2020 TOYOTA MIRAI Owners Manual (in English)

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When the front camera recognizes a sign, the sign will be displayed
on the multi-information display.
● When the driving assist sys-
tems display is selected, a max-
imum of 2 signs can be
displayed. (  P. 117)
● When a tab other than the
driving assist systems display
is selected, only a recognized
speed limit sign or do not
enter sign (when notification is
necessary) will be displayed.
( P. 117)
If signs other than speed limit signs are recognized, they will be dis-
played in an overlapping stack under the current speed limit si gn.
Indication on the multi-information display

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The following types of ro ad signs are recognized.
A non-official or a recently introduced traffic sign may not be recognized.
In the following situations, the RSA syst em will alert the driver.
● When the vehicle speed exceeds the speed warning threshold of
the speed limit sign displayed, the sign display will be emphas ized
and a buzzer will sound.
● When the RSA system recognizes a do not enter sign and deter-
mines that your vehicle has ent ered a no-entry area, the displayed
sign will flash and a buzzer will sound.
Depending on the situation, traffic environment (traffic direct ion,
speed unit) may be detected incorrectly and a warning display m ay
not operate properly.
Supported types of road signs
Speed limitDo Not Enter
Stop Yield
Warning display

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■Setting procedure
RSA can be enabled/disabled on the multi-information display ( P. 1 1 7 ) .
Press or of the mete r control switches (P. 118) and select
.
Press or of the meter control switches, select and press
to select the desired setting (on/off).
■ Automatic turn-off of RSA sign display
In the following situations, a displayed speed limit sign will stop being dis-
played automatically:
● A new sign is not recognized for a certain distance.
● The road changes due to a left or right turn, etc.
In the following situations, do not enter, stop and yield signs will stop being
displayed automatically:
● The system determines that your vehicle has passed the sign.
● The road changes due to a left or right turn, etc.
■ Conditions in which the function may not operate or detect correctly
In the following situations, RSA does not operate normally and may not rec-
ognize signs, display the incorrect sign, etc. However, this do es not indicate a
malfunction.
● The front camera is misaligned due to a strong impact being applied to the
sensor, etc.
● Dirt, snow, stickers, etc. are on the windshield near the front camera.
● In inclement weather such as heavy rain, fog, snow or sand storms
● Light from an oncoming vehicle, the sun, etc. enters the front camera.
● The sign is dirty, faded, tilted or bent.
● All or part of the sign is hidden by the leaves of a tree, a pole, etc.
● The sign is only visible to the front camera for a short amount of time.
● The driving scene (turning, lane change, etc.) is judged incorr ectly.
● Even if it is a sign not appropriate for the currently traveled lane, such a sign
exists directly after a freeway branches, or in an adjacent lane just before
merging.
● Stickers are attached to the rear of the preceding vehicle.
● A sign resembling a system compatible sign is recognized.
● Side road speed signs may be detected and displayed (if positio ned in sight
of the front camera) while the vehicle is traveling on the main road.
1
2

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Roundabout exit road speed signs may be detected and displayed (if posi-
tioned in sight of the front camera) while traveling on a round about.
● The front of the vehicle is raised or lowered due to the carrie d load.
● The surrounding brightness is not sufficient or changes suddenly.
● When a sign intended for trucks, etc. is recognized.
■ Speed limit sign display
If the power switch was last turned off while a speed limit sig n was displayed
on the multi-information display, the same sign displays again when the
power switch is turned to ON mode.
■ If “RSA Malfunction Visit Your Dealer” is shown
The system may be malfunctioning. Have the vehicle inspected by your
Toyota dealer.
■ Customization
Some functions can be customized.
(Customizable features: P. 484)

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Dynamic radar cruise control
In vehicle-to-vehicle distance control mode, the vehicle automatically
accelerates and decelerates to match the speed changes of the p re-
ceding vehicle even if the accelerator pedal is not depressed. In con-
stant speed control mode, t he vehicle runs at a fixed speed.
Use the dynamic radar cruise c ontrol on freeways and highways.
● Vehicle-to-vehicle distance control mode ( P. 256)
● Constant speed c ontrol mode (P. 261)
Multi-information display
Set speed
Indicators
Vehicle-to-vehicle distance
switch
Cruise control switch
Summary of functions
System Components

