Toyota Corolla (2024 year). Manual in english - page 7

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.

Changing the pre-colli-
sion setting

195

4-5. Using the driving support systems

Dr
iv

ing



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



When the pre-collision warn-
ing timing is changed, the
emergency steering assist
(excluding the active steering
function) timing will also be
changed.
When "Later" is selected, the
emergency steering assist
(excluding the active steering
function) 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 the this function only on high-
ways 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

196

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.

197

4-5. Using the driving support systems

Dr
iv

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.197) 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.196)

●

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.

198

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:



●

Situations in which the lane may

not be detected:



●

When it is necessary to disable

the system:



199

4-5. Using the driving support systems

Dr
iv

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

Gray

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

200

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

201

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 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.

202

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.201)

■

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.

203

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. (



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-

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:



●

Situations in which the sensors

may not operate properly:



●

Situations in which some or all

of the functions of the system

cannot operate:

●

When it is necessary to disable

the system:



Displays and system operation

204

4-5. Using the driving support systems

cated.

Indicator

Lane dis-

play

Steering

icon

Situation

Not illumi-

nated

Not illumi-

nated

Not illumi-

nated

System disabled

White

Gray

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

205

4-5. Using the driving support systems

ing

PDA (Proactive driv-

ing assist)

When a detectable object

(



P.206) is detected, the

proactive driving assist

operates the brakes and

steering wheel to help pre-

vent the vehicle from

approaching too close to

the object.

WARNING

■

For safe use

Driving safely is solely the respon-

sibility of the driver.

●

The proactive driving assist is

designed to provide some

assistance for regular braking

and steering operations, as well

as helping to prevent the vehicle

from approaching too close to a

detectable object. However, the

scope of this assistance is lim-

ited.

The driver should perform brake

and steering operations as neces-

sary. Read the following items

carefully. Do not overly rely on the

proactive driving assist and

always drive carefully.(

P.207)

●

The proactive driving assist is

not a system which reduces the

amount of attention necessary

for safe driving. Even if the sys-

tem is operating correctly, the

surrounding conditions as rec-

ognized by the driver and

detected by the system may dif-

fer. It is necessary for the driver

to pay attention, assess risks,

and ensure safety. Over-reli-

ance on this system to drive the

vehicle safely may lead to an

accident resulting in death or

serious injury.

●

Proactive driving assist is not a

system which allows for inatten-

tive driving and is not a system

which assists in poor visibility

conditions. The driver is solely

responsible for paying attention

to their surroundings and driving

safely.

■

When turning proactive driv-

ing assist off

●

Situations in which the sensors

may not operate properly:



●

When it is necessary to disable

the system:



206

4-5. Using the driving support systems

According to the driving conditions, the operation and detectable
objects of the proactive driving assist will change as follows.

System operating conditions and detectable objects

Function

Conditions

Operation

Detectable
objects

Obstacle
Anticipation
Assist

A detectable
object is detected
crossing the road

Assistance with
some brake opera-
tions is provided in
order to reduce the
possibility of a colli-
sion.



Pedestrians



Bicyclists

A detectable
object is detected
on the side of the
road

Assistance with
some brake and
steering wheel oper-
ations are provided
according to the sur-
rounding conditions
to help prevent the
vehicle from
approaching too
close to a detected
object.

Assistance with
steering wheel oper-
ations is provided
within a range that
the vehicle will not
deviate from its cur-
rent lane.



Pedestrians



Bicyclists



Parked vehi-
cles

Deceleration
Assist

A preceding or
adjacent vehicle
is detected as cut-
ting in front of the
vehicle

The vehicle is gently
decelerated so that
the vehicle-to-vehi-
cle distance is
excessively short.



Preceding vehi-
cles



Motorcycles

A curve is
detected ahead of
the vehicle

The vehicle is gently
decelerated if the
vehicle speed is
determined to be too
high for the curve
ahead.

