TOYOTA HIGHLANDER 2021 Owners Manual (in English)

2514-5. Using the driving support systems
4
Driving
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■Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes-
sage will be displayed on the
multi-information display to alert
the driver.■Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance by
operating the steering wheel to
keep the vehicle in its current
lane.
When dynamic radar cruise control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) 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.

2524-5. Using the driving support systems
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■Turning the LTA system on
Press the LTA switch.
The LTA indicator illuminates and a
message is displayed on the
multi-information display.
■Turning the lane centering
function ON/OFF
Press the LTA switch.
The lane center ing function will
change between ON/OFF each
time the switch is pressed.
The current setting will be dis-
played on the multi-information dis-
play.
■Turning the LTA system off
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
system on.
When the LTA system is turned on
or off, operation of the LTA system
continues in the same condition the
next time the engine is started.
LTA i n d i c a t o r
The illumination condition of the
indicator informs the driver of the
system operation status.
Illuminated in white: LTA system is
operating.
Illuminated in green: Steering wheel
assistance of the steering assist
LTA system setting
Indications on multi-infor-
mation display

2534-5. Using the driving support systems
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Driving
HIGHLANDER_Ufunction or lane centering function
is operating.
Flashing in orange: Lane departure
alert function is operating.
Operation display of steering
wheel operation support
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
display.
Indicates that steering wheel assis-
tance of the steering assist function
or lane centering function is operat-
ing.
Both outer sides of the lane are dis-
played: Indicates that steering
wheel assist of the lane centering
function is operating.
One outer side of the lane is dis-
played: Indicates that steering
wheel assist of the steering assist
function is operating.
Both outer sides of the lane are
flashing: Alerts the driver that their
input is necessary to stay in the
center of the lane (lane centering
function).
Lane departure alert function
display
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information
display.
Inside of displayed lines is
white
Indicates that the system is rec-
ognizing white (yellow) lines or a
course
*. When the vehicle
departs from its lane, the white
line displayed on the side the
vehicle departs from flashes
orange.
Inside of displayed lines is
black
Indicates that the system is not
able to recognize white (yellow)
lines or a course
* or is temporar-
ily canceled.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
Follow-up cruising display
Displayed when the multi-informa-
tion display is switched to the driv-
ing support system information

2544-5. Using the driving support systems
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Indicates that steering assist of the
lane centering function is operating
by monitoring the position of a pre-
ceding vehicle.
When the follow-up cruising display
is displayed, if the preceding vehi-
cle moves, your vehicle may move
in the same way. Always pay care-
ful attention to your surroundings
and operate the steering wheel as
necessary to correct the path of the
vehicle and ensure safety.
■Operation conditions of each
function
●Lane departure alert function
This function operates when all of
the following conditions are met.
• LTA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
*1
• System recognizes white (yellow) lane lines or a course*2. (When a
white [yellow] line or course*2 is
recognized on only one side, the
system will operate only for the
recognized side.)
• Width of traffic lane is approxi- mately 9.8 ft. (3 m) 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.256)
*1: The function operates even if the
vehicle speed is less than
approximately 32 mph (50 km/h)
when the lane centering function
is operating.
*2: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
●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 decelerated by a fixed amount or
more.
• Steering wheel is not operated with a steering force level suitable
for changing lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
●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.89, 98)
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• Width of traffic lane is approxi- mately 9.8 ft. (3 m) or more.
• No system malfunctions are
detected. ( P.256)
●Lane centering function
This function operates when all of
the following conditions are met.
• LTA is turned on.
• Setting for “Lane Center” in of the multi-information display are
set to “ON”. ( P.89, 98)
• This function recognizes white (yellow) lane lines or the position
of a preceding vehicle (except
when the preceding vehicle is
small, such as a motorcycle).
• The dynamic radar cruise control with full-speed range is operating
in vehicle-to-vehicle distance con-
trol mode.
• Width of traffic lane is approxi-
mately 10 to 13 ft. (3 to 4 m).
• Turn signal lever is not operated.
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. ( P.256)
• Vehicle does not accelerate or decelerate by a fixed amount or

