sensor TOYOTA RAV4 PLUG-IN HYBRID 2023 Service Manual

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

351
5 5-5. Using the driving support systems
Driving
in front of an oncoming vehicle or a
crossing pedestrian.
• While making a right/left turn, when an
oncoming vehicle or a crossing
pedestrian stops before entering the
path of your vehicle
• While making a right/left turn, when an
oncoming vehicle turns right/left in
front of your vehicle
• While steering into the direction of
oncoming traffic
■Situations in which the system may
not operate properly
●In some situations such as the follow-
ing, an object may not be detected by
the radar sensor and front camera,
preventing the system from operating
properly:
• When a detectable object is
approaching your vehicle
• When your vehicle or a detectable
object is wobbling
• If a detectable object makes an abrupt
maneuver (such as sudden swerving,
acceleration or deceleration)
• When your vehicle approaches a
detectable object rapidly
• When a detectable object is not
directly in front of your vehicle
• When a detectable object is near a
wall, fence, guardrail, manhole cover,
vehicle, steel plate on the road, etc.• When a detectable object is under a
structure
• When part of a detectable object is
hidden by an object, such as large
baggage, an umbrella, or guardrail
• 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.)
• When there is an effect on the radio
waves to the radar that is installed on
another vehicle
• When multiple detectable objects are
close together
• If the sun or other light is shining
directly on a detectable object
• When a detectable object is a shade
of white and looks extremely bright
• When a detectable object appears to
be nearly the same color or brightness
as its surroundings
• If a detectable object cuts or suddenly
emerges in front of your vehicle
• When the front of your vehicle is hit by
water, snow, dust, etc.
• When a very bright light ahead, such
as the sun or the headlights of oncom-
ing traffic, shines directly into the front
camera
• When approaching the side or front of
a vehicle ahead
• If a vehicle ahead is a motorcycle
• If a vehicle ahead is narrow, such as a
personal mobility vehicle
• If a preceding vehicle has a small rear
end, such as an unloaded truck
• If a preceding vehicle has a low rear
end, such as a low bed trailer
• If a vehicle ahead has extremely high
ground clearance

3525-5. Using the driving support systems
• If a vehicle ahead is carrying a load
which protrudes past its rear bumper
• If a vehicle ahead is irregularly
shaped, such as a tractor or side car
• If a vehicle ahead is a child sized bicy-
cle, a bicycle that is carrying a large
load, a bicycle ridden by more than
one person, or a uniquely shaped
bicycle (bicycle with a child seat, tan-
dem bicycle, etc.)
• If a pedestrian/or the riding height of a
bicyclist ahead is shorter than approx-
imately 1 m (3.2 ft.) or taller than
approximately 2 m (6.5 ft.)
• If a pedestrian/bicyclist is wearing
oversized clothing (a rain coat, long
skirt, etc.), making their silhouette
obscure
• If a pedestrian is bending forward or
squatting or bicyclist is bending for-
ward
• If a pedestrian/bicyclist is moving fast
• If a pedestrian is pushing a stroller,
wheelchair, bicycle or other vehicle
• When driving in inclement weather
such as heavy rain, fog, snow or a
sandstorm
• When driving through steam or smoke
• When the surrounding area is dim,
such as at dawn or dusk, or while at
night or in a tunnel, making a detect-
able object appear to be nearly the
same color as its surroundings
• When driving in a place where the sur-
rounding brightness changes sud-
denly, such as at the entrance or exit
of a tunnel
• After the hybrid system has started
the vehicle has not been driven for a
certain amount of time
• While making a left/right turn and for a
few seconds after making a left/right
turn• While driving on a curve and for a few
seconds after driving on a curve
• If your vehicle is skidding
• If the front of the vehicle is raised or
lowered
• If the wheels are misaligned
• If a wiper blade is blocking the front
camera
• The vehicle is being driven at
extremely high speeds
• When driving on a hill
• If the radar sensor or front camera is
misaligned
• When driving in a traffic lane sepa-
rated by more than one lane where
oncoming vehicles are driving while
making a right/left turn
• When largely out of place with the
opposite facing targeted oncoming
vehicle during a right/left turn
• While making a right/left turn, when a
pedestrian approaches from behind or
side of your vehicle
●In addition to the above, in some situ-

3645-5. Using the driving support systems
erly. Have the vehicle inspected by any
authorized Toyota retailer or Toyota
authorized repairer, or any reliable
repairer.
●“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 opera-
tion range. Drive slower.
■Customization
Function settings can be changed. ( P.206, 217)
*: If equipped
RSA (Road Sign Assist)*
The RSA system recognizes
specific road signs using the
front camera and/or naviga-
tion system (when speed limit
information is available) to pro-
vide information to the driver
via the display.
If the system judges that the
vehicle is being driven over the
speed limit, performing prohib-
ited actions, etc. according to
the recognized road signs, it
notifies the driver through a
visual notification and notifica-
tion buzzer or steering wheel
vibration.
WARNING
■Before using the RSA
Do not rely solely upon the RSA sys- tem. RSA is a system which supports
the driver by providing information, but it is not a replacement for a driver’s own vision and awareness.
Drive safely by always paying careful attention to the traffic rules.

