ESP TOYOTA BZ4X 2023 Owner's Guide

2665-4. Using the driving support systems
Owners Manual_USA_M42C01_en
The system can detect the fol-
lowing as detectable objects.
(Detectable objects differ
depending on the function.)
Vehicles
 Bicycles
*
Pedestrians
 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.
“Pre-Collision System”
If the system determines that
the accelerator pedal is strongly
depressed, the following icon
and message will be displayed
on the multi-information display.
WARNING
■For safe use
●Driving safely is solely the
responsibility of the driver. Pay
careful attention to the sur-
rounding conditions in order to
ensure safe driving. Never use
the pre-collision system in place
of normal braking operations.
This system cannot help avoid
or reduce the i mpact of a colli-
sion in every si tuation. Over-
reliance on this system to drive
the vehicle safely may lead to
an accident resulting in death or
serious injury.
●Although the pr e-collision sys-
tem is designed to help avoid or
help reduce the im pact of a col-
lision, its effectiveness may
change according to various
conditions. Therefore, it may not
always be able to achieve the
same level of performance.
Read the followi ng items care-
fully. Do not overl y rely on this
system and always drive care-
fully.
• For safe use: P.259
■When to disable the pre-colli-
sion system
When it is necessary to disable
the system: P. 2 5 9
Detectable objects
System functions

2775-4. Using the driving support systems
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5
Driving
 When the function is operat-
ing, if the vehicl e is likely to
depart from its lane, the driver
will be alerted via a display
and buzzer.
When the buzzer sounds, check
the area around the vehicle and
carefully operate the steering wheel
to move the vehicle back to the
center of the lane.
■Operating conditions of func-
tion
This function is operable when all of
WARNING
■Before using the LTA system
●Do not overly rely on the LTA
system. The LTA system is not a
system which provides auto-
mated assistance in driving and
it is not a system which reduces
the amount of attention neces-
sary for safe drivi ng. The driver
is solely responsible for paying
attention to their surroundings
and operating the steering
wheel as necessary to ensure
safety. Also, the driver is
responsible for taking adequate
breaks when fatigued, such as
when driving for a long time.
●Failure to perform appropriate
driving operations and pay care-
ful attention may lead to an
accident.
●When not using the LTA system,
turn it off using the LTA switch.

2795-4. Using the driving support systems
Owners Manual_USA_M42C01_en
5
Driving
The LTA will change between
enabled/disabled each time the
LTA switch is pressed.
When the LTA is enabled, the LTA
indicator will illuminate.
Enabling/disabling the
system
WARNING
■Situations in which the func-
tions may not operate prop-
erly
In the following situations, the
functions may not operate prop-
erly and the vehicle may depart
from its lane. Do not overly rely on
these functions. The driver is
solely responsible for paying
attention to their surroundings
and operating the steering wheel
as necessary to ensure safety.
●When a preceding or surround-
ing vehicle changes lanes (Your
vehicle may follow the preced-
ing or surrounding vehicle and
also change lanes)
●When a preceding or surround-
ing vehicle is swaying (Your
vehicle may sway accordingly
and depart from the lane)
●When a preceding or surround-
ing vehicle departs from a lane
(Your vehicle may follow the
preceding or surrounding vehi-
cle and also depart from the
lane)
●When a preceding or surround-
ing vehicle is being driven
extremely close to the left/right
lane line (Your vehicle may fol-
low the preceding or surround-
ing vehicle accordingly and
depart from the lane)
●When there are moving objects
or structures in the surrounding
area (Depending on the position
of the moving object or structure
relative to your vehicle, your
vehicle may sway)
●When the vehicle is struck by a
crosswind or the turbulence of
other nearby vehicles

2825-4. Using the driving support systems
Owners Manual_USA_M42C01_en
*: Boundary between the asphalt and grass, soil, etc., or structures,
such as a curb, guardrail, etc.
■Break suggestion function
If the vehicle is swaying, a mes-
sage will be displayed and a
warning buzzer will sound to
urge the driver to take a break.
■Operating conditions of each
function
●Lane departure alert/prevention
function
WARNING
■Before using the LDA system
●Do not overly re ly on the LDA
system. The LDA system is a
system which provides auto-
mated assistance in driving.
However, as it is not a system
which reduces the amount of
attention necessary for safe
driving. The driver is solely
responsible for paying attention
to their surroundings and oper-
ating the steering wheel as nec-
essary to ensure safety. Also,
the driver is responsible for tak-
ing adequate breaks when
fatigued, such as when driving
for a long time.
●Failure to perform appropriate
driving operations and pay care-
ful attention may lead to an
accident.

