Toyota Prius (2024 year). Manual in english

225

4-5. Using the driving support systems

ing

■

Acceleration Suppression

at Low Speed

When driving at a low speed, if

the accelerator pedal is strongly

depressed and the system

determines that there is a possi-

bility of a collision, hybrid sys-

tem output will be restrained or

the brakes will be applied

weakly to restrict acceleration.

During operation, a buzzer will

sound and the following icon

and message will be displayed

on the multi-information display.

WARNING

■

Pre-collision braking

●

When the pre-collision braking

function is operating, a large

amount of braking force will be

applied.

●

The pre-collision braking func-

tion is not designed to hold the

vehicle stopped. If the vehicle is

stopped by pre-collision brake

control, the driver should oper-

ate the brakes immediately as

necessary.

●

The pre-collision braking func-

tion may not operate if certain

operations are performed by the

driver. If the accelerator pedal is

being depressed strongly or the

steering wheel is being turned,

the system may determine that

the driver is taking evasive

action and possibly prevent the

pre-collision braking function

from operating.

●

If the brake pedal is being

depressed, the system may

determine that the driver is tak-

ing evasive action and possibly

delay the operation timing of the

pre-collision brake control.

■

Acceleration Suppression at

Low Speed

If the steering wheel is being

turned, the system may determine

that the driver is taking evasive

action and possibly prevent the

Acceleration Suppression at Low

Speed function from operating or

possibly causing its operation to

be canceled.

■

Emergency steering assist

●

The emergency steering assist

will be canceled when the sys-

tem determines that lane depar-

ture prevention control has

completed.

●

Depending on operations per-

formed by the driver, emer-

gency steering assist may not

operate or operation may be

canceled.

226

4-5. Using the driving support systems

■

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 12-volt battery has been disconnected and reconnected

●

When the shift position is in R

●

When the VSC OFF indicator is illuminated (only the pre-collision warning

function will be operational)

The following are the operational speeds and cancelation conditions of each

function:

WARNING

• If the accelerator pedal is

depressed strongly, the steering

wheel is turned heavily, the

brake pedal is depressed, or the

turn signal lever is operated, the

system may determine that the

driver is taking evasive action

and the emergency steering

assist may not operate.

• 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.

227

4-5. Using the driving support systems

Dr
iv

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●

Pre-collision warning

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

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)

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)

Approximately 3 to 50

mph (5 to 80 km/h)

Pedestrians

Approximately 3 to 50

mph (5 to 80 km/h)

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)

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)

Approximately 20 to 50

mph (30 to 80 km/h)

Pedestrians

Approximately 20 to 50

mph (30 to 80 km/h)

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)

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)

228

4-5. Using the driving support systems

If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:

• 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.

: Minimum vehicle speed: Vehicle speed at which evasion using pre-colli-

sion brake control is difficult

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.

Bicycles

Approximately 3 to 50

mph (5 to 80 km/h)

Approximately 3 to 50

mph (5 to 80 km/h)

Pedestrians

Approximately 3 to 50

mph (5 to 80 km/h)

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)

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, bicy-

cles, pedestrians,

motorcycles

Approximately 25 to 50

mph (40 to 80 km/h)

Approximately 25 to 50

mph (40 to 80 km/h)

Preceding vehicles,

stopped vehicles, bicy-

cles, pedestrians,

motorcycles

Active steering function

(if equipped):

to 50

mph (

to 80 km/h)

Active steering function

(if equipped):

to 50

mph (

to 80 km/h)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

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4-5. Using the driving support systems

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●

Intersection collision avoidance support (crossing vehicles)



Vehicles without front side radars



Vehicles with front side radars

When driving at approximately 29 mph (40 km/h) or more, this system will
only operate when the speed of the other vehicle is approximately 29 mph
(40 km/h) or less.

The system operates only when the crossing vehicle speed is same as or
less than the vehicle speed.

