2021 TOYOTA RAV4 PRIME Owners Manual

3375-5. Using the driving support systems
5
Driving
WARNING
●The dynamic radar cruise con-
trol with full-speed range pro-
vides driving assistance to
reduce the driver’s burden.
However, there are limitations
to the assistance provided.
Read the following conditions
carefully. Do not overly rely on
this system and always drive
carefully.
• When the sensor may not be correctly detect ing the vehicle
ahead: P.345
• Conditions under which the vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly: P.346
●Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is respon sible for check-
ing the set speed.
●Even when the system is func-
tioning normally, the condition
of the preceding vehicle as
detected by the system may dif-
fer from the condition observed
by the driver. Therefore, the
driver must always remain alert,
assess the danger of each situ-
ation and drive safely. Relying
solely on this system or assum-
ing the system ensures safety
while driving can lead to an
accident, resulting in death or
serious injury.
●Switch the dynamic radar cruise
control with full-speed range
setting to off, using the cruise
control main swi tch when not in
use.
■Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, as there ar e 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
with full-speed range is only
intended to help the driver in
determining the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead. It is not a mechanism that
allows careless or inattentive driv-
ing, and it is not a system that can
assist the driver in low-visibility
conditions.
It is still necessa ry for driver to
pay close attenti on to the vehi-
cle’s surroundings.
●Assisting the driver to judge
proper following distance
The dynamic radar cruise control
with full-speed range determines
whether the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead is within a set range. It is
not capable of making any other
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.

3385-5. Using the driving support systems
WARNING
●Assisting the driver to operate
the vehicle
The dynamic radar cruise control
with full-speed range does not
include function s which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, if there is ever any
possibility of da nger, the driver
must take immediate and direct
control of the vehicle and act
appropriately in order to ensure
the safety of all involved.
■Situations unsuitable for
dynamic radar cruise control
with full-speed range
Do not use dynamic radar cruise
control with full-speed range in
any of the following situations.
Doing so may result in inappropri-
ate speed control and could
cause an accident resulting in
death or serious injury.
●Roads where there are pedes-
trians, 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 sharp up and down
gradients
Vehicle speed may exceed the
set speed when driving down a
steep hill.
●At entrances to freeways and
highways
●When weather conditions are
bad enough that they may pre-
vent the sensors from detecting
correctly (fog, snow, sandstorm,
heavy rain, etc.)
●When there is rain, snow, etc.
on the front surface of the radar
or front camera
●In traffic conditi ons that require
frequent repeated acceleration
and deceleration
●When your vehicle is towing a
trailer or during emergency tow-
ing
●When an approach warning
buzzer is heard often

3395-5. Using the driving support systems
5
Driving
This mode employs a radar to detect the presence of vehicles up to
approximately 328 ft. (100 m) ahead, determines the current vehicle-
to-vehicle following distance, and operates to maintain a suitable fol-
lowing distance from the vehicle ahead. The desired vehicle-to- vehi-
cle distance can also be set by operating the vehicle-to-vehicl e
distance switch.
When driving on downhill slopes, t he 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 runni ng ahead of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle s peed is nec-
essary, the system applies the brakes (the stop lights will come on at this
time). The system will respond to changes i n the speed of the vehicle
ahead in order to maintain the ve hicle-to-vehicle distance set by the driver.
Approach warning warns you when the system cannot decelerate suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you st ops, your vehicle will also stop (vehicle is
stopped by system control). Afte r the vehicle ahead starts off, pressing the
“+RES” switch or depressing the accelerator pedal (start-off operation) will
resume follow-up cruising. If the start-off operation is not performed, system
Driving in vehicle-to-vehicle distance control mode
A
B

3405-5. Using the driving support systems
control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) or more, the vehi cle will accel-
erate to help to overt ake a passing vehicle.
The system’s identifi cation of what is an overtaking lane may be deter-
mined solely based on the location of the steering wheel in the vehicle (left
side driver position versus righ t side driver position.) If the vehicle is driven
to a region where the overtaking lane is on a different side fr om where the
vehicle is normally driven, the v ehicle may accelerate when the turn signal
lever is operated in the opposite direction to the overtaking l ane (e.g., if the
driver normally operates the vehicle in a region where the over taking lane is
to the right but then drives to a region where the overtaking l ane is to the
left, the vehicle may accelerate when the right turn signal is activated).
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 constan t speed cruising.
1Press the cruise control main
switch to activate the cruise
control.
Dynamic radar cruise control indi-
cator will come on and a message
will be displayed on the multi-infor-
mation display. Press the switch
again to deactivate the cruise con-
trol.
If the cruise cont rol main switch is
pressed and held for 1.5 seconds
or more, the syste m turns on in
constant speed control mode. (
 P.343)
2 Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 20 mph [30 km/h])
and press the “-SET” switch
to set the speed.
Cruise control “SET” indicator will
come on.
The vehicle speed at the moment
the switch is released becomes the
C
Setting the vehicle speed
(vehicle-to-vehicle dis-
tance control mode)

