2023 TOYOTA COROLLA CROSS steering

1994-5. Using the driving support systems
4
Driving
Motorcycles*
*: Detected as a detectable object
only when being ridden.
■Pre-collision warning
When the system determines
that the possibility of a collision
is high, a buzzer will sound and
an icon and warning message
will be displayed on the
multi-information display to urge
the driver to take evasive action.
If the detectable object is a vehi-
cle, moderate braking will be
performed with the warning.
If the system determines that
the accelerator pedal is strongly
depressed, the following icon
and message will be displayed
on the multi-information display.
■Pre-collision brake assist
If the system determines that
the possibility of a collision is
high and the brake operation by
the driver is insufficient, the
braking power will be increased.
■Pre-collision brake control
If the system determines that
the possibility of a collision is
extremely high, the brakes are
automatically applied to help
avoid the collision or reduce the
impact of the collision.
■Emergency steering assist
If the system determines that
the following conditions are met,
assistance will be provided to
help enhance vehicle stability
and prevent lane departure.
During assistance, in addition to
the pre-collision warning, the fol-
lowing icon will be displayed on
the multi-information display.
 The possibility of a collision is
high
 There is sufficient space
within the lane to perform
evasive steering maneuvers
 The driver is operating the
steering wheel
During assistance, the pre-colli-
sion warning will operate and a
message will be displayed to
warn the driver.
System functions

2014-5. Using the driving support systems
4
Driving
acceleration. During operation,
a buzzer will sound and a warn-
ing indicator and message will
be displayed on the multi-infor-
mation display.
WARNING
■Pre-collision braking
●When the pre-collision braking
function is operating, a large
amount of braking force will be
applied.
●The pre-collision braking func-
tion is not designed to hold the
vehicle stopped. If the vehicle is
stopped by pre-collision brake
control, the driver should oper-
ate the brakes immediately 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.
●If the brake pedal is being
depressed, the system may
determine that the driver is tak-
ing evasive action and possibly
delay the operation timing of the
pre-collision brake control.
■Acceleration Suppression at
Low Speed
If the steering wheel is being
turned, the system may determine
that the driver is taking evasive
action and possibly prevent the
Acceleration Suppression at Low
Speed function from operating or
possibly causing its operation to
be canceled.
■Emergency steering assist
●The emergency steering assist
will be canceled when the sys-
tem determines that lane depar-
ture prevention control has
completed.
●Depending on operations per-
formed by the driver, emer-
gency steering assist may not
operate or operation may be
canceled.
• If the accelerator pedal is depressed strongly, the steering
wheel is turned heavily, the
brake pedal is depressed, or the
turn signal lever is operated, the
system may determine that the
driver is taking evasive action
and the emergency steering
assist may n ot operate.
• While the emergency steering assist is operating, if the accel-
erator pedal is depressed
strongly, the steering wheel is
turned heavily, or the brake
pedal is depressed, the system
may determine that the driver is
taking evasive action and emer-
gency steering assist operation
may be canceled.
• While the emergency steering assist is operating, if the steer-
ing wheel is held or turned in the
opposite direction of system
operation, emergency steering
assist operation will be can-
celed.

2024-5. Using the driving support systems
■Operating conditions of each function of the pre-collision system
The pre-collision syst em is enabled and the system determines t hat the pos-
sibility of a frontal c ollision with a detected object is high.
However, the system will not operate in the follo wing situations:
●When the vehicle has not been driven a certain amount after a t erminal of
the battery has been disc onnected and reconnected
●When the shift lever is in R
●When the VSC OFF indicator is illuminated (only the pre-collision warning
function will be operational)
The following are the operational speeds and cancelation condit ions of each
function:
●Pre-collision warning
While the pre-collision warning is operating, if the steering w heel is operated
heavily or suddenly, the pre-co llision warning may be cancelled.
●Pre-collision brake assist
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding vehicles,
stopped vehiclesApproximately 3 to 110
mph (5 to 180 km/h)Approximately 3 to 110
mph (5 to 180 km/h)
Oncoming vehiclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 50 to 130
mph (80 to 220 km/h)
BicyclesApproximately 3 to 50
mph (5 to 80 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
PedestriansApproximately 3 to 50
mph (5 to 80 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
Preceding motorcycles,
stopped motorcyclesApproximately 3 to 110
mph (5 to 180 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
Oncoming motorcyclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 20 to 110
mph (30 to 180 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding vehicles,
stopped vehiclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 7 to 110
mph (10 to 180 km/h)
BicyclesApproximately 20 to 50
mph (30 to 80 km/h)Approximately 20 to 50
mph (30 to 80 km/h)