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)

Detectable

objects

Vehicle speed

Crossing vehicle

speed

Relative speed

between your

vehicle and object

Vehicles, Motor-

cycles (side)

Approximately 3

to 38 mph (5 to

60 km/h)

• Your vehicle

speed or less

• Approximately

25 mph or less
(40 km/h or
less)

Approximately 3

to 38 mph (5 to

60 km/h)

Detectable

objects

Vehicle speed

Crossing vehicle

speed

Relative speed

between your

vehicle and object

Vehicles, Motor-

cycles (side)

Approximately 3

to 38 mph (5 to

60 km/h)

Approximately 31
mph or less (50
km/h or less)

Approximately 3

to 38 mph (5 to

60 km/h)

230

4-5. Using the driving support systems

●

Acceleration Suppression at Low Speed

The Acceleration Suppression at Low Speed function will not operate when
the turn signal lights are flashing.

While the Acceleration Suppression at Low Speed function is operating, if
any of the following are performed, the low speed sudden acceleration sup-
pression function operation will be cancelled:

• The accelerator pedal is released.

• The steering wheel is operated heavily or suddenly

■

Detection of detectable objects

Objects are detected based on their
size, shape, and movement.

Depending on the ambient bright-
ness, movement, posture and direc-
tion 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

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,

stopped vehicles,

Pedestrians, Bicycles,

Wall

Approximately 0 to 9

mph (0 to 15 km/h)

Approximately 0 to 9

mph (0 to 15 km/h)

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4-5. Using the driving support systems

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• When passing a detectable object

which is stopped to make a
left/right turn

• 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, oncoming
motorcycle, pedestrian or bicycle
crosses in front of the vehicle

• When attempting to turn left/right

in front of an oncoming vehicle,
oncoming motorcycle, pedestrian
or bicycle

• When turning left/right and an

oncoming vehicle, oncoming
motorcycle, pedestrian or bicycle
stops or changes course immedi-
ately 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

• When there is an object moving

above or under the road

■

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-

232

4-5. Using the driving support systems

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 bicycle is a child sized bicycle,

is carrying a large load, is carrying
an extra passenger, is carrying a
forward leaning rider, or has an
unusual shape (bicycles equipped
with a child seat, tandem 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,
long skirt, etc.)

• When a pedestrian is bending for-

ward 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 hybrid system 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, a pedes-

trian or bicycle behind the vehicle
comes in front of it as if it over-
takes the vehicle

• When at an intersection, the

approaching crossing vehicle is
long in overall length, such as a
large truck, towing trailer, etc.

●

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

●

In addition to the preceding, in
certain situations, such as the fol-
lowing, walls may not be detected
as a target object and the Acceler-
ation Suppression at Low Speed
function may not operate properly:

• When scenery behind the wall is

visible, such as a glass door, grid
fence, etc.

• When the wall is slanted or low
• When the wall is narrow, such as

a pole, etc.

• When the wall is made of plants,

such as a hedge, etc.

233

4-5. Using the driving support systems

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• When the road, etc. is reflected on

the wall

• When the vehicle is approaching

the wall at an angle



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



P.547)

The system is enabled each time
the power 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.547)



Vehicles without active steer-
ing function: When the pre-
collision warning timing is
changed, the emergency
steering assist timing will also
be changed.

When later is selected, the
emergency steering assist will
not operate in most cases.



Vehicles with active steering
function: When the pre-colli-
sion warning timing is
changed, the emergency
steering assist (excluding the
active steering function) tim-
ing 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.

Changing the pre-colli-
sion setting

234

4-5. Using the driving support systems



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

Use this function only on highways
and expressways.

If the dynamic radar cruise control
is not operating, the function will not
operate.

In situations where the lane lines
are difficult to see or are not visible,
such as when in a traffic jam, sup-
port will be provided using the path
of preceding and surrounding vehi-
cles.

If the system determines that the
steering wheel has not been oper-
ated for a certain amount of time or
the steering wheel is not being
firmly gripped, the driver will be
alerted and this function will be
temporarily canceled.

If the steering wheel is firmly
gripped, the function will begin
operating again.



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.

LTA (Lane Tracing

Assist)

LTA functions

235

4-5. Using the driving support systems

ing

■

Operating conditions of func-

tion

This function is operable when all of

the following conditions are met:

●

The LTA system detects lane lines

or the path of preceding or sur-

rounding vehicles.

●

The dynamic radar cruise control

is operating.

●

The lane width is approximately

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

●

The turn signal lever is not being

operated.

●

The vehicle is not being driven

around a sharp curve.

●

The vehicle is not accelerating or

decelerating more than a certain

amount.

●

The steering wheel is not being

turned with a large force.