3415-5. Using the driving support systems
5
Driving
set speed.
Adjusting the set speed by the
switch
To change the set speed, press
the “+RES” or “-SET” switch
until the desired set speed is
displayed.
1 Increases the speed (Except
when the vehicle has been
stopped by system control in
vehicle-to-vehicle distance
control mode)
2 Decreases the speed
Fine adjustment: Press the switch.
Large adjustment: Press and hold
the switch to change the speed,
and release when the desired
speed is reached.
In the vehicle-to-vehicle dis-
tance control mode, the set speed will be increased or
decreased as follows:
For the U.S. mainland and
Hawaii
Fine adjustment: By 1 mph (1.6
km/h)
*1 or 1 km/h (0.6 mph)*2 each
time the switch is pressed
Large adjustment: Increases or
decreases in 1 mph (1.6 km/h)
*1 or
1 km/h (0.6 mph)
*2 increments for
as long as the switch is held
Except for the U.S. mainland
and Hawaii
Fine adjustment: By 1 mph (1.6
km/h)
*1 or 1 km/h (0.6 mph)*2 each
time the switch is pressed
Large adjustment: Increases or
decreases in 5 mph (8 km/h)
*1 or 5
km/h (3.1 mph)
*2 increments for as
long as the switch is held
In the constant speed control
mode ( P.343), the set speed
will be increased or decreased
as follows:
Fine adjustment: By 1 mph (1.6
km/h)
*1 or 1 km/h (0.6 mph)*2 each
time the switch is pressed
Large adjustmen t: The speed will
continue to change while the switch
is held.
*1: When the set speed is shown in “MPH”
*2: When the set speed is shown in “km/h”
 Increasing the set speed by
the accelerator pedal
Adjusting the set speed

3425-5. Using the driving support systems
1Accelerate with accelerator
pedal operation to the
desired vehicle speed
2 Press the “-SET” switch
Pressing the switch changes the
vehicle-to-vehicle distance as
follows:
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 50 mph (80 km/h).
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
certain vehicle-to-vehicle dis-
tance depending on the situa-
tion.
After the vehicle ahead of you
starts off, press the “+RES”
switch.
Your vehicle will also resume
follow-up cruising if the acceler-
ator pedal is depressed after the
vehicle ahead of you starts off.
Changing the vehicle-to-
vehicle distance (vehicle-
to-vehicle distance con-
trol mode)
Vehicle-to-vehicle dis-
tance settings (vehicle-to-
vehicle distance control
mode)
A
Distance optionsVehicle-to-vehi-
cle distance
LongApproximately 160 ft. (50 m)
MediumApproximately 130 ft. (40 m)
ShortApproximately 100 ft. (30 m)
Resuming follow-up
cruising when the vehicle
has been stopped by sys-
tem control (vehicle-to-
vehicle distance control
mode)

3435-5. Using the driving support systems
5
Driving
1Pressing the cancel switch
cancels the speed control.
The speed control is also canceled
when the brake pedal is depressed.
(When the vehicle has been
stopped by system control,
depressing the brake pedal does
not cancel the setting.)
2Pressing the “+RES” switch
resumes the cruise control
and returns vehicle speed to
the set speed.
When your vehicle is too close
to a vehicle ahead, and suffi-
cient automatic deceleration via the cruise control is not possi-
ble, the display will flash and the
buzzer will sound to alert the
driver. An example of this would
be if another driver cuts in front
of you while you are following a
vehicle. Depress the brake
pedal to ensure an appropriate
vehicle-to-vehicle distance.
■Warnings may not occur
when
In the following instances, warn-
ings may not occur even when
the vehicle-to-vehicle distance is
small.
 When the speed of the pre-
ceding vehicle matches or
exceeds your vehicle speed
 When the preceding vehicle is
traveling at an extremely slow
speed
 Immediately after the cruise
control speed was set
 When depressing the acceler-
ator pedal
When constant speed control
Canceling and resuming
the speed control
Approach warning (vehi-
cle-to-vehicle distance
control mode)
Selecting constant speed
control mode

3445-5. Using the driving support systems
mode is selected, your vehicle
will maintain a set speed without
controlling the vehicle-to-vehi-
cle distance. Select this mode
only when vehicle-to-vehicle dis-
tance control mode does not
function correctly due to a dirty
radar, etc.
1With the cruise control off,
press and hold the cruise
control main switch for 1.5
seconds or more.
Immediately after the switch is
pressed, the dynamic radar cruise
control indicator will come on. After-
wards, it switches to the cruise con-
trol indicator.
Switching to constant speed control
mode is only possible when operat-
ing the switch wit h the cruise con-
trol off.
2 Accelerate or decelerate,
with accelerator pedal opera-
tion, to the desired vehicle
speed (at or above approxi-
mately 20 mph [30 km/h])
and press the “-SET” switch
to set the speed.
Cruise control “SET” indicator will
come on.
The vehicle speed at the moment
the switch is released becomes the
set speed. Adjusting the speed setting:

P.341
Canceling and resuming the speed
setting:  P.343
■Dynamic radar cruise control
with full-speed range can be set
when
●The shift lever is in D.
●The desired set speed can be set
when the vehicle speed is approx-
imately 20 mph (30 km/h) or more.
(However, when the vehicle speed
is set while driving at below
approximately 20 mph [30 km/h],
the set speed w ill be set to
approximately 20 mph [30 km/h].)
■Accelerating after setting the
vehicle speed
The vehicle can a ccelerate by oper-
ating the accelera tor pedal. After
accelerating, the set speed
resumes. However, during vehicle-
to-vehicle distance control mode,
the vehicle speed may decrease
below the set speed in order to
maintain the distance to the preced-
ing vehicle.
■When the vehicle stops while
follow-up cruising
●Pressing the “+RES” switch while
the vehicle ahead stops will
resume follow-up cruising if the
vehicle ahead starts off within
approximately 3 seconds after the
switch is pressed.
●If the vehicle ahead starts off
within 3 seconds after your vehicle
stops, follow-up c ruising will be