2021 TOYOTA RAV4 PLUG-IN HYBRID ESP

3445-5. Using the driving support systems
5-5.Using the driving support systems
*: If equipped
■PCS (Pre-Collision System)
→ P.355
■LTA (Lane Tracing Assist)
→ P.362
■AHB (Automatic High Beam)
→ P.334
■RSA (Road Sign Assist) (if
equipped)
→ P.372
■Dynamic radar cruise control
with full-speed range
→ P.376
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*
The Toyota Safety Sense con -
sists of the f ollowing drive
assist systems and contrib -
utes to a safe and comfortable
driving experience:
Driving assist system
WARNING
■Toyota Safety Sense
The Toyota Safety Sense 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 conditions.
As there is a limit to the degree of rec -
ognition accuracy and control perfor - mance that this system can provide,
do not overly rely on this system. The
driver is always responsible for pay - ing attention to the vehicle’s sur -
roundings and driving safely.
Sensors
A
B

3565-5. Using the driving support systems
WARNING
■Limitations of the pre-collision
system
●The driver is solely responsible for safe driving. Always drive safely,
taking care to observe your sur -
roundings. Do not use the pre- collision system
instead of normal braking opera -
tions under any circumstances.
This system will not prevent colli - sions or lessen collision damage or
injury in every situation. Do not
overly rely on thi s system. Failure to do so may lead to an accident,
resulting in death or serious injury.
●Although this system is designed to
help avoid a collision or help reduce
the impact of the collision, its effec - tiveness may change according to
various conditions, therefore the
system may not alw ays be able to achieve the same level of perfor -
mance.
Read the following conditions care - fully. Do not over ly rely on this sys-
tem and always drive carefully.
• Conditions under which the system may operate even if there is no pos -
sibility of a collision: →P.359
• Conditions under which the system may not operate properly: →P.360
●Do not attempt to test the operation of the pre-collision system yourself.
Depending on the objects used for
testing (dummies, cardboard objects imitating detectable objects,
etc.), the system m ay not operate
properly, possibly 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 brak -
ing function, the p re-collision brak-
ing function operation will be canceled after approximately 2 sec -
onds. Depress the brake pedal as
necessary.
●The pre-collision braking function
may not operate if certain opera - tions 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 tak -
ing evasive action and possibly pre - vent the pre-col lision braking
function from operating.
●In some situations, while the pre-
collision braking function is operat -
ing, operation of the function may be canceled if the accelerator pedal
is depressed strongly or the steer -
ing wheel is tur ned and the system determines that the driver is taking
evasive action.
●If the brake pedal is being
depressed, the system may deter -
mine that the driv er is taking eva- sive action and possibly delay the
operation timing of the pre-collision
braking function.
■When to disable the pre-colli -
sion system
In the following situations, disable the
system, as it may not operate prop-
erly, possibly leading to an accident resulting in death or serious injury:
●When the vehicle is being towed
●When your vehicle is towing
another vehicle
●When transporting the vehicle via truck, boat, train or similar means of
transportation
●When the vehicle is raised on a lift
with the hybrid system on and the
tires are allowed to rotate freely

363
5
5-5. Using the driving support systems
Driving
WARNING
■Before using LTA system
●Do not rely sole ly upon the LTA
system. The LTA system does not automatically drive the vehicle or
reduce the amount of attention that
must be paid to the area in front of the vehicle. The driver must always
assume full responsibility for driving
safely by paying careful attention to
the surrounding conditions and operating the stee ring wheel to cor-
rect the path of t he vehicle. Also,
the driver must take adequate breaks when fatigued, such as from
driving for a long period of time.
●Failure to perform appropriate driv -
ing operations and pay careful
attention may lead to an accident, resulting in death or serious injury.
●When not u sing the LTA system, use the LTA switch to turn the sys -
tem off.
■Situations unsuitable for LTA
system
In the following situations, use the LTA switch to tu rn the system off.
Failure to do so may lead to an acci -
dent, resulting in death or serious injury.
●Vehicle is driven on a road surface which is slippery due to rainy
weather, fallen snow, freezing, etc.
●Vehicle is driven on a snow-cov -
ered road.
●White (yellow) lines are difficult to
see due to rain, snow, fog, dust,
etc.
●Vehicle is driven in a temporary
lane or restricted lane due to con - struction work.
●Vehicle is driven in a construction zone.
●A spare tire, tire chains, etc. are equipped.
●When the tires have been exces - sively worn, or when the tire infla -
tion pressure is low.
●When tires of a size other than
specified are installed.
●Vehicle is driven in traffic lanes
other than that highways and free -
ways.
●When your vehicle is towing a
trailer or during emergency towing
■Preventing LTA system malfunc -
tions and operations performed by mistake
●Do not modify the headlights or
place stickers, etc. on the surface of the lights.
●Do not modify the suspension etc. If the suspension etc. needs to be
replaced, contact any authorized
Toyota retailer or Toyota authorized repairer, or any reliable repairer.
●Do not install or place anything on the hood or grille. Also, do not
install a grille guar d (bull bars, kan-
garoo bar, etc.).
●If your windshield needs repairs,
contact any autho rized Toyota retailer or Toyota authorized
repairer, or any reliable repairer.
■Conditions in which functions
may not operate properly
In the following situ ations, the func- tions may not operate properly and
the vehicle may depart from its lane.
Drive safely by always paying careful
attention to your surroundings and operate the steering wheel to correct
the path of the vehicle without relying
solely on the functions.