●

The hands off steering wheel

warning (



P.236) 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.235)

●

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.

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 sys-

tem, turn it off using the LTA

switch.

236

4-5. Using the driving support systems

■

Lane departure warning func-
tion when the LTA is operating

●

Even if the LDA warning method is
changed to vibration of the steer-
ing wheel, if the vehicle deviates
from the lane while the LTA is
operating, the warning buzzer will
sound to alert the driver.

●

If steering wheel operation equiv-
alent to that necessary for a lane
change is detected, the system
will determine the vehicle is not
deviating from the lane and the
warning will not operate.

■

Hands off steering wheel warn-
ing operation

●

When the system determines the
driver is not holding the steering
wheel, a message urging the
driver to grip the steering wheel
and the icon shown in the illustra-
tion will be displayed on the multi-
information display to warn the
driver. If the system detects that
the steering wheel is held, the
warning will be canceled. When
using the system, make sure to
grip the steering wheel firmly,
regardless of whether the warn-
ing is operating or not.

●

If no operations are detected for a
certain amount of time, the warn-
ing will operate and the function
will be temporarily canceled. This
warning may also operate if the
driver only operates steering
wheel a small amount continu-
ously.

■

Situations in which the hands
off steering wheel warning may
not operate properly

●

Depending on the condition of the

vehicle, handle control condition
and road surface, the warning
function may not operate.

●

Vehicles with LCA: In the following
situations, the system may not be
able to detect when the driver’s
hands are off the steering wheel.

• When a steering wheel cover is

installed

• When the driver is wearing gloves
• When foreign matter is attached to

the steering wheel

• When the driver is gripping the

wood trim, seam of the leather,
spokes, or other part of the steer-
ing wheel that does not have sen-
sors

●

Vehicles with LCA: In the following
situations, the hands off steering
wheel warning may not operate
and the LTA function may con-
tinue operating even though the
driver’s hands are off the steering
wheel:

• When something other than a

hand is contacting the steering
wheel

• When a wide object or arms are

held across the steering wheel

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

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

Enabling/disabling the
system

237

4-5. Using the driving support systems

ing

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.219

●

Situations in which the lane may

not be detected:



P.221

●

When it is necessary to disable

the system:



P.215

238

4-5. Using the driving support systems

The operating state of the LTA system is indicated.

Operation display of steering wheel operation support

Indicator

Lane display

Steering icon

Situation

White

Gray/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

display is flashing

239

4-5. Using the driving support systems

ing

: If equipped

This function is linked to the LTA

and provides assistance in per-

forming lane changes through

steering wheel operations.

Use the this function only on high-

ways and expressways.
The steering assist operation can

be overridden by the steering wheel

operation of the driver.
The lane change assist function is

not designed to operate when

changing lanes at a junction.

■

Operating conditions of func-

tion

This function is operable when all of

the following conditions are met:

●

The LTA is operating.

●

The lane change assist function is

enabled by a customize setting.

●

The vehicle speed is between

approximately 55 and 85 mph (90

and 140 km/h).

●

The system detects a broken

white line on the side which the

lane change is to be performed.

●

A vehicle is not detected in the

lane toward which the turn signal

is operated.

●

The steering wheel is not being

turned with a large force.

LCA (Lane Change

Assist)

LCA functions

WARNING

■

Before using the LCA system

●

Do not overly rely on the LCA

system.

The LCA system is not a system

which provides automated assis-

tance in driving and it is not a sys-

tem which reduces the need for

checking an adjacent lane for

other vehicles, approaching vehi-

cles, etc. when changing lanes.

The driver is solely responsible for

paying attention to their surround-

ings and operating the steering

wheel as necessary to ensure

safety.
Also, do not use the LCA to

change lanes into which a lane

change should not be performed

(oncoming lanes, road shoulders,

etc.).

●

Failure to perform appropriate

driving operations and pay care-

ful attention may lead to an

accident.

240

4-5. Using the driving support systems

●

The hands off steering wheel
warning (



P.236) is not operat-

ing.