2845-4. Using the driving support systems
Owners Manual_USA_M42C01_en
●When the system determines that
the driver is not securely holding
the steering wheel, or the steering
wheel is not being operated when
the steering assist operation of the
lane departure prevention function
is operating
The length of time that the warning
buzzer operates will become longer
as the frequency o f the steering
assist operating i ncreases. Even if
the system judges that the steering
wheel has been operated, the warn-
ing buzzer will sound for a certain
amount of time.
■Break suggestion function
If the vehicle is swaying, a message
will be displayed and a warning
buzzer will sound to u rge the driver
to take a break.
Depending on the condition of the
vehicle and road surface, the break
suggestion functi on may not oper-
ate.
 The LDA system can be
enabled/disabled through a
customize setting. ( P.572)
 The settings of the LDA can be changed through on the
customize settings. (
P.572)
Changing LDA settings
WARNING
■Situations in which the LDA
should not be used
In the following situations, disable
the LDA system. Failure to do so
may lead to an accident.
●When it is necessary to disable
the system: P.259
■Situations in which the sys-
tem may not ope rate properly
In the following situations, the
system may not operate properly
and the vehicle may depart from
its lane. Do not overly rely on
these functions. The driver is
solely responsible for paying
attention to their surroundings
and operating the steering wheel
as necessary to ensure safety.
●When the boundary between
the asphalt and grass, soil, etc.,
or structures, such as a curb,
guardrail, etc. is not clear or
straight
●When the vehicle is struck by a
crosswind or the turbulence of
other nearby vehicles
●Situations in which the lane may
not be detected:  P.264
●Situations in which the sensors
may not operate properly:
P.263
●Situations in which some or all
of the functions of the system
cannot operate: P.264

2865-4. Using the driving support systems
Owners Manual_USA_M42C01_en
When the front camera
detects a sign or information of a sign is available from the
navigation system (if
equipped), the sign will be
displayed on the display.
 Multiple signs can be dis-
played.
Depending on the specifications of
the vehicle, the number of dis-
played signs may be limited.
■Operating conditions of sign
display
Signs will be displayed when the fol-
lowing conditions are met:
●The system has detected a sign
In the following si tuations, a dis-
played sign may stop being dis-
played:
●When a new sign has not been
detected for a certain distance
●When the system determines that
the road being driven on has
changed, such as after a left or
right turn
■Situations in which the display
function may not operate prop-
erly
In the following situ ations, the RSA
system may not operate properly
and may not detect signs or may
display the incorrect sign. However,
this does not indicate a malfunction.
●When a sign is dirty, faded, tilted
or bent
●When the contrast of an electronic
sign is low
●When all or part of a sign is hidden
by a tree, utility pole, etc.
●When a sign is d etected by the
front camera for a short amount of
time
●When the driving state (turning,
changing lanes, etc.) is judged
incorrectly
●When a sign is immediately after a
RSA (Road Sign
Assist)
The RSA system detects
specific road signs using
the front camera and/or
navigation system (if
equipped) (when speed limit
information is available)
and warns the driver via dis-
plays and buzzers.
WARNING
■For safe use
●Driving safely is solely the
responsibility of the driver. Pay
careful attention to the sur-
rounding conditions in order to
ensure safe driving.
●Do not rely solely upon the
RSA. The RSA assists the
driver by providing road sign
information, but it is not a
replacement for the driver’s own
vision and awareness. Driving
safely is solely the responsibility
of the driver. Pay careful atten-
tion to the surrounding condi-
tions in order to ensure safe
driving.
■Situations in which the RSA
should not be used
When it is necessary to disable
the system: P. 2 5 9
■Situations in which the sys-
tem may not operate properly
Situations in which the sensors
may not operate properly: P. 2 6 3
Display Function

2885-4. Using the driving support systems
Owners Manual_USA_M42C01_en
Depending on the specifica-
tions of the vehicle, signs may
be displayed overlapping.
The following settings of the
RSA can be changed through
customize settings. ( P.573)
Stop
Yield
Warning
Duplicate display exam-
ple
Changing RSA settings
Dynamic radar cruise
control
This dynamic radar cruise
control detects the pres-
ence of vehicles ahead,
determines the current vehi-
cle-to-vehicle distance, and
operates to maintain a suit-
able distance from the vehi-
cle ahead. The desired
vehicle-to-vehicle distance
can be set by operating the
vehicle-to-vehicle distance
switch.
Use the dynamic radar
cruise control only on high-
ways and expressways.
WARNING
■For safe use
●Driving safely is solely the
responsibility of the driver. Do
not overly rely on this system,
and pay careful attention to the
surrounding conditions in order
to ensure safe driving.
●The dynamic radar cruise con-
trol provides driving assistance
to reduce the driver’s burden.
However, there are limitations to
the assistance provided. Read
the following items carefully. Do
not overly rely on this system
and always drive carefully.
Conditions under which the sys-
tem may not opera te correctly:
 P. 2 9 4

