2021 TOYOTA HIGHLANDER HYBRID lane assist

2034-1. Before driving
4
Driving
HIGHLANDER HV_U
WARNING
■Trailer towing precautions
To tow a trailer safely, use
extreme care and drive the vehi-
cle in accordance with the trailer’s
characteristics and operating con-
ditions. Failure to do so could
cause an accident resulting in
death or serious injury. Vehicle
stability and braking performance
are affected by trailer stability,
brake setting and performance,
and the hitch. Your vehicle will
handle different ly when towing a
trailer.
■To avoid accident or injury
●Do not exceed the TWR,
unbraked TWR, GCWR, GVWR
or GAWR.
●If the gross trailer weight is over
2000 lb. (900 kg), a sway con-
trol device with sufficient capac-
ity is required.
●Adjust the tongue weight within
the appropriate range. Place
heavier loads as close to the
trailer axle as possible.
●Do not exceed 65 mph (104
km/h), the posted towing speed
limit or the speed limit for your
trailer as set fort h in your trailer
owner’s manual, whichever is
lowest. Slow down sufficiently
before making a turn, in cross
winds, on wet or slippery sur-
face, etc. to help avoid an acci-
dent. If you experience a
vehicle-trailer instability from
reducing a certain speed, slow
down and make sure you keep
your vehicle speed under the
speed of which you experience
the instability.
●Do not make jerk y, abrupt or
sharp turns.
●Do not apply the brakes sud-
denly as you may skid, resulting
in jackknifing and loss of vehicle
control. This is especially true
on wet or slippery surfaces.
●Do not exceed the trailer hitch
assembly weight, gross vehicle
weight, gross axle weight and
trailer tongue w eight capacities.
●Do not use the following sys-
tems when trailer towing.
• Dynamic radar cruise control with full-speed range
• LTA (Lane Tracing Assist)
• PCS (Pre-Collision System)
• BSM (Blind Spot Monitor)
●Slow down and downshift
before descending steep or long
downhill grades. Do not make
sudden downshifts while
descending steep or long down-
hill grades.
●Vehicle-trailer instability is more
likely on steep long downhills.
Before descending steep or
long downhill grades, slow
down and downshift. Do not
make sudden downshifts when
descending steep or long down-
hill grades. Avoid holding the
brake pedal down too long or
applying the brakes too fre-
quently. This could cause the
brakes to overheat and result in
reduced braking efficiency.
●Do not tow a trailer when the
compact spare tire is installed
on your vehicle.
■When towing a trailer
Toyota recommends trailers with
brakes that conform to any appli-
cable federal and s tate/provincial
regulations.

2434-5. Using the driving support systems
4
Driving
HIGHLANDER HV_U
4-5.Using the driving support systems
■PCS (Pre-Collision System)
 P.249
■LTA (Lane Tracing Assist)
 P.260
■AHB (Automatic High
Beam)
 P.232
■RSA (Road Sign Assist)*
P.283
*: If equipped
■Dynamic radar cruise con-
trol with full-speed range
 P.271 Two types of sensors, located
behind the front grille and wind-
shield, detect information neces-
sary to operate the drive assist
systems.
Radar sensor
Front camera
Toyota Safety Sense
2.5 +
The Toyota Safety Sense 2.5
+ consists of the following
drive assist systems and
contributes to a safe and
comfortable driving experi-
ence:
Driving assist system
WARNING
■Toyota Safety Sense 2.5 +
The Toyota Safety Sense 2.5 + is
designed to operate under the
assumption that the driver will
drive safely, and is designed to
help reduce the impact to the
occupants and the vehicle in the
case of a collision or assist the
driver in normal driving condi-
tions.
As there is a limit to the degree of
recognition accuracy and control
performance that this system can
provide, do not overly rely on this
system. The driver is always
responsible for paying attention to
the vehicle’s su rroundings and
driving safely.
Sensors

2504-5. Using the driving support systems
HIGHLANDER HV_U
sion is high and that there is suf-
ficient space for the vehicle to
be steered into within its lane,
and the driver has begun eva-
sive maneuver or steering,
emergency steering assist will
assist the steering movements
to help enhance the vehicle sta-
bility and for lane departure pre-
vention. During operation, the
indicator will illuminate in green.
■Intersection right/left turn
assistance
If the system determines that
there is a high possibility of a
collision in the following situa-
tions, it will assist with Pre-colli-
sion warning and, if necessary
Pre-collision braking.
Depending on the configuration
of the intersection, it may not be
possible to support.
 When you turn right/left at an
intersection and cross the
path of an oncoming vehicle 
When you turn right/left,
pedestrian is detected in the
forward direction and esti-
mated to enter your vehicle’s
path (bicyclists are not
detected.)
WARNING
■Limitations of the pre-colli-
sion system
●The driver is solely responsible
for safe driving. Always drive
safely, taking care to observe
your surroundings.
Do not use the pre-collision sys-
tem instead of normal braking
operations under any circum-
stances. This system will not
prevent collisions or lessen col-
lision damage or injury in every
situation. Do not overly rely on
this system. Failure to do so
may lead to an accident, result-
ing in death or serious injury.