2554-5. Using the driving support systems
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Driving
HIGHLANDER_Umore.
• Steering wheel is not operated with a steering force level suitable
for changing lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. ( P.255)
• The vehicle is being driven in the center of a lane.
• Steering assist function is not
operating.
■Temporary cancelation of func-
tions
●When operation conditions are no
longer met, a function may be
temporarily canceled. However,
when the operation conditions are
met again, operation of the func-
tion is automatically restored.
( P.254)
●If the operation conditions
( P.254) are no longer met while
the lane centering function is
operating, the buzzer may sound
to indicate that the function has
been temporarily canceled.
■Steering assist function/lane
centering function
●Depending on the vehicle speed,
lane departure situation, road con-
ditions, etc., the driver may not
feel the function is operating or
the function may not operate at
all.
●The steering control of the func-
tion is overridden by the driver’s
steering wheel operation.
●Do not attempt to test the opera-
tion of the steering assist function.
■Lane departure alert function
●The warning buzzer may be diffi-
cult to hear due to external noise,
audio playback, etc.
●If the edge of the course* is not
clear or straight, the lane depar-
ture alert function may not oper-
ate.
●Vehicle with BSM: It may not be
possible for the system to deter-
mine if there is a danger of a colli-
sion with a vehicle in an adjacent
lane.
●Do not attempt to test the opera-
tion of the lane departure alert
function.
*: Boundary between asphalt and
the side of the road, such as
grass, soil, or a curb
■Hands off steering wheel warn-
ing
In the following situations, a warning
message urging the driver to hold
the steering wheel and the symbol
shown in the illustration are dis-
played on the multi-information dis-
play to warn the driver. The warning
stops when the system determines
that the driver holds the steering
wheel. Always keep your hands on
the steering wheel when using this
system, regardless of warnings.
●When the system determines the
driver is not holding the steering
wheel while the lane centering
function is operating.
If the driver continues to keep their
hands off of the steering wheel, the
buzzer sounds, the driver is warned
and the function is temporarily can-
celed. This warning also operates in
the same way when the driver con-
tinuously operates the steering
wheel only a small amount.
●When the system determines that
the vehicle may deviate from the
lane while driving around a curve
while the lane centering function is

2564-5. Using the driving support systems
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Depending on the vehicle condition
and road conditions, the warning
may not operate. Also, if the system
determines that the vehicle is driv-
ing around a curve, warnings will
occur earlier than during
straight-lane driving.
●When the system determines that
the driver is driving without hold-
ing the steering wheel while the
steering wheel assist of the steer-
ing assist function is operating.
If the driver continues to keep their
hands off of the steering wheel and
the steering wheel assist is operat-
ing, the buzzer sounds and the
driver is warned . Each time the
buzzer sounds, the continuing time
of the buzzer becomes longer.
■Vehicle sway warning function
When the system de termines that
the vehicle is swaying while the
vehicle sway warning function is
operating, a buzzer sounds and a
warning message urging the driver
to rest and the symbol shown in the
illustration are simultaneously dis-
played on the multi-information dis-
play.
Depending on the vehicle and road
conditions, the warning may not
operate.
■Warning message
If the following warning message is
displayed on the multi-information
display and the LTA indicator illumi-
nates in orange, follow the appropri-
ate troubleshooting procedure. Also,
if a different warning message is
displayed, follow the instructions
displayed on the screen.
●“LTA Malfunction Visit Your
Dealer”
The system may not be operating
properly. Have the vehicle inspected
by your Toyota dealer.
●“LTA Unavailable”
The system is temporarily canceled
due to a malfunction in a sensor
other than the front camera. Turn
the LTA system off, wait for a little
while, and then turn the LTA system
back on.
●“LTA Unavailable at Current
Speed”
The function cannot be used as the
vehicle speed exceeds the LTA
operation range. Drive slower.
■Customization
Function settings can be changed.
(Customizable features: P.521)

