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

P.227

: If equipped

■

Dynamic radar cruise con-

trol

P.229

■

Cruise control

P.240

■

Emergency Driving Stop

System

P.244

Various sensors are used to

obtain the necessary informa-

tion for system operation.

■

Sensors which detect the

surrounding conditions

Front radar sensor
Front camera
Rear side radar sensors

: If equipped

WARNING

●

When a sensor is misaligned or

deformed due to a strong

impact being applied to the sen-

sor or the area around the sen-

sor

●

When accessories which

obstruct a sensor or light are

temporarily installed to the vehi-

cle

●

When a compact spare tire or

tire chains are installed to the

vehicle or an emergency tire

puncture repair kit has been

used

●

When the tires are excessively

worn or the inflation pressure of

the tires is low

●

When tires other than the manu-

facturer specified size are

installed

●

When the vehicle cannot be

driven stably, due to a collision,

malfunction, etc.

Driving assist systems

Sensors used by Toyota

Safety Sense 3.0

196

4-5. Using the driving support systems

WARNING

■

To prevent malfunction of the

radar sensors

Observe the following precau-

tions. Failure to do so may lead to

a radar sensor not operating prop-

erly, possibly leading to an acci-

dent resulting in death or serious

injury.

●

Keep the radar sensors and

radar sensor covers clean at all

times.

Clean the front of a radar sensor

or the front or back of a radar sen-

sor cover if it is dirty or covered

with water droplets, snow, etc.
When cleaning the radar sensor

and radar sensor cover, use a soft

cloth to remove dirt so as to not

damage them.

Radar sensor
Radar sensor cover

●

Do not attach accessories,

stickers (including transparent

stickers), aluminum tape, etc. to

a radar sensor or radar sensor

cover and their surrounding

area.

●

Do not subject a radar sensor or

its surrounding area to impact.

If a radar sensor, the front grille,

or front bumper has been sub-

jected to a impact, have the

vehicle inspected by your Toy-

ota dealer.

●

Do not disassemble the radar

sensors.

●

Do not modify or paint the radar

sensors or radar sensor cover,

or replace them with anything

other than Toyota genuine parts.

●

In the following situations, recal-

ibration of the radar sensors will

be necessary. For details, con-

tact your Toyota dealer.

• When a radar sensor is

removed and installed, or

replaced

• When the front bumper or the

front grille has been replaced

■

To prevent malfunction of the

front camera

Observe the following precau-

tions.

Failure to do so may lead to the

front camera not operating prop-

erly, possibly leading to an acci-

dent resulting in death or serious

injury.

●

Always keep the windshield

clean.

• If the windshield is dirty or cov-

ered with an oily film, water

droplets, snow, etc., clean the

windshield.

• Even if a glass coating agent is

applied to the windshield, it will

still be necessary to use the

windshield wipers to remove

water droplets, etc. from the

area of the windshield in front of

the front camera.

• If the inner side of the wind-

shield where the front camera is

installed is dirty, contact your

Toyota dealer.

197

4-5. Using the driving support systems

ing

WARNING

●

Do not attach stickers (including

transparent stickers) or other

items to the area of the wind-

shield in front of the front cam-

era (shaded area in the

illustration).

Approximately 1.6 in. (4 cm)
Approximately 1.6 in. (4 cm)

●

If the part of the windshield in

front of the front camera is

fogged up or covered with con-

densation or ice, use the wind-

shield defogger to remove the

fog, condensation, or ice.

●

If water droplets cannot be

properly removed from the area

of the windshield in front of the

front camera by the windshield

wipers, replace the wiper insert

or wiper blade.

●

Do not attach window tint to the

windshield.

●

Replace the windshield if it is

damaged or cracked.

If the windshield has been

replaced, recalibration of the

front camera will be necessary.

For details, contact your Toyota

dealer.

●

Do not allow liquids to contact

the front camera.

●

Do not allow bright lights to

shine into the front camera.

●

Do not damage the lens of the

front camera or allow it to

become dirty.

