etc.)

If the vehicle deviates greatly from

the set parking space in any situa-

tion other than the above, have

the vehicle inspected by your Toy-

ota dealer.

NOTICE

■

Precautions for use

Advanced Park

If the 12-volt battery was dis-

charged or has been removed

and installed, fold and extend the

outside rear view mirrors.

Type of cameras and sen-
sors used for the
Advanced Park

298

5-5. Using the driving support systems

■

Precautions for use

For details on the following, refer to

“Panoramic view monitor” of “Pan-

oramic view monitor functions” in

the “MULTIMEDIA OWNER’S MAN-

UAL”.

●

Displayable range of the screens

●

Cameras

●

Differences between displayed

images and the actual road

●

Differences between displayed

images and the actual objects

■

Detection range of the cameras

and sensors

●

If a parked vehicle is behind the

target parking space and the dis-

tance between it and the vehicle

becomes far, it may no longer be

able to be detected. Depending on

shape or condition of a parked

vehicle, the detection range may

become short or the vehicle may

not be detected.

●

Objects other than parked vehi-

cles, such as columns, walls, etc.,

may not be detected. Also, if they

are detected, they may cause the

target parking space to be mis-

aligned.

■

Situations in which parking

space lines may not be recog-

nized properly

●

In situations such as the following,

parking space lines on the road

surface may not be detected:

• When the parking space does not

use lines (parking space boundar-

ies are marked with rope, blocks,

etc.)

• When the parking space lines are

faded or dirty, making them

unclear

• When the road surface is bright,

such as concrete, and the contrast

between it and the white parking

space lines is small

• When the parking space lines are

any color other than yellow or

white

• When the area surrounding the

parking space is dark, such as at

night, in an underground parking

lot, parking garage, etc.

• When it is raining or has rained

and the road surface is wet and

reflective or there are puddles

• When the sun is shining directly

into a camera, such as in the early

morning or evening

• When the parking space is cov-

ered with snow or de-icing agent

• When there marks from repairs or

other marks on the road surface,

or there is a traffic bollard, or other

object on the road surface

• When the color or brightness of

the road surface is uneven

• When a camera has been

splashed by hot or cold water and

the lens has fogged up

• When the appearance of the park-

ing space is affected by the

shadow of the vehicle or trees

• When a camera lens is dirty or

covered with water droplets

●

In situations such as the following,

the target parking space may not

be recognized correctly:

• When there marks from repairs or

other marks on the road surface,

or there is a parking block, traffic

bollard, or other object on the road

surface

• When it is raining or has rained

and the road surface is wet and

reflective or there are puddles

• When the area around the vehicle

is dark or backlit

• When the color or brightness of

the road surface is uneven

• When the parking space is on a

slope

• When there are diagonal lines

(access aisle) near the parking

space

• When the appearance of the park-

ing space is affected by the

shadow of a parked vehicle (such

as shadows from the grille, side

step, etc.)

• When accessories which obstruct

the view of the camera are

installed

• When the parking space lines are

299

5-5. Using the driving support systems

ing

faded or dirty, making them

unclear

• When the appearance of the park-

ing space is affected by the

shadow of the vehicle or trees

■

Sensor detection information



P.264

■

Objects which the sensor may

not be properly detected



P.264

■

Situations in which the sensor

may not operate properly



P.264

■

Situations in which parking

assistance may operate even if

there is no possibility of a colli-

sion



P.265

Press the Advanced Park main
switch.

If the switch is pressed while assis-
tance is being performed, the assis-
tance will be canceled.

■

Operating conditions of the

Advanced Park

Assistance will begin when all of the

following conditions are met:

●

The brake pedal is depressed

●

The vehicle is stopped

●

The driver’s seat belt is fastened

●

The steering wheel is not being

operated

●

The accelerator pedal is not

depressed

●

All of the doors and the trunk are

closed

WARNING

■

Precautions for the cameras

and sensors

●

Due to the characteristics of the

camera lens, the position of and

distance to people and objects

displayed on the screen may

differ from the actual situation.

For details, refer to “MULTIME-

DIA OWNER’S MANUAL”.

●

Make sure to observe the pre-

cautions for using the intuitive

parking assist (



P.262), other-

wise a sensor may not operate

correctly, possibly leading to an

accident.

●

In situations such as the follow-

ing, the sensors may not oper-

ate correctly, possibly leading to

an accident. Proceed carefully.

• When there is a parked vehicle

next to the target parking space,

if the displayed target parking

space is far from the actual tar-

get parking space, a sensor

may be misaligned. Have the

vehicle inspected by your Toy-

ota dealer.

• Do not install any accessories

near the detection area of the

sensors.

Turning the Advanced
Park system on/off

300

5-5. Using the driving support systems

●

The outside rear view mirrors are

not folded

●

The parking brake is not engaged

●

The dynamic radar cruise control

are not operating

●

ABS, VSC, TRAC, PCS and

PKSB are not operating

●

The vehicle is not on a steep

slope

●

The VSC and TRAC are not

turned off

If assistance cannot be started,
check the message displayed on
the multimedia display (



P.319)

Guidance screens are displayed
on the multimedia display.