2514-5. Using the driving support systems
4
Driving
HIGHLANDER HV_U
WARNING
●Although this system is
designed to help avoid a colli-
sion or help reduce the impact
of the collision, its effectiveness
may change according to vari-
ous conditions, therefore the
system may not always be able
to achieve the same level of
performance.
Read the following conditions
carefully. Do not overly rely on
this system and always drive
carefully.
• Conditions under which the sys- tem may operate even if there is
no possibility of a collision:
P. 2 5 6
• Conditions under which the sys- tem may not operate properly:
P. 2 5 7
●Do not attempt to test the oper-
ation of the pre-collision system
yourself.
Depending on the objects used
for testing (dummies, card-
board objects imitating detect-
able objects, etc.), the system
may not operate properly, possi-
bly leading to an accident.
■Pre-collision braking
●When the pre-collision braking
function is operating, a large
amount of braking force will be
applied.
●If the vehicle is stopped by the
operation of the pre-collision
braking function, the pre-colli-
sion braking function operation
will be canceled after approxi-
mately 2 second s. Depress the
brake pedal 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.
●In some situations, while the
pre-collision brak ing function is
operating, operation of the func-
tion may be canceled if the
accelerator pedal is depressed
strongly or the steering wheel is
turned and the system deter-
mines that the driver is taking
evasive action.
●If the brake pedal is being
depressed, the system may
determine that t he driver is tak-
ing evasive action and possibly
delay the operation timing of the
pre-collision braking function.
■Emergency steering assist
●As emergency steering assist
operation will be canceled when
the system determines that lane
departure prevention function
has been completed.
●Emergency steering assist may
not operate or may be cancel in
the following cases as the sys-
tem may determine the driver is
taking actions.
• If the accelerator pedal is being depressed strongly, the steering
wheel is being operated sharply,
the brake pedal is being
depressed or the turn signal
lever is being operated. In this
case, the syst em may deter-
mine that the driver is taking
evasive action and the emer-
gency steering assist may not
operate.

2594-5. Using the driving support systems
4
Driving
HIGHLANDER HV_Ustarted the vehicle has not been
driven for a certain amount of time
• While making a left/right turn and
for a few seconds after making a
left/right turn
• While driving on a curve and for a
few seconds after driving on a
curve
• If your vehicle is skidding
• If the front of the vehicle is raised
or lowered
• If the wheels are misaligned
• If a wiper blade is blocking the front camera
• The vehicle is being driven at extremely high speeds
• When driving on a hill
• If the radar sensor or front camera
is misaligned
• When driving in a traffic lane sep-
arated by more t han one lane
where oncoming vehicles are driv-
ing while making a right/left turn
• When largely out of place with the opposite facing targeted oncom-
ing vehicle during a right/left turn
• While making a right/left turn, when a pedestrian approaches
from behind or side of your vehicle
●In addition to the above, in some
situations, such as the following,
the emergency steering assist
may not operate.
• When the white (yellow) lane lines are difficult to see, such as when
they are faint, diverging/merging,
or a shadow is cast upon them
• When the lane is wider or nar-
rower than normal
• When there is a light and dark pat- tern on the road surface, such as
due to road repairs
• When the target is too close
• When there is insufficient safe or unobstructed space for the vehicle
to be steered into
• If oncoming vehicle is present
• If VSC function is operating
●In some situations such as the fol-
lowing, sufficien t braking force or
steering force may not be
obtained, preventing the system
from performing properly:
• If the braking functions cannot operate to their full extent, such as
when the brake parts are
extremely cold, ext remely hot, or
wet
• If the vehicle is not properly main- tained (brakes or tires are exces-
sively worn, imprope r tire inflation
pressure, etc.)
• When the vehicle is being driven on a gravel road or other slippery
surface
• When the road surface has deep wheel tracks
• When driving on a hill road
• When driving on a road that has inclines to the left or right
■If VSC is disabled
●If VSC is disabled ( P.327), the

2604-5. Using the driving support systems
HIGHLANDER HV_Upre-collision brake assist and
pre-collision braking functions are
also disabled.
●The PCS warning lig
ht will turn on
and “VSC Turned OFF Pre-Colli-
sion Brake System Unavailable”
will be display ed on the
multi-informat ion display.
LTA (Lane Tracing
Assist)
While driving on a road with
clear white (yellow) lane
lines, the LTA 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
*. Also, while the
dynamic radar cruise con-
trol with full-speed range
( P.271) is operating, this
system will operate the
steering wheel to maintain
the vehicle’s lane position.
The LTA system recognizes
white (yellow) lane lines or a
course
* using the front cam-
era. Additionally, it detects
preceding vehicles using
the front camera and radar.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb

2644-5. Using the driving support systems
HIGHLANDER HV_U
■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 the
multi-information display, and a
warning buzzer will sound to
alert the driver.
When the warning buzzer sounds,
check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane.
When the system de termines that
the vehicle might depart from its
lane and that the possibility of a col-
lision with an over taking vehicle in
the adjacent lane is high, the lane
departure alert will operate even if
the turn signals are operating.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
■Steering assist function
When the system determines
that the vehicle might depart
from its lane or course
*, the sys-
tem provides assistance as nec-
essary by operating the steering
wheel in small amounts for a
short period of time to keep the
vehicle in its lane.
When the system determines that
the vehicle might depart from its
lane and that the possibility of a col-
lision with an overta king vehicle in
the adjacent lane is high, the steer-
ing assist function will operate even
if the turn signals are operating.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
Functions included in LTA
system

2654-5. Using the driving support systems
4
Driving
HIGHLANDER HV_U
■Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes-
sage will be displayed on the
multi-information display to alert
the driver.■Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance by
operating the steering wheel to
keep the vehicle in its current
lane.
When dynamic radar cruise control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) lane lines are d ifficult to see or
are not visible, such as when in a
traffic jam, this function will operate
to help follow a preceding vehicle
by monitoring the position of the
preceding vehicle.