2034-5. Using the driving support systems
4
Driving
●Pre-collision braking
If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:
• The accelerator pedal is strongly depressed
• The steering wheel is ope rated heavily or suddenly
●Emergency steering assist
The emergency steeri ng assist will not opera te when the turn signal lights
are flashing.
The emergency steering assist will not operate when the VSC OFF indicator
is illuminated.
While the emergency ste ering assist is operating, if any of the following are
PedestriansApproximately 20 to 50
mph (30 to 80 km/h)Approximately 20 to 50
mph (30 to 80 km/h)
Preceding motorcycles,
stopped motorcyclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 7 to 50
mph (10 to 80 km/h)
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding vehicles,
stopped vehiclesApproximately 3 to 110
mph (5 to 180 km/h)Approximately 3 to 110
mph (5 to 180 km/h)
Oncoming vehiclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 50 to 130
mph (80 to 220 km/h)
BicyclesApproximately 3 to 50
mph (5 to 80 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
PedestriansApproximately 3 to 50
mph (5 to 80 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
Preceding motorcycles,
stopped motorcyclesApproximately 3 to 110
mph (5 to 180 km/h)Approximately 3 to 50
mph (5 to 80 km/h)
Oncoming motorcyclesApproximately 20 to 110
mph (30 to 180 km/h)Approximately 20 to 110
mph (30 to 180 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding vehicles,
stopped vehicles, bicy-
cles, pedestrians,
motorcycles
Approximately 25 to 50
mph (40 to 80 km/h)Approximately 25 to 50
mph (40 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object

2044-5. Using the driving support systems
performed, emergency steering assist operation may be cancelled:
• The accelerator pedal is strongly depressed
• The steering wheel is ope rated heavily or suddenly
• The brake pedal is depressed
●Intersection collisio n avoidance support (left/right turn)
The intersection collision avoida nce support (for left/right turning vehicles)
will not operate when the turn signal light s are not flashing.
●Intersection collision avoidance support (crossing vehicles)
●Acceleration Suppression at Low Speed
The Acceleration Suppression at Low Speed function will not ope rate when
the turn signal lig hts are flashing.
Detectable
objectsVehicle speedOncoming vehicle
speedRelative speed
between your
vehicle and object
Oncoming vehi-
clesApproximately 3
to 25 mph (5 to
40 km/h)Approximately 3
to 45 mph (5 to
75 km/h)Approximately 7
to 70 mph (10 to
115 km/h)
Pedestrians
Approximately 3
to 20 mph (5 to
30 km/h)

Approximately 3
to 25 mph (5 to
40 km/h)
Bicycles
Approximately 3
to 20 mph (5 to
30 km/h)

Approximately 3
to 30 mph (5 to
50 km/h)
Oncoming motor-
cyclesApproximately 3
to 25 mph (5 to
40 km/h)Approximately 3
to 45 mph (5 to
75 km/h)Approximately 7
to 70 mph (10 to
115 km/h)
Detectable
objectsVehicle speedCrossing vehicle
speedRelative speed
between your
vehicle and object
Vehicles, Motor-
cycles (side)Approximately 3
to 38 mph (5 to
60 km/h)
• Your vehicle
speed or less
• Approximately 25 mph (40
km/h) or less
Approximately 3
to 38 mph (5 to
60 km/h)

2054-5. Using the driving support systems
4
Driving
While the Acceleration Suppression
at Low Speed function is operating,
if any of the following are performed,
the low speed sudden acceleration
suppression function operation will
be cancelled:
• The accelerator pedal is released
• The steering wheel is operated heavily or suddenly
■Detection of detectable objects
Objects are detected based on their
size, shape, and move-
ment.Depending on the ambient
brightness, movement, posture and
direction of a det ectable object, it
may not be detected and the system
may not operate properly.
The system detects shapes, such as
the following, as de tectable objects.
■Situations in which the system
may operate even though the
possibility of a collision is not
high
●In certain situations, such as the
following, the sys tem may deter-
mine that the possibility of a colli-
sion is high and operate:
• When passing a detectable object
• When changing lanes while over- taking a detectable object
• When suddenly approaching a detectable object
• When approaching a detectable
object or other object on the road- side, such as guardrails, utility
poles, trees, walls, etc.
• When there is a d etectable object
or other object by the roadside at
the entrance of a curve
• When there are patterns or a painting ahead of the vehicle that
may be mistaken for a detectable
object
• When passing a detectable object that is changing lanes or turning
left/right
• When passing a detectable object which is stopped to make a
left/right turn
• When a detectab le object stops
immediately before entering the
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding vehicles,
stopped vehicles,
Pedestrians, BicyclesApproximately 0 to 9
mph (0 to 15 km/h)Approximately 0 to 9
mph (0 to 15 km/h)

