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■Operational conditions for each pre-collision function
The pre-collision system is enabled and the system determines that the pos-
sibility of a frontal collision with a detected object is high.
The system may not operate in the following situations:
• If a battery terminal has been disconnected and reconnected an d then
the vehicle has not been driven for a certain amount of time
• If the shift lever is in R
• When the VSC OFF indicator is illuminated (only the pre-collis ion warning
function will be operational)
The operation speeds and operation cancellation for each functi on is
listed below.
● Pre-collision warning
While the pre-collision warning function is operating, if the s teering wheel is
operated heavily or suddenly, the pre-collision warning may be cancelled.
● Pre-collision brake assist
Detectable objectsVehicle speed
Relative speed
between your vehicle and object
Preceding and
stopped vehiclesApprox. 7 to 110 mph (10 to
180 km/h)Approx. 7 to 110 mph
(10 to 180 km/h)
Oncoming vehi-
clesApprox. 7 to 110 mph (10 to
180 km/h)Approx. 13 to 110
mph (20 to 180 km/h)
Bicyclists and
pedestriansApprox. 7 to 50 mph (10 to
80 km/h)Approx. 7 to 50 mph
(10 to 80 km/h)
Detectable objectsVehicle speed
Relative speed
between your vehicle and object
Preceding and
stopped vehiclesApprox. 20 to 110 mph (30
to 180 km/h)Approx. 20 to 110
mph (30 to 180 km/h)
Bicyclists and
pedestriansApprox. 20 to 50 mph (30 to
80 km/h)Approx. 20 to 50 mph
(30 to 80 km/h)
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Intersection right/left turn assistance (pre-collision warning)
When the turn signal lights are not flashing, support for turning left or right
at an intersection which targets oncoming vehicles does not wor k.
● Intersection right/left turn assistance (pre-collision braking)
When the turn signal lights are not flashing, support for turning left or right
at an intersection which targets oncoming vehicles does not wor k.
■ Object detection function
Detectable
objectsVehicle speedOncoming vehi- cle speedRelative speed between your
vehicle and object
Oncoming
vehiclesApprox. 7 to 15
mph (10 to 25
km/h)Approx. 20 to 35
mph (30 to 55
km/h)Approx. 25 to 50
mph (40 to 80
km/h)
Pedestrians
Approx. 7 to 15
mph (10 to 25
km/h)
Approx. 7 to 15
mph (10 to 25
km/h)
Detectable objectsVehicle speedOncoming vehi- cle speedRelative speed
between your
vehicle and object
Oncoming
vehiclesApprox. 10 to 15
mph (15 to 25
km/h)Approx. 20 to 28
mph (30 to 45
km/h)Approx. 28 to 43
mph (45 to 70
km/h)
Pedestrians
Approx. 7 to 15
mph (10 to 25
km/h)
Approx. 7 to 15
mph (10 to 25
km/h)
The system detects objects based on
their size, profile, motion, etc. However,
an object may not be detected depending
on the surrounding brightness and the
motion, posture, and angle of the
detected object, preventing the system
from operating properly. (P. 266)
The illustration shows an image of detect-
able objects.
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In some situations such as the following, sufficient braking force or steering
force may not be obtained, preventing the system from performin g properly:
• If the braking functions cannot operate to their full extent, such as when
the brake parts are extremely cold, extremely hot, or wet
• If the vehicle is not properly maintained (brakes or tires are excessively
worn, improper tire inflation pressure, etc.)
• When the vehicle is being driven on a gravel road or other sli ppery sur-
face
• 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. 324), the pre-collision brake assist and pre-collision
braking functions are also disabled.
● The PCS warning light will turn on and “VSC Turned Off Pre-Coll ision Brake
System Unavailable” will be displayed on the multi-information display.
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While driving on a road with clear white (yellow) lane lines, t he LTA
system warns the driver if the vehicle may deviate from the cur rent
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 control with full-speed range or dynamic radar cru ise con-
trol is operating, this system will operate the steering wheel to main-
tain the vehicle’s lane position.
The LTA system recognizes white
(yellow) lane lines or a course
*
using the front camera. Addition-
ally, 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
LTA (Lane Tracing Assist)
Summary of functions
WARNING
■ Before using LTA system
● Do not rely solely upon the LTA system. The LTA system does not auto-
matically 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 surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigued, such
as from driving for a long period of time.