When cleaning the inside of the

windshield, do not allow glass

cleaner to contact the lens of

the front camera. Do not touch

the lens of the front camera.

If the lens of the front camera is

dirty or damaged, contact your

Toyota dealer.

●

Do not subject the front camera

to a strong impact.

●

Do not change the position or

orientation of the front camera

or remove it.

●

Do not disassemble the front

camera.

●

Do not modify any parts around

the front camera, such as the

inside rear view mirror or ceil-

ing.

●

Do not attach accessories

which may obstruct the front

camera to the hood, front grille,

or front bumper. For details,

contact your Toyota dealer.

●

If a surfboard or other long

object is to be mounted on the

roof, make sure that it will not

obstruct the front camera.

●

Do not modify or change the

headlights and other lights.

■

Front camera installation area

on the windshield

If the system determines that the

windshield may be fogged up, it

will automatically operate the

heater to defog the part of the

windshield around the front cam-

era. When cleaning, etc., be care-

ful not to touch the area around

the front camera until the wind-

shield has cooled sufficiently, as

touching it may cause burns.

198

4-5. Using the driving support systems

■

Situations in which the sensors
may not operate properly

●

When the height or inclination of
the vehicle has been changed due
to modifications

●

When the windshield is dirty,
fogged up, cracked or damaged

●

When the ambient temperature is
high or low

●

When mud, water, snow, dead
insects, foreign matter, etc., is
attached to the front of the sensor

●

When in inclement weather such
as heavy rain, fog, snow, or a
sandstorm

●

When water, snow, dust, etc. is
thrown up in front of the vehicle, or
when driving through mist or
smoke

●

When the headlights are not illu-
minated while driving in the dark,
such as at night or when in a tun-
nel

●

When the lens of a headlight is
dirty and illumination is weak

●

When the headlights are mis-
aligned

●

When a headlight is malfunction-
ing

●

When the headlights of another
vehicle, sunlight, or reflected light
shines directly into the front cam-
era

●

When the brightness of the sur-
rounding area changes suddenly

●

When driving near a TV tower,
broadcasting station, electric
power plant, radar equipped vehi-
cles, etc., or other location where
strong radio waves or electrical
noise may be present

●

When a wiper blade is blocking
the front camera

●

When in a location or near objects
which strongly reflect radio waves,
such as the following:

• Tunnels

• Truss bridges
• Gravel roads
• Rutted, snow-covered roads
• Walls
• Large trucks
• Manhole covers
• Guardrail
• Metal plates

●

When near a step or protrusion

●

When a detectable vehicle is nar-
row, such as a small mobility vehi-
cle

●

When a detectable vehicle has a
small front or rear end, such as an
unloaded truck

●

When a detectable vehicle has a
low front or rear end, such as a
low bed trailer

●

When a detectable vehicle has
extremely high ground clearance

●

When a detectable vehicle is car-
rying a load which protrudes from
its cargo area

●

When a detectable vehicle has lit-
tle exposed metal, such as a vehi-
cle which is partially covered with
cloth, etc.

●

When a detectable vehicle is
irregularly shaped, such as a trac-
tor, sidecar, etc.

●

When the distance between the
vehicle and a detectable vehicle

199

4-5. Using the driving support systems

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iv

ing

has become extremely short

●

When a detectable vehicle is at an
angle

●

When snow, mud, etc. is attached
to a detectable vehicle

●

When driving on the following
kinds of roads:

• Roads with sharp curves or wind-

ing roads

• Roads with changes in grade,

such as sudden inclines or
declines

• Roads which is sloped to the left

or right

• Roads with deep ruts
• Roads which are rough and

unmaintained

• Roads which frequently undulate

or are bumpy

●

When the steering wheel is being
operated frequently or suddenly

●

When the vehicle is not in a con-
stant position within a lane

●

When parts related to this system,
the brakes, etc. are cold or
extremely hot, wet, etc.

●

When the wheels are misaligned

●

When driving on slick road sur-
faces, such as when it is covered
with ice, snow, gravel, etc.