2895-4. Using the driving support systems
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5
Driving
WARNING
●Set the speed appropriately
according to the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is responsible for confirm-
ing the set speed.
●Even if the system is operating
correctly, the condition of a pre-
ceding vehicle as recognized by
the driver and detected by the
system may differ. Therefore, it
is necessary for the driver to
pay attention, assess risks, and
ensure safety. Over-reliance on
this system to drive the vehicle
safely may lead to an accident
resulting in death or serious
injury.
■Precautions for the driving
assist systems
Observe the following precau-
tions, as there are limitations to
the assistance provided by the
system. Over-reliance on this sys-
tem may lead to an accident
resulting in death or serious injury.
●Details of support provided for
the driver’s vision The dynamic
radar cruise control is only
intended to help the driver in
determining the distance
between the driver’s own vehi-
cle and a designated preceding
vehicle. It is not a system which
allows for careless or inattentive
driving, and is not a system
which assists in poor visibility
conditions. The driver must pay
attention to their surroundings,
even when the vehicle stops.
●Details of suppor t provided for
the driver’s judgement The
dynamic radar cruise control
determines whether the dis-
tance between the driver’s own
vehicle and a designated pre-
ceding vehicle is within a set
range. It is not capable of mak-
ing any other type of judgement.
Therefore, it is absolutely nec-
essary for the driver to remain
vigilant and to determine
whether or not t here is a possi-
bility of danger.
●Details of suppor t provided for
the driver’s operation The
dynamic radar cruise control
does not include functions
which will prevent or avoid colli-
sions with vehicles ahead of
your vehicle. Ther efore, if there
is ever any possibility of danger,
the driver must take immediate
and direct control of the vehicle
and act appropriately in order to
ensure safety.
■Situations in which the
dynamic radar cruise control
should not be used
Do not use the d ynamic radar
cruise control in the following situ-
ations. As the system will not be
able to provide appropriate con-
trol, using it may lead to an acci-
dent resulting in death or serious
injury.
●Roads where there are pedes-
trians, cyclists, etc.
●When driving on a highway or
expressway entrance or exit
●When the approach warning
sounds frequently
●Situations in which the sensors
may not operate properly:
 P.263
●Situations in which the lane may
not be detected:  P.264

2965-4. Using the driving support systems
Owners Manual_USA_M42C01_en
through customize settings.
(P.572)Cruise control
The vehicle can be driven at
a set speed even if the
accelerator pedal is not
depressed.
Use the cruise control only
on highways and express-
ways.
WARNING
■For safe use
●Driving safely is solely the
responsibility of the driver.
Therefore, do not overly rely on
this system. The driver is solely
responsible for paying attention
to the vehicle’s surroundings
and driving safely.
●Set the speed appropriately
according to the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is responsible for confirm-
ing the set speed.
■Situations in which cruise
control should not be used
Do not use the cruise control in
the following situ ations. As the
system will not be able to provide
appropriate control, using it may
lead to an acciden t resulting in
death or serious injury.
●On roads with sharp bends
●On winding roads
●On slippery roads, such as
those covered with rain, ice or
snow

2995-4. Using the driving support systems
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5
Driving
Emergency Driving
Stop System
The emergency driving stop
system is a system which
automatically decelerates
and stops the vehicle within
its lane if the driver
becomes unable to con-
tinue driving the vehicle,
such as if they have suf-
fered a medical emergency,
etc.
During LTA (Lane Tracing
Assist) control, if the sys-
tem does not detect driving
operations, such as if the
driver is not holding the
steering wheel, and deter-
mines the driver is not
responsive, the vehicle will
be decelerated and stopped
within its current lane to
help avoid a collision or
reduce the impact of a colli-
sion.
WARNING
■For safe use
●Driving safely is solely the
responsibility of the driver. Pay
careful attent ion to the sur-
rounding conditions in order to
ensure safe driving. The emer-
gency driving stop system is
designed to provide support in
an emergency where it is diffi-
cult for the dri ver to continue
driving, such as if they have had
a medical emergency. It is not
designed to support driving
while drowsy or in poor physical
health, or inattentive driving.
●Although the emergency driv-
ing stop system is designed to
decelerate the vehicle within its
lane to help avoid or help
reduce the impact of a collision
if the system determines that it
is difficult for the driver to con-
tinue driving, its effectiveness
may change according to vari-
ous conditions. Therefore, it
may not always be able to
achieve the same level of per-
formance. Also, if the operating
conditions are not met, this
function will not operate.
●After the emergency driving
stop system operates, if driving
becomes possible again, imme-
diately begin driving again or, if
necessary, park the vehicle on
the shoulder of the road and set
a warning reflecto r and flare to
warn other drivers of your
stopped vehicle.