2064-5. Using the driving support systems
path of the vehicle
• When passing through a location with a structure above the road
(traffic sign, b illboard, etc.)
• When approaching an electric toll gate barrier, parking lot barrier, or
other barrier that opens and
closes
• When turning left/right and an oncoming vehicle, oncoming
motorcycle, pedestrian or bicycle
crosses in front of the vehicle
• When attempting to turn left/right in front of an oncoming vehicle,
oncoming motorcycle, pedestrian
or bicycle
• When turning left/right and an
oncoming vehicle, oncoming
motorcycle, pedestrian or bicycle
stops or changes course immedi-
ately before entering the path of
the vehicle
• When turning left/right and an
oncoming vehicle turns left/right in
front of the vehicle
• When the steering wheel is oper- ated toward the path of an oncom-
ing vehicle
• When there is an object moving above or under the road
■Situations in which the system
may not operate properly
●In certain situations, such as the
following, a detectable object may
not be detected by the front sen-
sors, and the system may not
operate properly:
• When a detectable object is
approaching your vehicle
• When your vehicle or a detectable object is wandering
• When a detectable object makes an abrupt maneuver (such as sud-
den swerving, acceleration or
deceleration)
• When suddenly approaching a detectable object
• When the detectable object is near a wall, fence, guardrail, man-
hole cover, steel plate on the road
surface, or another vehicle
• When there is a structure above a detectable object
• When part of a detectable object is hidden by another object (large
luggage, umbrella, guardrail, etc.)
• When multiple det ectable objects
are overlapping
• When a bright light, such as the
sun, is reflecting off of a detect-
able object
• When a detectable object is white
and looks extremely bright
• When the color or brightness of a detectable object causes it to
blend in with its surroundings
• When a detectable object cuts in
front of or suddenly emerges in
front of your vehicle
• When approaching a vehicle which is diagonal
• If a bicycle is a child sized bicycle,
is carrying a large load, is carrying
an extra passenger , is carrying a

2074-5. Using the driving support systems
4
Driving
forward leaning rider, or has an
unusual shape (bicycles equipped
with a child seat, tandem bicycles,
etc.)
• If a pedestrian or bicycle is shorter than approximately 3.2 ft. (1 m) or
taller than approximately 6.5 ft. (2
m).
• When the silhouette of a pedes-
trian or bicycle is unclear (such as
when they are wearing a raincoat,
long skirt, etc.)
• When a pedestrian is bending for- ward or squatting
• When a pedestrian or bicycle is
moving at high speed
• When a pedestrian is pushing a stroller, wheelchair, bicycle or
other vehicle
• When a detectable object blends in with the surrounding area, such
a s w h e n i t i s d i m ( a t d a w n o r d u s k )
or dark (at night or in a tunnel)
• When the vehicle has not been
driven for a certain amount of time
after the engine was started
• While turning left /right or a few
seconds after turning left/right
• While driving around a curve and a few seconds after driving around
a curve
• When turning left/right and an oncoming vehicle i s driving in a
lane 3 or more l anes from the
vehicle
• When turning left/right and the
direction of the vehicle differs
greatly from the direction traffic
flows in the oncoming lane
• When turning left/right and approaching a pedestrian or bicy-
cle which was traveling in the
same direction as the vehicle and
continues straight • When at an intersection, the
approaching crossing vehicle is
long in overall length, such as a
large truck, towin g trailer, etc.
●In addition to the preceding, in
certain situations, such as the fol-
lowing, the emergency steering
assist may not operate properly:
• When a detectable object is too close to the vehicle
• When there is insufficient space to
perform evasive steering maneu-
vers or an obstruction exists in the
evasion direction
• When there is an oncoming vehi- cle
 The pre-collision system can
be enabled/disabled through
a customize setting. ( P.449)
The system is enabled each time
the engine switch is turned to ON.
When the system is disabled,
the PCS warning light will illu-
minate and a message will be
displayed on the multi-infor-
mation display.
 The pre-collision setting can
be changed on the customize
settings. ( P.449)
 When the pre-collision warn-
ing timing is changed, the
emergency steering assist
Changing the pre-colli-
sion setting