●

When the course of the vehicle
differs from the shape of a curve

●

When the vehicle speed is exces-
sively high when entering a curve

●

When entering/exiting a parking
lot, garage, car elevator, etc.

●

When driving in a parking lot

●

When driving through an area
where there are obstructions
which may contact your vehicle,
such as tall grass, tree branches,
a curtain, etc.

●

When driving in strong wind

■

Situations in which the lane
may not be detected

●

When the lane is extremely wide
or narrow

●

Immediately after changing lanes
or passing through an intersection

●

When driving in a temporary lane
or lane regulated by construction

●

When there are structures, pat-
terns, shadows which are similar
to lane lines in the surrounding

●

When there are multiple white
lines for a lane line

●

When the lane lines are not clear
or driving on a wet road surface

●

When a lane line is on a curb

●

When driving on a bright, reflec-
tive road surface, such as con-
crete

■

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

●

When a malfunction is detected in
this system or a related system,
such as the brakes, steering, etc.

●

When the VSC, TRAC, or other
safety related system is operating

●

When the VSC, TRAC, or other
safety related system is off

■

Changes in brake operation
sound and pedal response

●

When the brakes have been oper-
ated, brake operation sounds may
be heard and the brake pedal
response may change, but this
does not indicate a malfunction.

●

When the system is operating, the
brake pedal may feel stiffer than
expected or sink. In either situa-
tion the brake pedal can be
depressed further. Further
depress the brake pedal as nec-
essary.

200

4-5. Using the driving support systems

The system can detect the fol-

lowing as detectable objects.

(Detectable objects differ

depending on the function.)



Vehicles



Bicycles



Pedestrians

PCS (Pre-Collision Sys-

tem)

The pre-collision system

uses sensors to detect

objects (

P.200) in the path

of the vehicle. When the

system determines that the

possibility of a frontal colli-

sion with a detectable

object is high, a warning

operates to urge the driver

to take evasive action and

the potential brake pressure

is increased to help the

driver avoid the collision. If

the system determines that

the possibility of a collision

is extremely high, the

brakes are automatically

applied to help avoid the

collision or help reduce the

impact of the collision.
The pre-collision system

can be disabled/enabled

and the warning timing can

be changed. (



P.210)

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.

Never use the pre-collision sys-

tem in place of normal braking

operations. This system cannot

help avoid or reduce the impact of

a collision in every situation.

Over-reliance on this system to

drive the vehicle safely may lead

to an accident resulting in death

or serious injury.

●

Although the pre-collision sys-

tem is designed to help avoid or

help reduce the impact of a col-

lision, its effectiveness may

change according to various

conditions. Therefore, it may not

always be able to achieve the

same level of performance.

Read the following items care-

fully. Do not overly rely on this

system and always drive care-

fully.

●

For safe use:



■

When to disable the pre-colli-

sion system

●

When it is necessary to disable

the system:



Detectable objects

201

4-5. Using the driving support systems

Dr
iv

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

Motorcycles



Walls

: Detected as a detectable object

only when being ridden.

■

Pre-collision warning

When the system determines
that the possibility of a collision
is high, a buzzer will sound and
an icon and warning message
will be displayed on the
multi-information display to urge
the driver to take evasive action.

If the detectable object is a vehi-
cle, moderate braking will be
performed with the warning.

If the system determines that
the accelerator pedal is strongly
depressed, the following icon
and message will be displayed
on the multi-information display.

■

Pre-collision brake assist

If the system determines that
the possibility of a collision is
high and the brake operation by
the driver is insufficient, the
braking power will be increased.

■

Pre-collision brake control

If the system determines that
the possibility of a collision is
extremely high, the brakes are
automatically applied to help
avoid the collision or reduce the
impact of the collision.

■

Emergency steering assist

If the system determines that
the following conditions are met,
assistance will be provided to
help enhance vehicle stability
and prevent lane departure.
During assistance, in addition to
the pre-collision warning, the fol-
lowing icon will be displayed on
the multi-information display.