■

Cancelation of functions

In the following situations, opera-
tion of the LCA may be canceled
with the display and buzzer:

●

When the operating conditions
(



P.235) are no longer met

●

When the system can no longer
detect lane lines

●

When the turn signal lever is oper-
ated to the second position
(



P.240)

●

When the turn signal lever is oper-
ated in the opposite direction of
the lane change

●

When the system detects opera-
tion of the steering wheel, brake
pedal or accelerator pedal by the
driver

If the system detects that a vehicle
is quickly approaching in the lane
toward which the turn signal is oper-
ated a buzzer will sound and a mes-
sage will be displayed to alert the
driver. At the same time the steering
wheel may be slightly operated to
help keep the vehicle away from the
approaching vehicle.

■

Hands off steering wheel warn-
ing operation

When the system determines the
driver is not holding the steering
wheel, a message urging the driver
to grip the steering wheel and the
icon shown in the illustration will be
displayed on the multi-information
display to warn the driver. If the sys-
tem detects that the steering wheel
is held, the warning will be can-
celed. When using the system,
make sure to grip the steering wheel
firmly, regardless of whether the
warning is operating or not.

■

Situations in which the hands
off steering wheel warning may
not operate properly

●

Depending on the condition of the
vehicle, handle control condition
and road surface, the warning
function may not operate.

●

In the following situations, the sys-
tem may not be able to detect
when the driver’s hands are off
the steering wheel.

• When a steering wheel cover is

installed

• When the driver is wearing gloves
• When foreign matter is attached to

the steering wheel

• When the driver is gripping the

wood trim, seam of the leather,
spokes, or other part of the steer-
ing wheel that does not have sen-
sors

●

In the following situations, the
hands off steering wheel warning
may not operate and the LCA
function may continue operating
even though the driver’s hands
are off the steering wheel:

• When something other than a

hand is contacting the steering
wheel

• When a wide object or arms are

held across the steering wheel

If the turn signal lever is held in
the first position, the lane
change direction will be dis-
played and the function will
operate.

Operating the LCA

241

4-5. Using the driving support systems

ing

To change lanes by holding the

turn signal lever in the first posi-

tion without using the LCA, turn

the customize setting of the LCA

off.

First position: LCA is opera-

tional

Second position: LCA is not

operational

LCA can be enabled/disabled

through a customize setting.

(



P.547)

The operating state of the LCA system is indicated.

WARNING

■

Situations in which the LCA

should not be used

●

When driving on a one lane

road

●

When there is no broken white

line between the current lane

and the lane to be changed to

Enabling/disabling the

system

Displays and system operation

LCA display

Steering icon

Condition

Blue arrow and white

line

Green

LCA is operating

Grey

Approaching vehicle

detected while LCA is

operating

Not displayed

Grey

Lane line no longer

detected while LCA is

operating

242

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

243

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

buzzer will sound to urge the

driver to take a break.

■

Operating conditions of each

function

●

Lane departure alert/prevention

function

This function is operable when all of

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.

244

4-5. Using the driving support systems

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 oper-
ated.)
• 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.

• When the VSC or TRAC system is

not turned off

: Boundary between the asphalt

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

■

Temporary cancellation of func-
tions

When the operating conditions are
no longer met, a function may be
temporarily canceled. However,
when the operation conditions are
met again, operation of the function
will automatically be restored.
(



P.243)

■

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
system, make sure to grip the steer-
ing wheel firmly, regardless of
whether the warning is operating or
not.

245

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

Except for Puerto Rico: The length

of time that the warning buzzer

operates will become longer as the

frequency of the steering assist

operating increases. If the system

judges that the steering wheel has

been operated, the warning buzzer

will stop.
For Puerto Rico: 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 warning buzzer

will sound for a certain amount of

time.

■

Break suggestion function

This function is operable when all of

the following conditions are met:

●

The vehicle speed is approxi-

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

●

The lane width is approximately

9.8 ft. (3 m) or more.

Depending on the condition of the

vehicle and road surface, the break

suggestion function may not oper-

ate.



The LDA system can be

enabled/disabled through a

customize setting. (



P.547)



The settings of the LDA can

be changed on the customize

settings. (



P.547)

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.221

246

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.



