2023 TOYOTA YARIS CROSS cruise control

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4-5. Using the driving support systems
• When driving on a road that has
inclines to the left or right
■If VSC is disabled
●If VSC is disabled ( P.330), 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-Collision Brake System Unavailable” will be displayed
on the multi-information display.
*: If equipped
While driving on a road with clear
white (yellow) lane lines, the LTA
system warns the driver if the vehi-
cle may deviate from the current
lane*, and also can slightly operate
the steering wheel to help avoid
deviation from the lane*. Also, while
the dynamic radar cruise control
with full-speed range is operating,
this system will operate the steering
wheel to maintain the vehicle’s lane
position.
The LTA system recognizes white
(yellow) lane lines* using the front
camera. Additionally, it detects pre-
ceding vehicles using the front
camera and radar.
*: May recognize the boundaries
between the asphalt and the side of
the road, such as grass, soil, or the
curb, to be road lanes.
LTA (Lane Tracing
Assist)*
Summary of functions

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4-5. Using the driving support systems
Driving
■Lane centering function
This function is linked with dynamic
radar cruise control with full-speed
range and provides the required
assistance by operating the steer-
ing wheel to keep the vehicle in its
current lane.
When dynamic radar cruise control with
full-speed range is not operating, the
lane centering function does not oper-
ate.
In situations where the white (yellow)
lane lines are difficult to see or are not
visible, such as when in a traffic jam,
this function will operate to help follow a
preceding vehicle by monitoring the
position of the preceding vehicle.
■Turning the lane centering
function ON/OFF
Press the LTA switch.
The lane centering function will change
between ON/OFF each time the switch
is pressed.
The current setting will be displayed on
the multi-information display.
Lane centering function ON
“LTA Steering Assist Active Lane
Centering Active”
Lane centering function OFF
“LTA Steering Assist Active”
■Tu r n i n g t h e LTA s y s t e m O F F
Press and hold the LTA switch
The LTA indicator light turns off when
the LTA is turned OFF.
Press the switch again to turn the sys-
tem on.
The LTA is turned ON each time the
power switch is turned to ON.
However, the lane centering function
keeps either the ON/OFF state prior to
the power switch being turned OFF.
LTA system setting

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4-5. Using the driving support systems
Driving
Inside of displayed lines is black
Indicates that the system is not able
to recognize a road lane* or is tem-
porarily canceled.
*: May recognize the boundaries
between the asphalt and the side of
the road, such as grass, soil, or the
curb, to be road lanes.
■Operation conditions of each func-
tion
●Lane departure alert function
This function operates when all of the
following conditions are met.
• LTA is turned on. • Vehicle speed is approximately 50
km/h (32 mph) or more.*1
• System recognizes a road lane*2.
(When a road lane*2 is recognized on only one side, the system will operate
only for the recognized side.) • Width of traffic lane is approximately 3 m (9.8 ft.) or more.
• Turn signal lever is not operated.
(Vehicle with BSM: Except when
another vehicle is in the lane on the side
where the turn signal was operated)
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. ( P.251)*1: The function operates even if the
vehicle speed is less than approxi-
mately 50 km/h (32 mph) when the
lane centering function is operating.
*2: May recognize the boundaries
between the asphalt and the side of
the road, such as grass, soil, or the
curb, to be road lanes.
●Steering assist function
This function operates when all of the
following conditions are met in addition
to the operation conditions for the lane
departure alert function.
• Vehicle is not accelerated or deceler- ated by a fixed amount or more.
• Steering wheel is not operated with a steering force level suitable for chang-ing lanes.
• ABS, VSC, TRC and PCS are not operating.• TRC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. ( P.250)
●Vehicle sway warning function
This function operates when all of the
following conditions are met.
• Setting for “Sway Warning” in of
the multi-information display is set to
“ON”. ( P.494) • Vehicle speed is approximately 50 km/h (32 mph) or more.• Width of traffic lane is approximately 3
m (9.8 ft.) or more. • No system malfunctions are detected. ( P.251)
●Lane centering function
This function operates when all of the
following conditions are met.
• LTA is turned on.
• Setting for “Lane Centre” in of the
multi-information display is set to “ON”
( P.494) • This function recognizes white (yel-
low) lane lines or the position of a pre- ceding vehicle (except when the preceding vehicle is small, such as a
motorcycle). • The dynamic radar cruise control with