● Failure to perform appropriate driving operations and pay careful attention
may lead to an accident, resulting in death or serious injury.
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WARNING
■Situations unsuitable for LTA system
In the following situations, use the LTA switch to turn the system off. Failure
to do so may lead to an accident, 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-covered 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 construction
work.
● Vehicle is driven in a construction zone.
● A spare tire, tire chains, etc. are equipped.
● When the tires have been excessively worn, or when the tire inf lation pres-
sure is low.
● During emergency towing
■ Preventing LTA system malfunctions and operations performed by
mistake
● Do not modify the headlights or place stickers, etc. on the sur face of the
lights.
● Do not modify the suspension etc. If the suspension etc. needs to be
replaced, contact your Toyota dealer.
● Do not install or place anything on the hood or grille. Also, d o not install a
grille guard (bull bars, kangaroo bar, etc.).
● If your windshield needs repairs, contact your Toyota dealer.
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WARNING
■Conditions in which functions may not operate properly
In the following situations, the functions 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.
● When the follow-up cruising display is displayed ( P. 280) and the pre-
ceding vehicle is swaying. (Your vehicle may sway accordingly a nd depart
from the lane.)
● When the follow-up cruising display is displayed ( P. 280) and the pre-
ceding vehicle departs from its lane. (Your vehicle may follow the preced-
ing vehicle and depart from the lane.)
● When the follow-up cruising display is displayed ( P. 280) and the pre-
ceding vehicle is being driven extremely close to the left/righ t lane line.
(Your vehicle may follow the preceding vehicle and depart from the lane.)
● Vehicle is being driven around a sharp curve.
●When the follow-up cruising display is
displayed ( P. 280) and the preceding
vehicle changes lanes. (Your vehicle
may follow the preceding vehicle and
also change lanes.)
● Objects or patterns that could be mis-
taken for white (yellow) lines are pres-
ent on the side of the road (guardrails,
reflective poles, etc.).
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WARNING
●There are shadows on the road that run parallel with, or cover, the white
(yellow) lines.
● The vehicle is driven in an area without white (yellow) lines, such as in
front of a tollgate or checkpoint, or at an intersection, etc.
● The white (yellow) lines are cracked, “Botts’ dots”, “Raised pa vement
marker” or stones are present.
● The white (yellow) lines cannot be seen or are difficult to see due to sand,
etc.
● The vehicle is driven on a road surface that is wet due to rain , puddles,
etc.
● The traffic lines are yellow (which may be more difficult to recognize than
lines that are white).
● The white (yellow) lines cross over a curb, etc.
● The vehicle is driven on a bright surface, such as concrete.
● If the edge of the road is not clear or straight.
● The vehicle is driven on a surface that is bright due to reflec ted light, etc.
● The vehicle is driven in an area where the brightness changes suddenly,
such as at the entrances and exits of tunnels, etc.
●Vehicle is driven where the road
diverges, merges, etc.
● Repair marks of asphalt, white (yellow)
lines, etc. are present due to road
repair.
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WARNING
●Light from the headlights of an oncoming vehicle, the sun, etc. enters the
camera.
● The vehicle is driven on a slope.
● The vehicle is driven on a road which tilts left or right, or a winding road.
● The vehicle is driven on an unpaved or rough road.
● The traffic lane is excessively narrow or wide.
● The vehicle is extremely tilted due to carrying heavy luggage o r having
improper tire pressure.
● The distance to the preceding vehicle is extremely short.
● The vehicle is moving up and down a large amount due to road conditions
during driving (poor r oads or road seams).
● When driving in a tunnel or at night with the headlights off or when a head-
light is dim due to its lens being dirty or it being misaligned.
● The vehicle is struck by a crosswind.
● The vehicle is affected by wind from a vehicle driven in a nearby lane.
● The vehicle has just changed lanes or crossed an intersection.
● Tires which differ by structure, manufacturer, brand or tread p attern are
used.
● When tires of a size other than specified are installed.
● Snow tires, etc. are equipped.
● The vehicle is being driven at extremely high speeds.