The possibility of a collision is
high



There is sufficient space
within the lane to perform
evasive steering maneuvers



The driver is operating the

System functions

202

4-5. Using the driving support systems

steering wheel

During assistance, the pre-colli-
sion warning will operate and a
message will be displayed to
warn the driver.

■

Intersection collision avoid-
ance support (left/right
turn)

In situations such as the follow-
ing, if the system determines
that the possibility of a collision
is high, the pre-collision warning
and pre-collision braking will
operate.

Depending on the intersection,
assistance may not operate cor-
rectly.



When turning left/right at an
intersection and crossing the
path of an oncoming vehicle



When turning left/right and a

pedestrian or bicycle is
detected

■

Intersection collision avoid-
ance support (crossing
vehicles)

At an intersection, etc., if the
system determines that the pos-
sibility of a collision with an
approaching vehicle or motorcy-
cle is high, the pre-collision
warning and pre-collision brak-
ing will operate.

Depending on the intersection,
assistance may not operate cor-
rectly.

■

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, engine output

203

4-5. Using the driving support systems

ing

will be restrained or the brakes

will be applied weakly to restrict

acceleration. During operation,

a buzzer will sound and a warn-

ing indicator and message will

be displayed on the multi-infor-

mation 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.

• 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.

204

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 battery has been disconnected and reconnected

●

When the shift lever 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:

●

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

WARNING

• While the emergency steering

assist is operating, if the steer-

ing wheel is held or turned in the

opposite direction of system

operation, emergency steering

assist operation will be can-

celed.

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,

stopped vehicles

Approximately 3 to 110

mph (5 to 180 km/h)

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)

205

4-5. Using the driving support systems

Dr
iv

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●

Pre-collision braking

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.

The emergency steering assist will not operate when the VSC OFF indicator
is illuminated.

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles

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

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

Bicycles

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

Pedestrians

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

Preceding motorcycles,
stopped motorcycles

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

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

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

Preceding vehicles,
stopped vehicles

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

Oncoming vehicles

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

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

Bicycles

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

Pedestrians

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

Preceding motorcycles,
stopped motorcycles

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

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

Oncoming motorcycles

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

206

4-5. Using the driving support systems

While the emergency steering assist is operating, if any of the following are
performed, emergency steering assist operation may be cancelled:

• The accelerator pedal is strongly depressed

• The steering wheel is operated heavily or suddenly

• The brake pedal is depressed

●

Intersection collision avoidance support (left/right turn)

The intersection collision avoidance support (for left/right turning vehicles)
will not operate when the turn signal lights are not flashing.

●

Intersection collision avoidance support (crossing vehicles)

Detectable objects

Vehicle speed

Relative speed between

your vehicle and object

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

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

Detectable
objects

Vehicle speed

Oncoming vehicle
speed

Relative speed
between your
vehicle and object

Oncoming vehi-
cles

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

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

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

Pedestrians

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



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

Bicycles

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



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

Oncoming motor-
cycles

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

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

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

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 (40
km/h) or less

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

207

4-5. Using the driving support systems

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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.

●

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
suppression 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 move-
ment.Depending on the ambient
brightness, movement, posture and
direction of a detectable object, it
may not be detected and the system
may not operate properly.
The system detects shapes, such as
the following, as detectable objects.

■

Situations in which the system
may operate even though the
possibility of a collision is not
high

●

In certain situations, such as the

following, the system may deter-
mine that the possibility of a colli-
sion is high and operate:

• When passing a detectable object
• When changing lanes while over-

taking a detectable object

• When suddenly approaching a

detectable object

• When approaching a detectable

object or other object on the road-
side, such as guardrails, utility
poles, trees, walls, etc.

• When there is a detectable object

or other object by the roadside at
the entrance of a curve

• When there are patterns or a

painting ahead of the vehicle that
may be mistaken for a detectable
object

• When passing a detectable object

that is changing lanes or turning
left/right

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)

208

4-5. Using the driving support systems

• 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

209

4-5. Using the driving support systems

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luggage, umbrella, guardrail, etc.)

