ESP TOYOTA C-HR 2023 Owner's Manual

3004-1. Before driving
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Your vehicle will handle differently when towing a trailer. In order to
avoid accident, death or serious injury, keep the following in mind
when towing:
■Checking connections between trailer and lights
Stop the vehicle and check the operation of the connection betw een
the trailer and lights after driving for a brief period as well as before
starting off.
■Practicing driving with a coupled trailer
● Get the feel for turning, stopping and reversing with the trailer
coupled by practicing in an area with no or light traffic.
● When reversing with a coupled trailer, hold the section of the
steering wheel nearest to you and rotate clockwise to turn the
trailer left or counterclockwise to turn it right. Always rotat e a little
at a time to prevent steering error. Have someone guide you
when reversing to lessen the risk of an accident.
■Increasing vehicle-to-vehicle distance
At a speed of 10 km/h (6 mph), the distance to the vehicle runn ing
ahead of you should be equivalent to or greater than the combin ed
length of your vehicle and trailer. Avoid sudden braking that m ay
cause skidding. Otherwise, the vehicle may spin out of control. This
is especially true when driving on wet or slippery road surface s.
■Sudden acceleration/steering input/cornering
Executing sharp turns when towing may result in the trailer col liding
with your vehicle. Decelerate well in advance when approaching
turns and take them slowly and carefully to avoid sudden brakin g.
■Important points regarding turning
The wheels of the trailer will travel closer to the inside of t he curve
than the wheels of the vehicle. To make allowance for this, tak e the
turns wider than you would normally do.
Guidance

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4-5. Using the driving support systems
Driving
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Toyota Safety Sense
■PCS (Pre-Collision System)
 P. 3 6 7
■LTA (Lane Tracing Assist)
 P. 3 8 5
■AHB (Automatic High Beam)
 P. 3 3 6
■RSA (Road Sign Assist)
 P. 4 0 0
■Dynamic radar cruise control with full-speed range
 P. 4 0 8
: If equipped
The Toyota Safety Sense consists of the following drive assist
systems and contributes to a safe and comfortable driving expe-
rience:
Driving assist system
WARNING
■ Toyota Safety Sense
The Toyota Safety Sense is designed to operate under the assump tion that
the driver will drive safely, and is designed to help reduce th e impact to the
occupants and the vehicle in the case of a collision or assist the driver in
normal driving conditions.
As there is a limit to the degree of recognition accuracy and c ontrol perfor-
mance that this system can provide, do not overly rely on this system. The
driver is always responsible for paying attention to the vehicl e’s surround-
ings and driving safely.

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Driving
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WARNING
■Limitations of the pre-collision system
● The driver is solely responsible for safe driving. Always drive safely, taking
care to observe your surroundings.
Do not use the pre-collision system instead of normal braking o perations
under any circumstances. This system will not prevent collision s or lessen
collision damage or injury in every situation. Do not overly re ly on this sys-
tem. Failure to do so may lead to an accident, resulting in dea th or serious
injury.
● Although this system is designed to help avoid a collision or help reduce
the impact of the collision, its effectiveness may change accor ding to vari-
ous conditions, therefore the system may not always be able to achieve
the same level of performance.
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• Conditions under which the system may operate even if there is no pos-
sibility of a collision: P. 378
• Conditions under which the system may not operate properly: P. 3 8 1
● Do not attempt to test the operation of the pre-collision system yourself.
Depending on the objects used for testing (dummies, cardboard o bjects
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 braking func-
tion, the pre-collision braki ng function operation will be canceled after
approximately 2 seconds. Depress the brake pedal as necessary.
● The pre-collision braking function may not operate if certain operations are
performed by the driver. If the accelerator pedal is being depr essed
strongly or the steering wheel is being turned, the system may determine
that the driver is taking evasive action and possibly prevent t he pre-colli-
sion braking function from operating.
● In some situations, while the pre-collision braking function is operating,
operation of the function may be canceled if the accelerator pe dal is
depressed strongly or the steering wheel is turned and the syst em deter-
mines that the driver is taking evasive action.
● If the brake pedal is being depressed, the system may determine that the
driver is taking evasive action and possibly delay the operatio n timing of
the pre-collision braking function.