Guidance screen (When
assistance starts)

Target parking space box
(blue)

Advice display

Parking type change button

If multiple buttons are displayed,
depending on the condition of the
button its function differs as follows.

: Change the target to

another parking space.

: Select the current

target parking space.

: Select to change to the par-

allel parking function

: Change the perpendicular

parking (forward/reverse) function

“MODE” button

Select to change between the
memory function and the perpen-
dicular parking (forward/reverse)
function and parallel parking func-
tion. (



P.314)

“Start” button

Select to start parking assistance.

Perpendicular parking direc-
tion change button

Select to change between the park-
ing (forward) function and parking
(reverse) function

: Change the perpendicular

parking (forward) function

: Change the perpendicular

parking (reverse) function

Customize setting button

Select to display the Advanced
Park setting screen. (



P.317)

Registration button

Select to begin registering a park-
ing space.

Advanced Park guidance
screens

301

5-5. Using the driving support systems

ing



Guidance screen (When
reversing)

Operation icon

Displayed when the Advanced Park
is operating.

Guide lines (yellow and red)

Display points from the center of
the edge of the front or rear bumper
to the target stopping position (yel-
low)

and approximately 1 ft. (0.3

m) (red) from the vehicle.

Moving object warning icon

Emergency support brake
control operation display

“BRAKE!” is displayed.

Intuitive parking assist dis-
play



P.262

: The yellow lateral line is not dis-

played when the target stopping
position is approximately 8.2 ft.
(2.5 m) or more away from the
vehicle.

■

Intuitive parking assist pop-up

display

Regardless of whether the intuitive

parking assist is off or on (



P.262),

if an object is detected by the intui-

tive parking assist when the

Advanced Park is operating, the

intuitive parking assist pop up dis-

play will automatically be displayed

over the guidance display.

■

Brake control operation when

Advanced Park is operating

While the Advanced Park is operat-

ing, if the system determines that

the possibility of collision with

detected moving or stationary object

is high, the fuel cell system output

restriction control and brake control

will operate.
If brake control operates, Advanced

Park operation will be suspended

and a message will be displayed on

the multi-information display.

■

Buzzer

Depending on surrounding sounds

or sounds from other systems, it

may be difficult to hear the buzzer of

this system.

■

If a black screen is displayed on

the multimedia display when

the Advanced Park is operating

The system is being affected by

radio waves or may be malfunction-

ing. If a radio antenna is installed

near a camera, move it to a location

as far from the cameras as possible.

If a radio antenna is not installed

near a camera, and the screen does

not return to normal after turning the

power switch off and then starting

the fuel cell system again, have the

vehicle inspected by your Toyota

dealer.

The perpendicular parking (for-
ward/reverse) function can be
used if the target parking space
can be detected when the vehi-
cle is stopped close and perpen-
dicular to the center of the
parking space. Also, depending

Perpendicular parking
(forward/reverse) function

302

5-5. Using the driving support systems

on the condition of the parking
space, etc., if it is necessary to
change the direction of travel of
the vehicle, the shift position can
be changed by assistance con-
trol.

■

Parking using the perpen-
dicular parking (for-
ward/reverse) function

Stop the vehicle at a position
close and perpendicular to
the center of the target park-
ing space.



If there are parking space
lines

Approximately 3.3 ft. (1 m)

Approximately 8.2 ft. (2.5 m)

Approximately 19.7 ft. (6 m)
or more

Approximately 18.0 ft. (5.5 m)
or more

The system can operate even if
there is a parking space line on only
one side of the target parking
space.

: This is a reference measurement

for detection of a parking space.
Depending on the surrounding
environment, detection may not

be possible.



If there is an adjacent parked
vehicle

Approximately 3.3 ft. (1 m)

Approximately 9.8 ft. (3 m) or
more

Approximately 19.7 ft. (6 m)
or more

Approximately 18.0 ft. (5.5 m)
or more

The system can operate even if
there is a vehicle on only one side
of the target parking space.

: This is a reference measurement

for detection of a parking space.
Depending on the surrounding
environment, detection may not
be possible.

Press the Advanced Park
main switch and check that a
possible parking space is dis-

303

5-5. Using the driving support systems

ing

played on the multimedia dis-
play.



If a space which your vehicle
can be parked is detected, a
target parking space box will
be displayed.



If it is possible to parallel park
in the space, select the park-
ing space, and then select

to change to the paral-

lel parking function.



If it is possible to change the
direction which a parking
space is entered, select the
parking space, and then

select

change

the direction.



Depending on the surround-
ing environment, it may not be
possible to use this function.
According to the information
displayed on the multimedia
display, use the function on
another parking space.

Select “Start” button.

A buzzer will sound, an operation

message will be displayed on the

multi-information display, and assis-

tance will begin operating.



When the brake pedal is
released, “Moving Forward...”,
“Backing Up...” will be dis-
played and the vehicle will
begin moving for-
ward/reverse.



To cancel assistance, press
the Advanced Park main
switch.