2574-5. Using the driving support systems
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Driving
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■Meter displayMulti-information display
Set speed Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
Dynamic radar cruise
control with full-speed
range
In vehicle-to-vehicle dis-
tance control mode, the
vehicle automatically accel-
erates, decelerates and
stops to match the speed
changes of the preceding
vehicle even if the accelera-
tor pedal is not depressed.
In constant speed control
mode, the vehicle runs at a
fixed speed.
Use the dynamic radar
cruise control with
full-speed range on free-
ways and highways.
 Vehicle-to-vehicle distance
control mode ( P.260)
 Constant speed control
mode ( P.265)
System Components
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 pay-
ing careful attent ion to your sur-
roundings.
●The dynamic radar cruise con-
trol with full-speed range pro-
vides driving assistance to
reduce the driver’s burden.
However, there ar e limitations 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
ahead:
P. 2 6 7

2584-5. Using the driving support systems
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WARNING
• Conditions under which the vehicle-to-vehicle distance con-
trol mode may not function cor-
rectly:
P. 2 6 8
●Set the speed appropriately
depending on the speed limit,
traffic flow, road conditions,
weather conditions, etc. The
driver is responsible for check-
ing the set speed.
●Even when the system is func-
tioning normally, the condition of
the preceding vehicle as
detected by the system may dif-
fer from the condition observed
by the driver. Therefore, the
driver must always remain alert,
assess the danger of each situ-
ation and drive safely. Relying
solely on this system or assum-
ing 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 cruise
control main switch when not in
use.
■Cautions regarding the driv-
ing assist systems
Observe the following precau-
tions, as there are limitations to
the assistance provided by the
system. Failure to do so may
cause an accident resulting in
death or serious injury.
●Assisting the driver to measure
following distance
The dynamic radar cruise control
with full-speed range is only
intended to help the driver in
determining the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead. It is not a mechanism that
allows careless or inattentive driv-
ing, and it is not a system that can
assist the driver in low-visibility
conditions.
It is still necessary for driver to
pay close attention to the vehi-
cle’s surroundings.
●Assisting the driver to judge
proper following distance
The dynamic radar cruise control
with full-speed range determines
whether the following distance
between the driver’s own vehicle
and a designated vehicle traveling
ahead is within a set range. It is
not capable of making any other
type of judgement. Therefore, it is
absolutely necessary for the
driver to remain vigilant and to
determine whether or not there is
a possibility of danger in any
given situation.
●Assisting the driver to operate
the vehicle
The dynamic radar cruise control
with full-speed range does not
include functions which will pre-
vent or avoid collisions with vehi-
cles ahead of your vehicle.
Therefore, 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
the safety of all involved.

2594-5. Using the driving support systems
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WARNING
■Situations unsuitable for
dynamic radar cruise control
with full-speed range
Do not use dynamic radar cruise
control with full-speed range in
any of the following situations.
Doing so may resu lt in inappropri-
ate speed control and could
cause an accident resulting in
death or serious injury.
●Roads where there are pedes-
trians, 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
highways
●When weather conditions are
bad enough that they may pre-
vent the sensors from detecting
correctly (fog, snow, sand-
storm, heavy rain, etc.)
●When there is rain, snow, etc.
on the front surface of the radar
or front camera
●In traffic conditions that require
frequent repeated acceleration
and deceleration
●When your vehicle is towing a
trailer or during emergency tow-
ing
●When an approach warning
buzzer is heard often

2604-5. Using the driving support systems
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This mode employs a radar to detect the presence of vehicles up to
approximately 328 ft. (100 m) ahead, determines the current vehi-
cle-to-vehicle following distance, and operates to maintain a suitable
following distance from the vehicle ahead. The desired vehi-
cle-to-vehicle distance can also be set by operating the vehi-
cle-to-vehicle distance switch.
When driving on downhill slopes, the vehicle-to-vehicle distance may
become shorter.
Example of const ant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
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 ahea d of you, the system automatically
decelerates your vehicle. When a greater reduction in vehicle speed is nec-
essary, the system applies the brakes (the stop lights will come on at this
time). The system will respond to ch anges 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 suffi-
ciently to prevent your vehicle from closing in on the vehicle ahead.
When the vehicle ahead of you stops, yo ur vehicle will also stop (vehicle is
stopped by system control). After the vehicle ahead starts off, pressing the
“+RES” switch or depressing the acce lerator pedal (start-off operation) will
resume follow-up cruising. If the start-of f operation is not performed, system
control continues to keep your vehicle stopped.
Driving in vehicle-to-vehicle distance control mode