377
5
5-5. Using the driving support systems
Driving
Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
WARNING
■Before using dynamic radar
cruise control with full-speed
range
●Driving safely is the sole responsi -
bility of the driver. Do not rely solely
on the system, and drive safely by always paying careful attention to
your surroundings.
●The dynamic radar cruise control
with full-speed range provides driv -
ing assistance to reduce the driver’s burden. However, there are
limitations to the assistance pro -
vided.
Read the following conditions care -
fully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be cor -
rectly detecting the vehicle
ahead: →P.386
C
A
B
C
D
E
• Conditions under which the vehicle- to-vehicle distance control mode
may not function correctly: →P.387
●Set the speed appropriately
depending on the speed limit, traffic
flow, road conditions, weather con - ditions, etc. The driver is responsi -
ble for checking the set speed.
●Even when the system is function -
ing normally, the condition of the
preceding vehicle as detected by the system may differ from the con -
dition observed by the driver.
Therefore, the dri ver must always remain alert, assess the danger of
each situation and drive safely.
Relying solely on this system or assuming the system ensures
safety while driving can lead to an
accident, resulti ng in death or seri- ous injury.
●Switch the dynamic radar cruise control with full-speed range setting
to off, using the cruise control main
switch when not in use.

3805-5. Using the driving support systems
When a vehicle is de tected running ahead of you, the system automatically deceler-
ates your vehicle. When a great er reduction in vehicle speed is necessary, the sys-
tem 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 vehi-
cle-to-vehicle distance set by the driver. Approach warning war ns you when the sys-
tem cannot decelerate sufficiently to prevent your vehicle from closing in on the
vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also sto p (vehicle is stopped
by system control). After the veh icle ahead starts off, pressing the “+RES” switch or
depressing the accelerator pedal (start-off operation) will res ume follow-up cruising.
If the start-off operation is not performed, system control continues to keep your
vehicle stopped.
When the turn signal lever is operated and your vehicle moves t o an overtaking lane
while driving at 50 mph (80 km/h) or more, the vehicle will acc elerate to help to over-
take a passing vehicle.
The system’s identificat ion of what is an overtaking lane may be determined solely
based on the location of the ste ering wheel in the vehicle (left side driver position
versus right side driv er position.) If the vehicle is driven to a region where the over-
taking lane is on a different sid e from where the vehicle is normally driven, the vehi-
cle may accelerate when the turn signal lever is operated in th e opposite direction to
the overtaking lane (e.g., if th e driver normally operates the vehicle in a region
where the overtaking lane is to t he right but then drives to a region where the over-
taking lane is to the left, the vehicle may accelerate when the right turn signal is acti-
vated).
Example of acceleration
When there are no longer any preceding vehicles driving slower than the
set speed
The system accelerates until the set speed is reached. The system then returns to
constant speed cruising.
1 Press the cruise control main
switch to activate the cruise con -
trol.
Dynamic radar cruise control indicator
will come on and a message will be dis - played on the multi-information display.
Press the switch again to deactivate the
cruise control.
If the cruise control main switch is
pressed and held for 1.5 seconds or
more, the system tur ns on in constant
C
Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)

3825-5. Using the driving support systems
*1: When the set speed is shown in
“km/h”
*2: When the set speed is shown in
“MPH”
 Increasing the set speed by the
accelerator pedal
1 Accelerate with accelerator
pedal operation to the desired
vehicle speed
2 Press the “-SET” switch
Pressing the swit ch changes the
vehicle-to-vehicle distance as fol -
lows:
1 Long
2 Medium
3 Short
The vehicle-to-vehicle distance is set
automatically to long mode when the
power switch is turned to ON.
If a vehicle is running ahead of you, the
preceding vehicle mark will also be
displayed.
Select a distance from the table
below. Note that the distances
shown correspond to a vehicle
speed of 80 km/h (50 mph).
Vehicle-to-vehicle distance
increases/decreases in accor -
dance with vehicle speed. When
the vehicle is stopped by system
control, the vehicle stops at a cer -
tain vehicle-to-vehicle distance
depending on the situation.
After the vehicle ahead of you
starts off, press the “+RES” switch.
Your vehicle will also resume fol -
low-up cruising if the accelerator
pedal is depressed after the vehicle
ahead of you starts off.
Changing the vehicle-to-
vehicle distance (vehicle-to-
vehicle distance control
mode)
A
Vehicle-to-vehicle distance
settings (vehicle-to-vehicle
distance control mode)
Distance optionsVehicle-to-vehicle
distance
LongApproximately 50
m (160 ft.)
MediumApproximately 40
m (130 ft.)
ShortApproximately 30
m (100 ft.)
Resuming follow-up cruis -
ing when the vehicle has
been stopped by system
control (vehicle-to-vehicle
distance control mode)