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4-5. Using the driving support systems
*: If equipped
In vehicle-to-vehicle distance con-
trol mode, the vehicle automati-
cally accelerates, decelerates and
stops to match the speed changes
of the preceding vehicle even if the
accelerator pedal is not depressed.
In constant speed control mode,
the vehicle runs at a fixed speed.
Use the dynamic radar cruise con-
trol with full-speed range on free-
ways and highways.
 Vehicle-to-vehicle distance con-
trol mode ( P.255)
 Constant speed control mode
( P.259)
■Meter display
Multi-information display
Set speed
Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cancel switch
“-SET” switch
Cruise control main switch
Dynamic radar cruise
control with full-speed
range*
Summary of functions
System components
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.262

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4-5. Using the driving support systems
WARNING
■Situations unsuitable for dynamic radar cruise control
with full-speed range
Do not use dynamic radar cruise con- trol with full-speed range in any of the
following situations. Doing so may result in inappropriate speed control and could cause an accident resulting
in death or serious injury.
●Roads where there are pedestrians,
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 high- ways
●When weather conditions are bad enough that they may prevent 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 conditions that require fre-
quent repeated acceleration and deceleration
●When your vehicle is towing a trailer or during emergency towing
●When an approach warning buzzer is heard often

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4-5. Using the driving support systems
When the turn signal lever is operated and your vehicle moves t o an overtaking lane
while driving at 80 km/h (50 mph) or more, the vehicle will acc elerate to help to over-
take a passing vehicle.
The system’s identification of what is an overtaking lane may b e determined solely
based on the location of the steering wheel in the vehicle (lef t side driver position
versus right side driver position.) If the vehicle is driven to a region where the over-
taking lane is on a different side from where the vehicle is no rmally 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 the driver normally operates the vehicle in a region
where the overtaking lane is to the 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 syst em 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 turns on in constant
speed control mode. ( P.259)
“Radar Ready”
2 Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) 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
Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)

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4-5. Using the driving support systems
1Long
2 Medium
3 Short
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). Vehi-
cle-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 follow-up
cruising if the accelerator pedal is
depressed after the vehicle ahead of
you starts off.
“Push Cruise Control Switch or
Press Accelerator to Resume”
Vehicle-to-vehicle distance
settings (vehicle-to-vehicle
distance control mode)
Distance
options
Vehicle-to-vehicle dis-
tance
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)
Distance
options
Vehicle-to-vehicle dis-
tance

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4-5. Using the driving support systems
Driving
1Pressing the cancel switch can-
cels 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.)
2 Pressing 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 sufficient auto-
matic deceleration via the cruise
control is not possible, 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 follow-
ing a vehicle. Depress the brake
pedal to ensure an appropriate
vehicle-to-vehicle distance.
■Warnings may not occur when
In the following instances, warnings
may not occur even when the vehi-
cle-to-vehicle distance is small.
 When the speed of the preceding
vehicle matches or exceeds your
vehicle speed
 When the preceding vehicle is
traveling at an extremely slow
speed
 Immediately after the cruise con-
trol speed was set
 When depressing the accelerator
pedal
When constant speed control mode
is selected, your vehicle will main-
tain a set speed without controlling
the vehicle-to-vehicle distance.
Select this mode only when vehi-
cle-to-vehicle distance control
mode does not function correctly
due to a dirty radar, etc.
1 With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.
Canceling and resuming the
speed control
Approach warning (vehicle-
to-vehicle distance control
mode)
Selecting constant speed
control mode