Except for Puerto Rico

WARNING

●

Situations in which the sensors

may not operate properly:



P.219

●

Situations in which some or all

of the functions of the system

cannot operate:



P.221

●

When it is necessary to disable

the system:



P.215

Displays and system operation

Indicator

Lane display

Steering icon

Condition

Not illuminated Not illuminated Not illuminated System disabled

White

Gray

Not illuminated Lane lines are not

detected by the system

White

Not illuminated Lane lines are detected by

the system

Orange

Flashing

Orange

Flashing

Not illuminated

Lane departure alert func-

tion is operating for the

side which the lane display

is flashing

247

4-5. Using the driving support systems

Dr
iv

ing



For Puerto Rico

Green

Lane departure preven-
tion function is operating
for the side which the lane
display is illuminated

Orange

Flashing

Orange

Flashing

Green

Lane departure alert func-
tion/lane departure pre-
vention function is
operating for the side
which the lane display is
flashing

Indicator

Lane display

Steering icon

Situation

Orange

Illuminated

Not illuminated Not illuminated System disabled

Not illuminated

Gray

Not illuminated

Lane lines are not
detected by the system

Not illuminated

White

Not illuminated

Lane lines are detected by
the system

Orange

Flashing

Orange

Flashing

Not illuminated

Lane departure alert func-
tion is operating for the
side which the lane display
is flashing

Green

Lane departure preven-
tion function is operating
for the side which the lane
display is illuminated

Orange

Flashing

Orange

Flashing

Green

Lane departure alert func-
tion/lane departure pre-
vention function is
operating for the side
which the lane display is
flashing

Indicator

Lane display

Steering icon

Condition

248

4-5. Using the driving support systems

PDA (Proactive driv-

ing assist)

When a detectable object

(



P.249) 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.251)

●

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:



P.251

●

When it is necessary to disable

the system:



P.215

249

4-5. Using the driving support systems

Dr
iv

ing

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 Antici-

pation Assist

A detectable

object is detected

crossing the road

Assistance with

some brake oper-

ations is pro-

vided in order to

reduce the possi-

bility of a colli-

sion.



Pedestrians



Bicyclists

A detectable

object is detected

on the side of the

road

Assistance with

some brake and

steering wheel
operations are

provided accord-

ing to the sur-

rounding

conditions to help

prevent the vehi-

cle from

approaching too

close to a

detected object.



Pedestrians



Bicyclists



Parked vehicles

Assistance with

steering wheel

operations is pro-

vided within a

range that the

vehicle will not

deviate from its

current lane.

250

4-5. Using the driving support systems

■

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
more

●

Curve deceleration assistance

Approximately 15 mph (20 km/h) or
more

●

Steering assist within a lane

Approximately 5 to 80 mph (10 to
140 km/h)

■

System operation will be can-
celed when

●

In the following situations, system
operation will be canceled:

• When the dynamic radar cruise

control or cruise control is operat-
ing

• When the PCS is off
• Situations in which some or all of

the functions of the system cannot
operate:



P.221

• When the P, R or N shift position

is selected

●

In the following situations, the
brake operation assist will be can-
celed:

• Approximately 9 mph (15 km/h) or

less

• When a certain vehicle speed has

been reached, as judged by the
system, according to the sur-

Deceleration

Assist

A preceding vehi-

cle or an adjacent

vehicle cutting in

front of the vehi-

cle is detected

The vehicle is

gently deceler-

ated so that the

vehicle-to-vehi-

cle distance will

not be exces-

sively short.



Preceding vehi-
cles



Motorcycles

A curve is

detected ahead of

the vehicle

The vehicle is

gently deceler-

ated if the vehicle

speed is deter-

mined to be too

high for the curve

ahead.

None

Steering Assist

Lane is detected

The system antic-

ipates the driver’s

operation and

supports the

operation of the

steering wheel.

None

Function

Conditions

Operation

Detectable

objects

251

4-5. Using the driving support systems

ing

rounding 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 exam-

ple: PCS, drive-start control)

• When the system determines that

a detected object has moved

away from the vehicle

• 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:



P.221

●

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 object

●

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

●

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

252

4-5. Using the driving support systems



The proactive driving assist

can be enabled/disabled

through a customize setting.

(



P.548)



The settings of the proactive

driving assist can be changed

through customize settings.

(



P.548)

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.

WARNING

●

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 hybrid system 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

Changing proactive driv-

ing assist settings

System operation display

253

4-5. Using the driving support systems

Dr
iv

ing

■

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.

