2023 TOYOTA RAV4 PLUG-IN HYBRID Owners Manual

343
5 5-5. Using the driving support systems
Driving
*: If equipped
The system can detect the follow-
ing (The detectable objects differs
depending on the function.):
Vehicles
Bicyclists
Pedestrians
■Pre-collision warning
When the system determines that
the possibility of a frontal collision is
high, a buzzer will sound and a
warning message will be displayed
on the multi-information display to
urge the driver to take evasive
action.
■Pre-collision brake assist
When the system determines that
the possibility of a frontal collision is
high, the system applies greater
braking force in relation to how
strongly the brake pedal is
depressed.
■Pre-collision braking
If the system determines that the
possibility of a frontal 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
possibility of a frontal collision is
high and that there is sufficient
space for the vehicle to be steered
PCS (Pre-Collision Sys-
tem)
*
The pre-collision system uses
a radar sensor and front cam-
era to detect objects (P.343)
in front of the vehicle. When
the system determines that the
possibility of a frontal collision
with an object is high, a warn-
ing operates to urge the driver
to take evasive action and the
potential brake pressure is
increased to help the driver
avoid the collision. If the sys-
tem determines that the possi-
bility of a frontal collision with
an object is extremely high,
the brakes are automatically
applied to help avoid the colli-
sion or help reduce the impact
of the collision.
The pre-collision system can be
disabled/enabled and the warn-
ing timing can be changed.
(P.346)
Detectable objects
System functions

3445-5. Using the driving support systems
into within its lane, and the driver
has begun evasive maneuver or
steering, emergency steering assist
will assist the steering movements
to help enhance the vehicle stability
and for lane departure prevention.
During operation, the indicator will
illuminate in green.
■Intersection right/left turn
assistance
If the system determines that there
is a high possibility of a collision in
the following situations, it will assist
with Pre-collision warning and, if
necessary Pre-collision braking.
Depending on the configuration of
the intersection, it may not be pos-
sible to support.
 When you turn right/left at an
intersection and cross the path of
an oncoming vehicle
 When you turn right/left, pedes-
trian is detected in the forward
direction and estimated to enter
your vehicle’s path (bicyclists are
not detected.)
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 this system. Failure to do so may lead to an accident,
resulting in death or serious injury.

345
5
5-5. Using the driving support systems
Driving
WARNING
●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 always be able to achieve the same level of perfor-mance.
Read the following conditions care- fully. Do not overly 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.349
• Conditions under which the system may not operate properly: P.351
●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 may 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 pre-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-collision 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 turned 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 driver is taking eva-
sive action and possibly delay the operation timing of the pre-collision braking function.
■Emergency steering assist
●As emergency steering assist oper-
ation will be canceled when the sys- tem determines that lane departure prevention function has been com-
pleted.
●Emergency steering assist may not
operate or may be cancel in the fol- lowing cases as the system may determine the driver is taking
actions.
• If the accelerator pedal is being
depressed strongly, the steering wheel is being operated sharply, the brake pedal is being depressed
or the turn signal lever is being operated. In this case, the system may determine that the driver is tak-
ing evasive action and the emer- gency steering assist may not operate.
• In some situations, while the emer- gency steering assist is operating,
operation of the function may be canceled if the accelerator pedal is depressed strongly, the steering
wheel is operated sharply or the brake pedal is being depressed and the system determines that the
driver is taking evasive action.

3465-5. Using the driving support systems
■Enabling/disabling the pre-col-
lision system
The pre-collision system can be
enabled/disabled on the screen
( P.206, 217) of the multi-informa-
tion display.
The system is automatically enabled
each time the power switch is turned to
ON.
If the system is disabled, the PCS
warning light will turn on and a
message will be displayed on the
multi-information display.
■Changing the pre-collision
warning timing
The pre-collision warning timing
can be changed on the screen
( P.206, 217) of the multi-informa-
tion display.
WARNING
• When the emergency steering assist is operating, if the steering
wheel is held firmly or is operated in the opposite direction to that which the system is generating torque, the
function may be canceled.
■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
●When inspecting the vehicle using a drum tester such as a chassis dynamometer or speedometer tes-
ter, or when using an on vehicle wheel balancer
●When a strong impact is applied to the front bumper or front grille, due to an accident or other reasons
●If the vehicle cannot be driven in a stable manner, such as when the
vehicle has been in an accident or is malfunctioning
●When the vehicle is driven in a sporty manner or off-road
●When the tires are not properly inflated
●When the tires are very worn
●When tires of a size other than
specified are installed
●When tire chains are installed
●When a compact spare tire or an emergency tire puncture repair kit is used
●If equipment (snow plow, etc.) that may obstruct the radar sensor or
front camera is temporarily installed to the vehicle
Changing settings of the
pre-collision system

347
5
5-5. Using the driving support systems
Driving
The warning timing setting is retained
when the power switch is turned to
OFF. However, if the pre-collision sys-
tem is disabled and re-enabled, the
operation timing will return to the
default setting (middle).
If the pre-collision warning timing is
changed, emergency steering
assist timing will also be changed
accordingly.
If late is selected, emergency steer-
ing assist would not operate in case
of an emergency. 1 Early
2 Middle
This is the default setting.
3Late
■Operational conditions for each pre-collision function
The pre-collision system is enabled and the system determines that the possibility of
a frontal collision with a detected object is high.
The system may not operate in the following situations:
• If a 12-volt battery terminal has been disconnected and reconnected and 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-collision warning function
will be operational)
The operation speeds and operation cancellation for each function is listed below.
●Pre-collision warning
While the pre-collision warning function is operating, if the steering wheel is operated
heavily or suddenly, the pre-collision warning may be canceled.
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehicles
Approx. 10 to 180 km/h (7
to 110 mph)
Approx. 10 to 180 km/h (7
to 110 mph)
Oncoming vehiclesApprox. 10 to 180 km/h (7
to 110 mph)
Approx. 20 to 180 km/h (13
to 110 mph)
Bicyclists and pedestriansApprox. 10 to 80 km/h (7 to
50 mph)
Approx. 10 to 80 km/h (7 to
50 mph)