None

207

4-5. Using the driving support systems

ing

■

Vehicle speeds at which the

system can operate

●

Detectable object crossing the

road assistance

Approximately 20 to 35 mph (30 to

60 km/h)

●

Detectable object on the side of

the road assistance

Approximately 20 to 35 mph (30 to

60 km/h)

●

Preceding vehicle deceleration

assistance

Approximately 15 mph (20 km/h) or

●

Curve deceleration assistance

Approximately 15 mph (20 km/h) or

■

System operation will be can-

celed when

●

In the following situations, system

operation will be canceled :

• When the dynamic radar cruise

control is operating

• When the PCS is off

• Situations in which some or all of

the functions of the system cannot

operate:

• When the P, R or N shift position is

selected

When the vehicle speed falls below

approximately 9.3 mph (15 km/h)
Or when a certain vehicle speed

has been reached, as judged by the

system, according to the surround-

ing conditions

●

In the following situations, system

operation may be canceled :

• When the brake control or output

restriction control of a driving sup-

port system operates

(For example: PCS, drive-start

control)

• When the system determines that

a detected object has moved

away from the vehicle

●

In the following situations, system

assistance may be canceled :

• When lane lines can no longer be

detected

• When the brake pedal has been

depressed

• When the accelerator pedal has

been depressed

• When the steering wheel has

been operated with more than a

certain amount of force

• When the turn signal lever is oper-

ated to the left/right turn position

WARNING

■

Situations in which the sys-

tem may not operate properly

●

Situations in which the lane may

not be detected :

●

When a detectable object stops

immediately before entering the

path of the vehicle

●

When passing extremely close

to a detectable object behind a

guardrail, fence, etc.

●

When changing lanes while

overtaking a detectable objec

●

When passing a detectable

object that is changing lanes or

turning left/right

●

When there are objects (guard-

rails, power poles, trees, walls,

fences, poles, traffic cones,

mailboxes, etc.) in the surround-

ing area

●

When there are patterns or a

painting ahead of the vehicle

that may be mistaken for a

detectable object

●

When passing through a place

with a low structure above the

road (tunnel with a low ceiling,

traffic sign, signboard, etc.)

●

When driving on snowy, icy, or

rutted roads

208

4-5. Using the driving support systems

WARNING

●

When a detectable object is

approaching your vehicle

●

When your vehicle or a detect-

able object is wandering

●

When the movement of a

detectable object changes

(change in direction, sudden

acceleration or deceleration,

etc.)

●

When suddenly approaching a

detectable object

●

When a preceding vehicle or

motorcycle is not directly in front

of your 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 or headlights of another

vehicle, is reflecting off of the

detectable object

●

When the detectable object is

white and looks extremely bright

●

When the color or brightness of

the detectable object causes it

to blend in with its surroundings

●

When a detectable object cuts

in front of or emerges from

beside a vehicle

●

When approaching a vehicle

ahead which is perpendicular or

at an angle to the vehicle, or is

facing the vehicle

●

If a parked vehicle is perpendic-

ular or at an angle to the vehicle

●

When a bicycle is a child sized

bicycle, is carrying a large load,

is carrying an extra passenger,

or has an unusual shape (bicy-

cles equipped with a child seat,

tandem bicycles, etc.)

●

When a pedestrian or bicyclist is

shorter than approximately 3.2

ft. (1 m) or taller than approxi-

mately 6.5 ft. (2 m)

●

When the silhouette of a pedes-

trian or bicyclist is unclear (such

as when they are wearing a

raincoat, long skirt, etc.)

●

When a pedestrian or bicyclist is

bending forward or squatting

●

When a pedestrian or bicyclist 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,

in a tunnel, etc.)

●

When the lane width is 13.1 ft.

(4 m) or more

●

When the lane width is 8.2 ft.

(2.5 m) or less

●

When the vehicle has not been

driven for a certain amount of

time after the engine was

started

●

While turning left or right or a

few seconds after turning left or

right

●

While changing lanes or a few

seconds after changing lanes

●

When entering a curve, driving

around a curve and a few sec-

onds after driving around a

curve

209

4-5. Using the driving support systems

Dr
iv

ing



The proactive driving assist
can be enabled/disabled
through a customize setting.