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4-5. Using the driving support systems
Driving
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LTA (Lane Tracing Assist)
While driving on a road with clear white (yellow) lane lines, the 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 is operating, this s ystem will
operate the steering wheel to maintain the vehicle’s lane posit ion.
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
: If equipped
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 t hat 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 t o the surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigu ed, 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.

4094-5. Using the driving support systems
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Driving
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WARNING
■Before using dynamic radar cruise control with full-speed range
● Driving safely is the sole responsibility of the driver. Do not rely solely on
the system, and drive safely by always paying careful attention to your sur-
roundings.
● The dynamic radar cruise control with full-speed range provides driving
assistance to reduce the driver’s burden. However, there are li mitations to
the assistance provided.
Read the following conditions carefully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be correctly detecting the vehicle ahe ad:
P. 423
• Conditions under which the vehicle-to-vehicle distance control mode
may not function correctly: P. 424
● Set the speed appropriately depending on the speed limit, traffic flow, road
conditions, weather conditions, etc. The driver is responsible for checking
the set speed.
● Even when the system is functioning normally, the condition of the preced-
ing vehicle as detected by the system may differ from the condi tion
observed by the driver. Therefore, the driver must always remai n alert,
assess the danger of each situation and drive safely. Relying s olely on this
system or assuming the system ensures safety while driving can lead to
an accident, resulting in death or serious injury.
● Switch the dynamic radar cruise control with full-speed range setting to off,
using the “ON-OFF” button when not in use.

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Driving
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Example of deceleration cruising and follow-up cruising
When a preceding vehicle driving slower than the set speed
appears
When a vehicle is detected running ahead of you, the system aut omatically
decelerates your vehicle. When a greater reduction in vehicle s peed is
necessary, the system applies the brakes (the stop lights will come on at
this time). The system will respond to changes in the speed of the vehicle
ahead in order to maintain the vehicle-to-vehicle distance set by the driver.
Approach warning warns you when the system cannot decelerate su ffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also sto p (vehicle is
stopped by system control). After the vehicle ahead starts off, pushing the
cruise control lever up or depressing the accelerator pedal (st art-off opera-
tion) will resume follow-up crui sing. If the start-off operation is not per-
formed, system control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves t o an over-
taking lane while driving at 80 km/h (50 mph) or more, the vehi cle will
accelerate to help to overtake a passing vehicle.
The system’s identification of what is an overtaking lane may b e deter-
mined solely based on the location of the steering wheel in the vehicle (left
side driver position versus right side driver position.) If the vehicle is driven
to a region where the overtaking lane is on a different side fr om where the
vehicle is normally driven, the vehicle may accelerate when the turn signal
lever is operated in the opposite direction to the overtaking l ane (e.g., if the
driver normally operates the vehi cle in a region where the overtaking lane
is to the right but then drives to a region where the overtakin g lane is to the
left, the vehicle may accelerate when the right turn signal is activated).
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.

4164-5. Using the driving support systems
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Pressing the switch changes the
vehicle-to-vehicle distance as fol-
lows:
Long
Medium
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). Vehicle-to-v ehicle
distance increases/decreases in accordance with vehicle speed.
When the vehicle is stopped by system control, the vehicle stop s at a
certain vehicle-to-vehicle distance depending on the situation.
Changing the vehicle-to-vehicle distance (vehicle-to-vehicle di s-
tance control mode)
Preceding vehicle mark
Vehicle-to-vehicle distance settings (vehicle-to-vehicle distan ce
control mode)
Distance optionsVehicle-to-vehicle distance
LongApproximately 50 m (160 ft.)
MediumApproximately 40 m (130 ft.)
ShortApproximately 30 m (100 ft.)