If assistance is canceled,
“Advanced Park Cancel” will be dis-
played.
If you feel that the vehicle is
approaching close to a surround-
ing vehicle, object, person, or gut-
ter:



P.304

Perform operations as indi-
cated by the advice displays
until the vehicle stops in the
target parking space.

When the vehicle stops, “Advanced

Park Finished” will be displayed

and parking assistance will end.

If you select

on the multimedia

display, the vehicle displayed on
the parking assist completion

304

5-5. Using the driving support systems

screen will rotate.

■

If you feel that the vehicle is

approaching close to a sur-

rounding vehicle, object, per-

son, or gutter

Depress the brake pedal to stop the

vehicle and then change the shift

position to change the direction of

travel of the vehicle. At this time,

assist will be suspended. However,

if the “Start” button is selected,

assist will resume and the vehicle

will move in the direction corre-

sponding to the selected shift posi-

tion.

■

When the brakes have been

operated

When the brakes have been oper-

ated, brake operation sound may be

heard. This does not indicate a mal-

function.

When exiting from a perpendic-
ular parking space, if the system
determines that exit is possible
the perpendicular exiting (for-
ward/reverse) function can be
used. Also, depending on the
surrounding environment, if it is
necessary to change the direc-
tion of travel of the vehicle, the
shift position can be changed by
assistance control.

NOTICE

■

When using the perpendicu-

lar parking (forward/reverse)

function

●

Make sure that there are no

obstructions within the yellow

guide lines and between the

vehicle and target parking spot.

If there are any obstructions

between the vehicle and the tar-

get parking space, or between

the yellow guide lines, cancel

the function.

●

As the target parking space will

not be able to be set correctly if

the surface of the parking space

is on a slope or has differences

in height, the vehicle may stray

from the target parking space or

be slanted. Therefore, do not

use the function for this kind of

parking spot.

●

When parking in a narrow park-

ing space, the vehicle may

closely approach an adjacent

parked vehicle. If a collision

seems likely, depress the brake

pedal to stop the vehicle.

●

If a detected parked vehicle is

narrow or parked extremely

close to the curb, the position at

which assistance will park the

vehicle will also be close to the

curb. If it seems likely the vehi-

cle will collide with something or

drive off of the road, depress

the brake pedal to stop the vehi-

cle, and then press the Advance

Park main switch to disable the

system.

Advanced Park perpen-
dicular exiting (for-
ward/reverse) function

305

5-5. Using the driving support systems

ing

■

Leaving a parking space
using the perpendicular
exiting (forward/reverse)
function

With the brake pedal
depressed and P shift posi-
tion selected, press the
Advanced Park main switch
and check that the exit direc-
tion selection screen is dis-
played on the multimedia
display.

Select an arrow on the multi-
media display to select the
direction you wish to exit.

If the turn signal lever is operated,

only exit to the left or right can be

selected.

Depress the brake pedal and
select “Start” button.

A buzzer will sound, an operation

message will be displayed on the

multi-information display, and assis-

tance will begin operating.

To cancel assistance, press the

Advanced Park main switch. If

assistance is canceled, “Advanced

Park Cancel” will be displayed.
If you feel that the vehicle is

approaching close to a surround-

ing vehicle, object, person, or gut-

ter:



P.304

Perform operations as indi-
cated by the advice displays
until the vehicle is in a posi-
tion where exit is possible.

When the vehicle reaches a posi-

tion where exit is possible, “You can

exit by moving the steering wheel”

will be displayed. If the steering

wheel is operated, “Advanced Park

Finished” will be displayed and

assistance will end. As assistance

will end while the vehicle is moving,

grip the steering wheel and drive

forward.
If the steering wheel is not oper-

ated, the vehicle will stop at the exit

position. Assistance can be ended

by depressing the accelerator pedal

or brake pedal.

306

5-5. Using the driving support systems

■

If you feel that the vehicle is

approaching close to a sur-

rounding vehicle, object, per-

son, or gutter



P.304

■

Perpendicular exiting (for-

ward/reverse) function

Do not use exiting (for-

ward/reverse) function in any situa-

tion other than when exiting a

parallel parking spot. If assistance is

started unintentionally, depress the

brake pedal and stop the vehicle,

then press the Advanced Park main

switch to cancel assistance.

■

Situations in which the perpen-

dicular exiting (forward /

reverse) function will not oper-

ate

In situations such as the following,

the perpendicular exiting (for-

ward/reverse) function will not oper-

ate:

●

When a vehicle which is waiting to

park is in the exit direction

●

When a wall, column, or person is

detected as near a front or rear

center or corner sensor

■

When the brakes have been

operated



P.304

The parallel parking function can
be used if the target parking
space can be detected when the
vehicle is stopped close and
aligned with the center of the
parking space. Also, depending
on the condition of the parking
space, etc., if it is necessary to
change the direction of travel of
the vehicle, the shift position can
be changed by assistance con-
trol.

■

Parking using the parallel
parking function

Stop the vehicle with it
aligned near the center of the
target parking space.



If there are parking space
lines

Advanced Park Parallel
parking function

Toyota Mirai (2023 year). Manual in english - page 18