3485-5. Using the driving support systems
●Pre-collision brake assist
●Pre-collision braking
If either of the following occur while the pre-collision braking function is operating, it
will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
●Emergency steering assist
When the turn signal lights are flashing, emergency steering assist will not operate in
case of an emergency.
If any of the following occur while the emergency steering assist function is operat-
ing, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is turned sharply or abruptly.
• The brake pedal is depressed.
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehiclesApprox. 30 to 180 km/h (20
to 110 mph)Approx. 30 to 180 km/h (20
to 110 mph)
Bicyclists and pedestriansApprox. 30 to 80 km/h (20
to 50 mph)Approx. 30 to 80 km/h (20
to 50 mph)
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehiclesApprox. 10 to 180 km/h (7
to 110 mph)Approx. 10 to 180 km/h (7
to 110 mph)
Oncoming vehiclesApprox. 10 to 180 km/h (7
to 110 mph)Approx. 20 to 180 km/h (13
to 110 mph)
Bicyclists and pedestriansApprox. 10 to 80 km/h (7 to
50 mph)Approx. 10 to 80 km/h (7 to
50 mph)
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehicles, bicyclists and
pedestriansApprox. 40 to 80 km/h (25
to 50 mph)Approx. 40 to 80 km/h (25
to 50 mph)

349
5 5-5. Using the driving support systems
Driving
●Intersection right/left turn assistance (pre-collision warning)
When the turn signal lights are not flashing, support for turning left or right at an inter-
section which targets oncoming vehicles does not work.
●Intersection right/left turn assistance (pre-collision braking)
When the turn signal lights are not flashing, support for turning left or right at an inter-
section which targets oncoming vehicles does not work.
■Object detection function
The system detects objects based on
their size, profile, motion, etc. However,
an object may not be detected depend-
ing on the surrounding brightness and
the motion, posture, and angle of the
detected object, preventing the system
from operating properly. (P.351)
The illustration shows an image of
detectable objects.
■Conditions under which the system
may operate even if there is no pos-
sibility of a collision
●In some situations such as the follow-ing, the system may determine that
there is a possibility of a frontal colli-
sion and operate.
• When passing a detectable object,
etc.
• When changing lanes while overtak-
ing a detectable object, etc.
• When approaching a detectable
object in an adjacent lane or on the
roadside, such as when changing the
course of travel or driving on a wind-
ing road
• When rapidly closing on a detectable
object, etc.
• When approaching objects on the
Detectable objectsVehicle speedOncoming vehicle
speedRelative speed
between your vehi-
cle and object
Oncoming vehiclesApprox. 10 to 25
km/h (7 to 15 mph)Approx. 30 to 55
km/h (20 to 35 mph)Approx. 40 to 80
km/h (25 to 50 mph)
PedestriansApprox. 10 to 25
km/h (7 to 15 mph)Approx. 10 to 25
km/h (7 to 15 mph)
Detectable objectsVehicle speedOncoming vehicle
speedRelative speed
between your vehi-
cle and object
Oncoming vehiclesApprox. 15 to 25
km/h (10 to 15 mph)Approx. 30 to 45
km/h (20 to 28 mph)Approx. 45 to 70
km/h (28 to 43 mph)
PedestriansApprox. 10 to 25
km/h (7 to 15 mph)Approx. 10 to 25
km/h (7 to 15 mph)

3505-5. Using the driving support systems
roadside, such as detectable objects,
guardrails, utility poles, trees, or walls • When there is a detectable object or other object by the roadside at the
entrance of a curve
• When there are patterns or paint in
front of your vehicle that may be mis- taken for a detectable object• When the front of your vehicle is hit by
water, snow, dust, etc. • When overtaking a detectable object that is changing lanes or making a
right/left turn
• When passing a detectable object in
an oncoming lane that is stopped to make a right/left turn
• When a detectable object approaches very close and then stops before entering the path of your vehicle
• If the front of your vehicle is raised or lowered, such as when on an uneven or undulating road surface
• When driving on a road surrounded by a structure, such as in a tunnel or on
an iron bridge
• When there is a metal object (man- hole cover, steel plate, etc.), steps, or a protrusion in front of your vehicle
• When passing under an object (road sign, billboard, etc.)
• When approaching an electric toll gate barrier, parking area barrier, or other barrier that opens and closes
• When using an automatic car wash • When driving through or under objects that may contact your vehicle, such as
thick grass, tree branches, or a ban- ner
• When driving through steam or smoke • When driving near an object that reflects radio waves, such as a large
truck or guardrail • When driving near a TV tower, broad-casting station, electric power plant,
radar equipped vehicles, etc., or other location where strong radio waves or electrical noise may be present
• When there are many things which can reflect the radio waves of the radar in the vicinity (tunnels, truss
bridges, gravel roads, snow covered road that have tracks, etc.)• While making a right/left turn, when an
oncoming vehicle or a crossing pedestrian has already exited the path of your vehicle
• While making a right/left turn, closely