4224-5. Using the driving support systems
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■ Automatic cancelation of constant speed control mode
Constant speed control mode is automatically canceled in the fo llowing situa-
tions:
● Actual vehicle speed is more than approximately 16 km/h (10 mph) below
the set vehicle speed.
● Actual vehicle speed falls below approximately 30 km/h (20 mph).
● VSC is activated.
● TRC is activated for a period of time.
● When the VSC or TRC system is turned off.
● Pre-collision braking is activated.
If constant speed control mode is automatically canceled for an y reasons
other than the above, there may be a malfunction in the system. Contact any
authorized Toyota retailer or Toyota authorized repairer, or an y reliable
repairer.
■ The Dynamic Radar Cruise Control with Road Sign Assist may not oper-
ate properly when
As the Dynamic Radar Cruise Control with Road Sign Assist may n ot operate
properly in conditions in which RSA may not operate or detect c orrectly
( P. 406), when using this function, make sure to check the speed limit sign
displayed.
In the following situations, the set speed may not be changed t o the recog-
nized speed limit by pressing and holding the “+RES”/“-SET” swi tch.
● If speed limit information is not available
● When the recognized speed limit is the same as the set speed
● When the recognized speed limit is outside of the speed range that the
dynamic radar cruise control system can operate
■ Brake operation
A brake operation sound may be heard and the brake pedal respon se may
change, but these are not malfunctions.
■ Warning messages and buzzers for dynamic radar cruise control with
full-speed range
Warning messages and buzzers are used to indicate a system malf unction or
to inform the driver of the need for caution while driving. If a warning message
is shown on the multi-information display, read the message and follow the
instructions. ( P. 365, 690)

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Driving mode select
■Changing the driving mode
To select the drive mode, perform operations on the multi-infor mation
display.
Press “ ” or “” of the meter control switches and select .
Press “ ” or “” of the meter control switches, and select “Drive
Mode”.
Press “ ” or “” of the meter control switches, and select drive
mode.
■Driving modes
● “NORMAL” mode
Provides an optimal balance of fuel economy, quietness, and
dynamic performance. Suitable for city driving.
● “SPORT” mode
Controls the hybrid system to provide quick, smooth and quick
acceleration. This mode also changes the steering feel, making it
suitable for when agile driving response is desired, such as wh en
driving on roads with many curves.
When sport mode is selected, the “SPORT” indicator will illuminate
on the multi-information display.
In response to driving conditions, one of 3 drive modes can be
selected.
Select the drive mode
1
2
3

4484-5. Using the driving support systems
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WARNING
■To ensure the system can operate properly
One Blind Spot Monitor sensor is installed inside the left and right side of
the vehicle rear bumper respectively. Observe the following to ensure the
Blind Spot Monitor can function correctly.
If the warning message does not disappear, have the vehicle ins pected
by any authorized Toyota retailer or Toyota authorized repairer , or any reli-
able repairer.
● Do not subject a sensor or its surrounding area on the rear bumper to a
strong impact.
If a sensor is moved even slightly off position, the system may malfunction
and vehicles may not be detected correctly.
In the following situations, have your vehicle inspected by any authorized
Toyota retailer or Toyota authorized repairer, or any reliable repairer.
• A sensor or its surrounding area is subject to a strong impact .
• If the surrounding area of a sensor is scratched or dented, or part of
them has become disconnected.
● Do not disassemble the sensor.
● Do not attach accessories or stickers to the sensor or surrounding area on
the bumper.
● Do not modify the sensor or surrounding area on the bumper.
● Do not paint the rear bumper any color other than an official Toyota color.
●Keep the sensor and its surrounding
area on the bumper clean at all times. If
a sensor or its surrounding area on the
rear bumper is dirty or covered with
snow, the Blind Spot Monitor may not
operate and a warning message
( P. 436) will be displayed.
In this situation, clear off the dirt or
snow and drive the vehicle with the
operation conditions of the BSM func-
tion ( P. 451) satisfied for approxi-
mately 10 minutes.