3865-5. Using the driving support systems
●Actual vehicle speed is more than
approximately 16 km/h (10 mph) below the set vehicle speed.
●Actual vehicle speed falls below approximately 30 km/h (20 mph).
●VSC is activated.
●TRC is activated for a period of time.
●When the VSC or TRC system is
turned off.
●Pre-collision braking is activated.
●The parking brak e is operated.
If constant speed c ontrol mode is auto-
matically canceled for any reasons other
than the above, there may be a malfunc -
tion in the system. Contact any autho-
rized Toyota ret ailer or Toyota
authorized repairer, or any reliable
repairer.
■The Dynamic Radar Cruise Control
with Road Sign Assist may not
operate properly when (vehicles with RSA)
As the Dynamic Radar Cruise Control
with Road Sign Assist may not operate properly in conditions in which RSA may
not operate or detect correctly
( →P.375), when using this function, make sure to check th e speed limit sign
displayed.
In the following situations, the set speed may not be changed t o the recognized
speed limit by pressi ng and holding the
“+RES”/“-SET” switch.
●If speed limit information is not avail -
able
●When the recognized speed limit is
the same as the set speed
●When the recognized speed limit is
outside of the spe ed range that the
dynamic radar cruise control system can operate
■Brake operation
A brake operation sound may be heard
and the brake pedal response may change, but these ar e not malfunctions.
■Warning messages and buzzers for
dynamic radar cruise control with full-speed range
Warning messages and buzzers are
used to indicate a system malfunction or to inform the driver of the need for cau -
tion while driving. If a warning message
is shown on the multi-information dis - play, read the messa ge and follow the
instructions. ( →P.353, 578)
■When the sensor may not be cor-
rectly detecting the vehicle ahead
In the case of the following and depend -
ing on the conditions, operate the brake
pedal when deceleration of the system is insufficient or ope rate the accelerator
pedal when acceleration is required.
As the sensor may not be able to cor - rectly detect these types of vehicles, the
approach warning ( →P.383) may not be
activated.
●Vehicles that cut in suddenly
●Vehicles traveling at low speeds
●Vehicles that are not moving in the same lane
●Vehicles with small rear ends (trailers with no load on board, etc.)
●Motorcycles traveling in the same lane
●When water or snow thrown up by the
surrounding vehicles hinders the detecting of the sensor
●When your vehicle is pointing
upwards (caused by a heavy load in the luggage compartment, etc.)

393
5
5-5. Using the driving support systems
Driving
*: If equipped
Multi-information display
Turning the BSM function/RCTA func -
tion on/off.
Outside rear view mirror indica -
tors
BSM (Blind Spot Moni-
tor)*
The Blind Spot Monitor is a
system that has 2 functions:
 The BSM (Blind Spot Monitor)
function
Assists the driver in making a
decision when changing lanes
 The RCTA (Rear Crossing
Traffic Alert) function (if
equipped)
Assists the driver when backing
up
These functions use the same
sensors.
WARNING
■Cautions regarding the use of the BSM function
The driver is solely responsible for
safe driving. Alwa ys drive safely, tak- ing care to observe your surround -
ings.
The BSM function is a supplementary function which alerts the driver that a
vehicle is in a blind spot of the outside
rear view mirrors or is approaching rapidly from behind into a blind spot.
Do not overly rely on the BSM func -
tion. As the function cannot judge if it is safe to change lanes, over reliance
could lead to an accident resulting in
death or serious injury.
As the system may not function cor -
rectly under certain conditions, the
driver’s own visual confirmation of safety is necessary.
■Cautions regarding the use of the RCTA function
The driver is solely responsible for
safe driving. Always drive safely, tak- ing care to observe your surround -
ings.
The RCTA function is only a supple - mentary function which alerts the
driver that a vehi cle is approaching
from the right or left at the rear of the vehicle. As the RCTA function may
not function correctly under certain
conditions, the driver’s own visual confirmation of saf ety is necessary.
Over reliance on this function may
lead to an accident resulting death or serious injury.
System components
A
B