• When multiple detectable objects

are overlapping

• When a bright light, such as the

sun, is reflecting off of a detect-
able object

• When a detectable object is white

and looks extremely bright

• When the color or brightness of a

detectable object causes it to
blend in with its surroundings

• When a detectable object cuts in

front of or suddenly emerges in
front of your vehicle

• When approaching a vehicle

which is diagonal

• If a 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 engine was started

• While turning left/right or a few

seconds after turning left/right

• While driving around a curve and

a few seconds after driving around
a curve

• When turning left/right and an

oncoming vehicle is driving in a
lane 3 or more lanes from the
vehicle

• When turning left/right and the

direction of the vehicle differs
greatly from the direction traffic
flows in the oncoming lane

• When turning left/right, 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

210

4-5. Using the driving support systems

• When the wall is narrow, such as

a pole, etc.

• When the wall is made of plants,

such as a hedge, etc.

• 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. (

The system is enabled each time
the engine switch is turned to ON.



When the system is disabled,
the PCS warning light will illu-
minate and a message will be
displayed on the multi-infor-
mation display.



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



When the pre-collision warn-
ing timing is changed, the
emergency steering assist
timing will also be changed.
When “Later” is selected, the
emergency steering assist will
not operate in most cases.



When the dynamic radar
cruise control is operating, the
pre-collision warning will
operate at the “Earlier” timing,
regardless of the user setting.



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

Use this function only on highways
and expressways.

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

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

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

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

Changing the pre-colli-
sion setting

LTA (Lane Tracing

Assist)

LTA functions

211

4-5. Using the driving support systems

ing



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.

212

4-5. Using the driving support systems

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.212) is not operat-

ing.

●

The vehicle is being driven in the
center of a lane.

■

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 func-
tion will automatically be restored.
(

P.211)

●

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

●

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.

213

4-5. Using the driving support systems

ing

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

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.198

●

Situations in which the lane may

not be detected:



●

When it is necessary to disable

the system:



215

4-5. Using the driving support systems

Dr
iv

ing

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

216

4-5. Using the driving support systems

: 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

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.

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.

217

4-5. Using the driving support systems

Dr
iv

ing

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.

• 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.216)

■

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.

218

4-5. Using the driving support systems

●

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.

Press the

meter control switch

to turn off the message.

Unless

is pressed, the message of the

break suggestion function will

remain displayed.

: For Peruto rico



The LDA system can be

enabled/disabled through a

customize setting. (



The settings of the LDA can

be changed on the customize

settings. (



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:



P.198

●

Situations in which some or all

of the functions of the system

cannot operate:

●

When it is necessary to disable

the system:



219

4-5. Using the driving support systems

Dr
iv

ing

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

Displays and system operation

Indicator

Lane dis-

play

Steering

icon

Situation

Not illumi-

nated

Not illumi-

nated

Not illumi-

nated

System disabled

Yellow

Illuminated

White

Gray

Not illumi-

nated

Lane lines are not detected by the
system

Not illumi-

nated

White

Not illumi-

nated

Lane lines are detected by the sys-
tem

Not illumi-

nated

Yellow

Flashing

Yellow

Flashing

Not illumi-

nated

Lane departure alert function is
operating for the side which the lane
display is flashing

221

4-5. Using the driving support systems

ing

PDA (Proactive driv-

ing assist)

When a detectable object

(



P.222) 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 nec-

essary. Read the following

items carefully. Do not overly

rely on the proactive driving

assist and always drive care-

fully.(



P.223)

●

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.198

●

When it is necessary to disable

the system :



222

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 (OAA)

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 (DA)

A preceding vehi-
cle or an adjacent
vehicle cutting in
front of the vehicle
is detected

The vehicle is gently
decelerated so that
the vehicle-to-vehi-
cle distance will not
be 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

223

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

controi 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:



• When the P, R or N shift position is

selected

• The driver’s seat belt is unfas-

tened

●

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-

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 example: 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 :