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WARNING
■Before using dynamic r adar cruise control
● Driving safely is the sole responsibility of the driver. Do not rely solely on
the system, and drive safely by always paying careful attention to your sur-
roundings.
● The dynamic radar cruise control provides driving assistance to reduce the
driver’s burden. However, there are limitations to the assistan ce provided.
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be correctly detecting the vehicle ahead: P. 263
• Conditions under which the vehicle-to-vehicle distance control mode
may not function correctly: P. 264
● Set the speed appropriately depending on the speed limit, traff ic flow, road
conditions, weather conditions, etc. The driver is responsible for checking
the set speed.
● Even when the system is functioning normally, the condition of the preced-
ing vehicle as detected by the system may differ from the condition
observed by the driver. Therefore, the driver must always remai n alert,
assess the danger of each situation and drive safely. Relying s olely on this
system or assuming the system ensures safety while driving can lead to
an accident, resulting in death or serious injury.
● Switch the dynamic radar cruise control setting to off, using t he “ON-OFF”
button when not in use.
■ Cautions regarding the driving assist systems
Observe the following precautions, as there are limitations to the assistance
provided by the system. Failure to do so may cause an accident resulting in
death or serious injury.
● Assisting the driver to measure following distance
The dynamic radar cruise control is only intended to help the d river in
determining the following distance between the driver’s own veh icle and a
designated vehicle traveling ahead. It is not a mechanism that allows
careless or inattentive driving, and it is not a system that can assist the
driver in low-visibility conditions.
It is still necessary for driver to pay close attention to the vehicle’s sur-
roundings.

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WARNING
●Assisting the driver to judge proper following distance
The dynamic radar cruise control determines whether the followi ng dis-
tance between the driver’s own vehicle and a designated vehicle traveling
ahead is within a set range. It is not capable of making any ot her type of
judgement.Therefore, it is absolutely necessary for the driver to remain
vigilant and to determine whether or not there is a possibility of danger in
any given situation.
● Assisting the driver to operate the vehicle
The dynamic radar cruise control does not include functions whi ch will
prevent or avoid collisions with vehicles ahead of your vehicle . Therefore,
if there is ever any possibility of danger, the driver must tak e immediate
and direct control of the vehicle and act appropriately in orde r to ensure
the safety of all involved.
■ Situations unsuitable for dynamic radar cruise control
Do not use dynamic radar cruise control in any of the following situations.
Doing so may result in inappropriate speed control and could ca use an acci-
dent resulting in death or serious injury.
● Roads where there are pedestrians, cyclists, etc.
● In heavy traffic
● On roads with sharp bends
● On winding roads
● On slippery roads, such as those covered with rain, ice or snow
● On steep downhills, or where there are sudden changes between s harp up
and down gradients
Vehicle speed may exceed the set speed when driving down a stee p hill.
● At entrances to freeways and highways
● When weather conditions are bad enough that they may prevent the sen-
sors from detecting correctly (fog, snow, sandstorm, heavy rain, etc.)
● When there is rain, snow, etc. on the front surface of the rada r or front
camera
● In traffic conditions that require frequent repeated acceleration and decel-
eration
● During emergency towing
● When an approach warning buzzer is heard often

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This mode employs a radar to detect the presence of vehicles up to
approximately 328 ft. (100 m) ahead, determines the current veh icle-
to-vehicle following distance, and operates to maintain a suita ble fol-
lowing distance from the vehicle ahead. The desired vehicle-to- vehicle
distance can also be set by operat ing the vehicle-to-vehicle distance
switch.
When driving on downhill slopes, the vehicle-to-vehicle distance may
become shorter.
Example of constant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
Example of deceleration crui sing and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears
When a vehicle is detected running ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle s peed is
necessary, the system applies the brakes (the stop lights will come on at
this time).
The system will respond to changes in the speed of the vehicle ahead in
order to maintain the vehicle-to-vehicle distance set by the dr iver.
Approach warning warns you when the system cannot decelerate su ffi-
ciently to prevent your vehicle fr om closing in on the vehicle ahead.
When the turn signal lever is operated and your vehicle moves to a left
lane while driving at 50 mph (80 km/h) or more, the vehicle wil l quickly
accelerate to help to overtake a passing vehicle.
Driving in vehicle-to-vehi cle distance control mode