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 assis-
tance is operating

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



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



When the steering assist is operat-
ing

Preceding vehicle deceleration
assistance is being performed

Warning to maintain appropriate
vehicle-to-vehicle distance

Curve deceleration assistance is
being performed

254

4-5. Using the driving support systems

●

When assistance to a detectable
object crossing the road or assis-
tance to a detectable object on the
side of the road is performed and
the system determines the driver
is not holding the steering wheel

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.

: If equipped



When the system detects a
vehicle approaching from the
left or right in front of your
vehicle when approaching an
intersection, a notification will
be displayed.



When the system determines
that your vehicle may be
about to enter an intersection
even though a vehicle is
approaching from the left or
right in front of your vehicle, a
buzzer will sound and a mes-
sage will be displayed to urge
you to depress the brake
pedal.

• Multi-information display

FCTA (Front Cross

Traffic Alert)

When approaching an inter-
section, etc., at a low speed,
vehicles approaching from
the left and right of the front
of the vehicle can be
detected and the driver
informed of these vehicles.

FCTA system control

255

4-5. Using the driving support systems

ing

■

FCTA system operating condi-

tions

The system will operate when all of

the following conditions are met:

●

A shift position other than P or R is

selected

●

The vehicle speed is approxi-

mately 10 mph (15 km/h) or less

●

A vehicle is approaching from the

left or right in front of your vehicle

at a speed between approximately

7 to 37 mph (10 to 60 km/h)

●

There are no vehicles in front of

your vehicle

●

The accelerator pedal is not being

strongly depressed

●

The brake pedal is not being

strongly depressed

■

Situations in which the system

may operate even though no

vehicles are approaching

In certain situations, such as the fol-

lowing, the system may operate

even though no vehicles are

approaching:

●

When approaching objects on the

roadside, such as guardrails, traf-

fic signs, utility poles, street lights,

trees, tall grass, walls, etc.

●

When passing an object on the

side of the road, such as a parked

vehicle

●

When a vehicle or pedestrian is

approaching from the left or right

in front of your vehicle in the dis-

tance

●

When a vehicle or pedestrian is

moving within a parking spot, etc.,

next to the lane your vehicle is in

●

When a pedestrian or bicyclist is

approaching on a sidewalk

●

When a vehicle or pedestrian is

moving away from your vehicle

●

When an approaching vehicle is

decelerating or stops

●

When an approaching vehicle

makes a left/right turn immediately

in front of your vehicle

●

When a pedestrian is approaching

your vehicle

●

When an oncoming vehicle makes

a right/left turn

●

When your vehicle enters an inter-

section before a vehicle

approaching from the left or right

in front of your vehicle

●

When stopped at traffic light and a

vehicle approaches from the left

or right in front of your vehicle

●

When making a left/right turn in

WARNING

■

For safe use

Driving safely is solely the respon-

sibility of the driver. Pay careful

attention to the surrounding con-

ditions in order to ensure safe

driving. The FCTA system is a

supplementary system that

informs the driver of vehicles

approaching from the left and

right of the front of the vehicle.
Over-reliance on this system may

lead to an accident resulting in

death or serious injury. The

details of the warning display may

differ from the actual traffic condi-

tions. Although the warning dis-

play will stop being displayed after

a certain amount of time, this

does not necessarily indicate that

there are no longer any vehicles

or pedestrians around your vehi-

cle.

256

4-5. Using the driving support systems

front of an approaching vehicle

●

When an oncoming vehicle
approaches and passes

●

When being overtaken by another
vehicle

●

When driving next to another vehi-
cle or a pedestrian

●

When a vehicle or pedestrian
approaches the side of your vehi-
cle

■

Situations in which the system
may not operate properly

In situations such as the following, a
vehicle may not be detected by a
front side radar sensor and the sys-
tem may not operate properly:

●

If an approaching vehicle moves
suddenly (sudden steering, accel-
eration, deceleration, etc.)

●

If a vehicle is approaching from
the left or right of the front of your
vehicle diagonally

●

When a vehicle is approaching
from the left or right in front of your
vehicle in the distance

●

When there is an object between
your vehicle and an approaching
vehicle

●

When several vehicles are
approaching with little space
between them

●

Situations in which the sensors
may not operate properly:



P.219

●

Situations in which some or all of
the functions of the system cannot
operate:



P.221



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



P.548)



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



P.548)

Changing FCTA settings

Toyota Prius (2024 year). Manual in english - page 8