(





The following settings of the
proactive driving assist can be
changed through customize
settings.(

Depending on the situation, the following indicators or icons will be
displayed.

Some icons cannot be displayed unless the display is changed to
the driving safety support function information screen.

Changing proactive driv-
ing assist settings

System operation display

Icon

Meaning



White: Monitoring for detectable objects



Green: Detectable object crossing the road or detectable
object on the side of the road assistance operating

A pedestrian has been detected as crossing the road or on
the side of the road and brake or steering assistance is
operating

A vehicle has been detected on the side of the road and
brake or steering operation assistance is being performed

Steering operation assistance is being performed to pre-
vent the vehicle from approaching too close to a detectable
object on the side of the road

Preceding vehicle deceleration assistance is being per-
formed

210

4-5. Using the driving support systems

■

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 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
warning is operating or not.

●

When the system determines the
driver is not holding the steering
wheel while the lane centering
function is operating

If no operations are detected for a
certain amount of time, a buzzer will
sound, the warning will operate.
This warning may also operate if the
driver only operates steering wheel
a small amount continuously.

■

Warning operation after preced-
ing vehicle deceleration assis-
tance has ended

After preceding vehicle decelera-
tion assistance has ended, if the
driver does not operate the brake
pedal or accelerator pedal and the

vehicle approaches the preceding
vehicle, the display will flash and a
buzzer will sound to urge the driver
to decelerate. If the system deter-
mines that the driver is operating the
brake pedal or accelerator pedal,
the warning will be canceled.

Warning to maintain appropriate vehicle-to-vehicle dis-
tance

Curve deceleration assistance is being performed

Icon

Meaning

211

4-5. Using the driving support systems

ing

: 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

212

4-5. Using the driving support systems

●

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

(U.S.A.)

(Canada)

Speed limit

Do Not Enter

No U-turn

213

4-5. Using the driving support systems

ing



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. (



No Turn On Red

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.219

214

4-5. Using the driving support systems

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:

215

4-5. Using the driving support systems

Dr
iv

ing

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

216

4-5. Using the driving support systems

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

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

The dynamic radar cruise control
indicator will illuminate.

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

217

4-5. Using the driving support systems

Dr
iv

ing

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.

Increase set vehicle speed

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

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

Press the “+” switch.

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

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

Adjusting the set vehicle
speed

Canceling/resuming con-
trol

218

4-5. Using the driving support systems

(If the vehicle has been stopped by
system control, depressing the
brake pedal will not cancel control.)

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
vehicle speed. However, while in
vehicle-to-vehicle distance control
mode, the vehicle speed may

Changing the vehicle-to-vehicle distance

Illustration

Number

Vehicle-to-vehicle

distance

Approximate Distance (Vehicle

Speed: 60 mph [100 km/h])

Extra long

Approximately 200 ft. (60 m)

Long

Approximately 145 ft. (45 m)

Medium

Approximately 100 ft. (30 m)

Short

Approximately 85 ft. (25 m)

219

4-5. Using the driving support systems

Dr
iv

ing

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:

■

Dynamic radar cruise control
system warning messages and
buzzers

For safe use:

■

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.219) 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

220

4-5. Using the driving support systems

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

221

4-5. Using the driving support systems

ing

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.

(

Changing Dynamic radar

cruise control settings

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

222

4-5. Using the driving support systems

■

Meter display

Set vehicle speed
Cruise control indicator

■

Switches

Driving assist mode select

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

Press the driving assist mode

select switch to select cruise

control.

The cruise control indicator will illu-

minate.

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.

WARNING

Vehicle speed may exceed the set

speed when driving down a steep

hill.

●

When it is necessary to disable

the system:

System Components

Using the cruise control

Setting the vehicle speed

223

4-5. Using the driving support systems

Dr
iv

ing

■

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.

Increase set vehicle speed

Decrease set vehicle speed

The set vehicle speed will
increase or decrease as follows:

Fine adjustment: By 1 mph (1.6
km/h) or 1 km/h (0.6 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

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

Press the “+” switch.

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

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

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:

