2021 TOYOTA MIRAI lane assist

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OVERVIEW
HYDROGEN FUEL CELL SYSTEM
& SAFETY FEATURES
FEATURES & OPERATIONS
TOYOTA SAFETY SENSE
SAFETY & EMERGENCY FEATURES
Active Sound Control (ASC) 16
Audio 28
Auto lock/unlock
1,2 14
Air conditioning/heating 34-35
Automatic transmission 14
Bird’s Eye View Camera with
Perimeter Scan 39
Blind Spot Monitor (BSM) and
Rear Cross Traffic Alert (RCTA) 38
Clock 18
Cup holders 19
Door locks 16
Driving mode select switch 15
Electric parking brake 24
Electric sunshade 18
Front and Rear Parking Assist
with Automated Braking 40
Garage door opener (Homelink
®)3 21
Head-Up Display (HUD) 23
Heated/ventilated seats 33
Intuitive parking assist 41
Lights
1 & turn signals 26
Luggage security system 18
Multi-Information Display (MID)
2 22
Power outlet-12V DC 30
Power outlet-120V AC 30
Power windows 16
Qi wireless charger 31
RCD (Rear Camera Detection) 37
INDEX
Fuel cell compartment
maintenance 9
Fuel door release button & cap 8
Hood release 9
Indicator symbols 4-5
Instrument cluster 4
Instrument panel 2-3
Instrument panel light control 8
Keyless entry
1,2 6-7
Smart Key System1,2 7
Hydrogen Fuel Cell System 10-13
Water release (H
2O) switch 13
1 Visit your Toyota dealer for information on customizing this feature.2 Programmable by customer. Refer to the Owner’s Manual for instructio\
ns and more information.3 HomeLink® is a registered trademark of Gentex Corporation.
OVERVIEW
HYDROGEN FUEL CELL SYSTEM
& SAFETY FEATURES
FEATURES & OPERATIONS FEATURES & OPERATIONS (continued)
SAFETY & EMERGENCY FEATURES
Rear sunshade 19
Rear view monitor system 36
Seat adjustments-Front 20
Seats-Head restraints 20
Snow mode 15
Steering lock release 17
Steering wheel switches &
telephone controls (Bluetooth
®) 27
Tilt & telescopic steering wheel 17
Toyota multi-operation touch 32
USB charge ports 29
USB media port 29
Vehicle Stability Control (VSC)/
TRAC OFF switch 36
Windshield wipers & washer 25
Emergency tire puncture repair kit 62
Floor mat installation 65
Rear door child safety locks 60
Safety Connect
® 60
Seat belts 61
Seat belts-Shoulder belt anchor 61
Star Safety System
™ 64-65
Tire Pressure Monitoring
(warning) System (TPMS) 63
Trunk-Internal release 61
TOYOTA SAFETY SENSE™ 2.5+ (TSS 2.5+)
Automatic High Beams (AHB) 57-58
Full-Speed Range Dynamic
Radar Cruise Control (DRCC) 54-56
Lane Departure Alert with
Steering Assist (LDA w/SA) 46-49
Lane Tracing Assist (LTA) 50-53
Pre-Collision System with Pedestrian
Detection (PCS w/PD) 43-45
Quick overview-Toyota Safety
Sense
™ 2.5+ (TSS 2.5+) 42
Road Sign Assist (RSA) 58-59
Sensors 43
BLUETOOTH® DEVICE
PAIRING SECTION 66-68

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OVERVIEWInstrument panel
Steering wheel controls
Telephone switch2
Voice command switch2
Audio control switches2Audio volume
control switch2
Full-Speed Range
Dynamic Radar Cruise
Control (DRCC) switch
“POWER” button
Meters/Multi-Information Display (MID)
VSC OFF switch Power outlet-120V AC
1
Hood lock release lever
Trunk opener switch
Fuel tank door release switch
Windshield wiper
de-icer switch
ASC (Active Sound Control) switch
1
Bird’s Eye View Camera ON/OFF switch1,2
“ODO/TRIP” switch
Automatic High Beams (AHB) switch
Power tilt and telescopic steering
control switch
1
Tilt and telescopic
steering release lever1
Instrument panel light control switches
HUD (Head-Up Display) switch
1
Meter control switches
Full-Speed Range Dynamic Radar Cruise Control
(DRCC) vehicle-to-vehicle distance switch
Lane Tracing Assist (LTA)/Lane Departure Alert
with Steering Assist (LDA w/SA) switch
Headlights/turn signals control Windshield wiper and washer control

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Hydrogen leak warning
1
High coolant temperature warning1 [red]/
Low coolant temperature indicator [blue]
Smart key system indicator
Slip indicator1,3
Snow mode indicator
Sport mode indicator
Pop Up Hood warning1
Vehicle Stability Control (VSC) OFF
indicator1
Low tire pressure warning1
Security indicator
Low fuel level warning
READY indicator
Rear passengers’ seatbelt reminder
Headlight low/high beam indicator
Turn signal indicator
Low outside temperature indicator
Open door warning
Driver’s and front passenger’s seat belt
reminder (alarm will sound when the
vehicle is on)
Charging system warning
Eco drive mode indicator
Fuel cell system overheat warning
Pre-Collision System (PCS) warning1,2
Intuitive parking assist OFF indicator2,4
Constant speed cruise control/
Full-Speed Range Dynamic Radar
Cruise Control (DRCC) indicator
Electric power steering system warning1
[red/yellow]
RCD (Rear Camera Detection) OFF
indicator1,2
Rear Cross Traffic Alert (RCTA) OFF
indicator1,2
Lane Tracing Assist (LTA)/Lane Departure
Alert with Steering Assist indicator (LDA
w/SA) [white/green/orange
3]
Parking brake indicator2
Front and Rear Parking Assist with
Automated Braking OFF indicator1,2,4,5
1 If the indicator does not turn off within a few seconds of starting the \
fuel cell system, there may
be a malfunction. Have the vehicle inspected by your Toyota dealer.
2 If the indicator flashes, there may be a malfunction. Refer to the Owner\
’s Manual.3 If the indicator flashes, it indicates that the system is operating.4 If equipped.5 Refer to section PKSB (Parking Support Braking function) in the Owner\
’s Manual.
OVERVIEW
HYDROGEN FUEL CELL SYSTEM
& SAFETY FEATURES
FEATURES & OPERATIONS
TOYOTA SAFETY SENSE
SAFETY & EMERGENCY FEATURES
Constant speed cruise control/Full-Speed
Range DRCC SET indicator

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TOYOTA SAFETY SENSE™
Toyota Safety Sense™ 2.5+ (TSS 2.5+) is a set of active safety technologies
designed to help mitigate or prevent collisions across a wide range of t\
raffic
situations, in certain conditions. TSS 2.5+ is designed to help support \
the driver’s
awareness, decision making and vehicle operation contributing to a safe \
driving
experience.
Refer to the Owner’s Manual for operation, setting adjustments, limitations and
more details to understand these functions and complete safety precautions. For
more information, please go to www.toyota.com/safety-sense.
Quick overview-Toyota Safety Sense™ 2.5+
Lane Departure Alert with Steering Assist (LDA w/SA)
LDA w/SA is designed to provide notification when the system detects
an unintended lane departure.
The Steering Assist function is designed to provide small corrective
steering inputs to the steering wheel for a short period of time to help\

keep the vehicle in its lane.
The Sway Warning function is designed to detect vehicle swaying
(based on the vehicle location and steering wheel operation) and alert\

drivers with an audio and visual alert, urging them to take a break.
Pre-Collision System with Pedestrian Detection (PCS w/PD)
PCS w/PD is designed to provide alert, mitigation, and/or avoidance
support in certain conditions, when the system detects a potential
collision with a preceding vehicle is likely to occur.
The advanced grille-mounted radar sensor system is designed to
work with the forward-facing camera to help recognize a preceding
pedestrian or bicyclist, and provide an alert, mitigation and/or
avoidance support in certain conditions.
Automatic High Beams (AHB)
AHB is designed to detect the headlights of oncoming vehicles and
the tail lights of preceding vehicles and switch between high beams
and low beams as appropriate.
Road Sign Assist (RSA)
RSA is designed to recognize specific road signs using the forward-
facing camera to provide information to the driver via the display.
Full-Speed Range Dynamic Radar Cruise Control (DRCC)
Full-Speed Range DRCC is designed to help maintain a pre-set
distance to a preceding vehicle when the preceding vehicle is traveling \
at a lower speed. The minimum set speed is approximately 20 MPH,
but once activated, the operating speed range is 0-110 MPH.
Lane Tracing Assist (LTA)
LTA is designed to help keep the vehicle in the center of a lane by
assisting the driver in steering control when using Full-Speed Range
DRCC.

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TOYOTA SAFETY SENSE™
By detecting visible white/yellow lane markings or the road’s edge at\
speeds above
32 mph, Lane Departure Alert with Steering Assist (LDA w/SA) is design\
ed to issue
a visual alert and audio or steering vibration alert if an inadvertent l\
ane departure is
detected. If the driver does not take corrective action, the Steering As\
sist function is
designed to provide gentle corrective steering.*
* See www.toyota.com/safety-sense for more information.
Refer to the Toyota Owner’s Manual for a list of additional situation\
s in which the
system operation may be limited.
Lane Departure Alert with Steering Assist
(LDA w/SA)
TURNING THE LDA SYSTEM ON/OFF
Press the LDA switch to turn the LDA system on. Depress again to turn it\
off.
Note: Operation of the LDA system and setting adjustments continues in the
same condition regardless of Ignition cycle until changed by the driver or the
system is reset.
Refer to the Toyota Owner’s Manual for additional information on LDA \
operation,
settings adjustments, limitations, and precautions before attempting to \
use it.
- “LDA Turned ON Steering Assist Active”

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LANE DEPARTURE ALERT
LDA function display
Operation display
of steering wheel
operation supportLDA indicator
Lane markers/road edge
(2)
(1)
Lane Departure Alert (LDA) indicator flashes orange when operating.
The LDA function displays when the Multi-Information Display (MID) is
switched to the driving assist system information screen.
(1) The system displays solid white lines on the LDA indicator when vi\
sible lane markers or the road are detected. A side flashes orange to alert the dri\
ver when
the vehicle deviates from its lane.
(2) The system displays outlines on the LDA indicator when lane marker\
s or the road are not detected or the function is temporarily canceled.
Note: When operation conditions are no longer met, a function may be
temporarily canceled. However, when the operation conditions are met again,
operation of the function is automatically restored. For example, LDA may not
function on the side(s) where white/yellow lines are not detectable.
OVERVIEW
HYDROGEN FUEL CELL SYSTEM
& SAFETY FEATURES
FEATURES & OPERATIONS
TOYOTA SAFETY SENSE
SAFETY & EMERGENCY FEATURES

48
ADJUSTING LDA ALERT SENSITIVITY
DISABLING STEERING ASSIST
The driver can adjust the sensitivity of the LDA (warning) function fr\
om the
Multi-Information Display (MID) customization screen.High - Is designed to warn approximately before the front
tire crosses the lane marker.
Normal - Is designed to warn approximately when the front
tire crosses the lane marker.
(1) Press “
” switches and select “” from the Multi-Information Display (MID).
(2) Press “
” switches and select “LDA” and then press “.” The setting screen
is displayed.
(3) Press “
” switches and select “Alert sensitivity” and then press “” to select
desired setting.
(4) Press “
” to go back to the menu.
(1) Press “
” switches and select “” from the Multi-Information Display (MID).
(2) Press “
” switches and select “LDA” and then press “.” The setting screen
is displayed.
(3) Press “
” switches and select desired setting and then press “.”
(4) Press “
” to go back to the menu.
Note: Operation of the LDA system and setting adjustments continues in the
same condition regardless of Ignition cycle until changed by the driver or the
system is reset.
TOYOTA SAFETY SENSE™
SWAY WARNING SYSTEM
SWS is a function of LDA and is designed to detect swaying based on the \
vehicle
location in the lane and the driver’s steering wheel operation. To he\
lp prevent
swaying, the system alerts the driver using a buzzer sound and a warning\
display
on the MID.
Continuous lane deviations from
swaying.
Gentle swaying from driver’s
inattentiveness.
Acute steering wheel operation after the
number of operations decrease due to driver’s
inattentiveness.

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TOYOTA SAFETY SENSE™
TURNING THE LTA SYSTEM ON/OFF
Press the LTA switch to turn the LTA system on. Depress again to turn it\
off.
Note: Operation of the LTA system and setting adjustments continues in the
same condition regardless of Ignition cycle until changed by the driver or the
system is reset.
Refer to the Toyota Owner’s Manual for additional information on LTA \
operation,
settings adjustments, limitations, and precautions before attempting to \
use it.
When Full-Speed Range Dynamic Radar Cruise Control (DRCC) is enabled a\
nd
lane markers are detectable, Lane Tracing Assist (LTA) uses the lines \
on the road
and/or preceding vehicles to help keep the vehicle centered in its lane.\

See www.toyota.com/safety-sense for model applicability.
Refer to the Toyota Owner’s Manual for a list of additional situation\
s in which the
system operation may be limited.
Lane Tracing Assist (LTA)
- “LTA Turned ON Steering Assist Active”