367
5 5-5. Using the driving support systems
Driving
*1: Displayed simultaneously with
speed limit.
*2: Contents not recognized.
*3: If the turn signal indicator is not
operated when changing lanes, the
mark does not display.
In the following situations, the RSA
system will notify the driver.
When the vehicle speed exceeds
the speed notification threshold
of the speed limit sign displayed,
the sign display will be empha-
sized and a buzzer will sound.
When the RSA system recog-
nizes a no-entry sign and detects
that the vehicle has entered a
no-entry area based on the map
information of the navigation sys-
tem, the no-entry sign flashes
and a buzzer will sound. (For
vehicles with navigation system)
If it is detected that your vehicle
is overtaking when a no overtak-
ing sign is displayed on the multi-
information display, the dis-
played sign will flash and a steer-
ing wheel will vibrate.
Depending on the situation, traffic
environment (traffic direction, speed unit) may be detected incor-
rectly and a notification function
may not operate properly.
■Setting procedure
P.206, 217
■Automatic turn-off of RSA sign dis-
play
One or more signs automatically turn off
in the following situations.
●No sign has been recognized for a
certain distance.
●The road changes due to a left or right
turn, etc.
■Conditions in which the function
may not operate or detect correctly
In the following situations, RSA does not
operate normally and may not recognize
signs, display the incorrect sign, etc.
However, this does not indicate a mal-
function.
●The front camera is misaligned due to
a strong impact being applied to the
sensor, etc.
●Dirt, snow, stickers, etc. are on the
windshield near the front camera.
●In inclement weather such as heavy
rain, fog, snow or sand storms.
●Light from an oncoming vehicle, the
sun, etc. enters the front camera.
●The sign is dirty, faded, tilted or bent.
●The contrast of electronic sign is low.
●All or part of the sign is hidden by the
leaves of a tree, a pole, etc.
●The sign is only visible to the front
camera for a short amount of time.
●The driving scene (turning, lane
change, etc.) is judged incorrectly.
●If a sign not appropriate for the cur-
rently traveled lane, but the sign exists
directly after a freeway branches, or in
an adjacent lane just before merging.
●Stickers are attached to the rear of the
preceding vehicle. Exit ramp on right
*3
Exit ramp on left*3
Time
Notification function

369
5
5-5. Using the driving support systems
Driving
Multi-information display
Set speed
Indicators
Vehicles with 12.3-inch multi-
information display
Multi-information display
Set speed
Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cruise control main switch
Cancel switch
“-SET” switch
A
B
C
A
B
C
A
B
C
D
E
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.379
• Conditions under which the vehicle-
to-vehicle distance control mode may not function correctly: P.380
●Set the speed appropriately depending on the speed limit, traffic flow, road conditions, weather con-
ditions, etc. The driver is responsi- ble for checking the set speed.
●Even when the system is function-ing normally, the condition of the preceding vehicle as detected by
the system may differ from the con- dition observed by the driver. Therefore, the driver must always
remain alert, assess the danger of each situation and drive safely. Relying solely on this system or
assuming the system ensures safety while driving can lead to an accident, resulting in death or seri-
ous injury.
●Switch the dynamic radar cruise
control with full-speed range setting to off, using the cruise control main switch when not in use.

3705-5. Using the driving support systems
WARNING
■Cautions regarding the driving assist systems
Observe the following precautions, 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 fol-
lowing distance
The dynamic radar cruise control with
full-speed range is only intended to
help the driver in determining the fol-
lowing distance between the driver’s
own vehicle and a designated vehicle
traveling ahead. It is not a mechanism
that allows careless or inattentive
driving, and it is not a system that can
assist the driver in low-visibility condi-
tions.
It is still necessary for driver to pay
close attention to the vehicle’s sur-
roundings.
●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 prevent or avoid
collisions with vehicles 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.
■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.)

3785-5. Using the driving support systems
When the current set speed is
higher than the recognized
speed limit
Press and hold the “-SET” switch.
Dynamic Radar Cruise Control with
Road Sign Assist can be
enabled/disabled in the screen
on the multi-information display.
(P.206, 217)
When the Dynamic Radar Cruise
Control with Road Sign Assist is
operating, while driving down a hill,
the vehicle speed may exceed the
set speed.
In this case, the displayed set vehi-
cle speed will be highlighted and a
buzzer will sound to alert the driver.
■Dynamic radar cruise control with
full-speed range can be set when
●The shift lever is in D.
●The desired set speed can be set
when the vehicle speed is approxi-
mately 30 km/h (20 mph) or more.
(However, when the vehicle speed is set while driving at below approxi-
mately 30 km/h [20 mph], the set
speed will be set to approximately 30
km/h [20 mph].)
■Accelerating after setting the vehi-
cle speed
The vehicle can accelerate by operating
the accelerator pedal. After accelerat-
ing, the set speed resumes. However,
during vehicle-to-vehicle distance con-
trol mode, the vehicle speed may
decrease below the set speed in order
to maintain the distance to the preced-
ing vehicle.
■When the vehicle stops while fol-
low-up cruising
●Pressing the “+RES” switch while the
vehicle ahead stops will resume fol-
low-up cruising if the vehicle ahead
starts off within approximately 3 sec-
onds after the switch is pressed.
●If the vehicle ahead starts off within 3
seconds after your vehicle stops, fol-
low-up cruising will be resumed.
■Automatic cancelation of vehicle-
to-vehicle distance control mode
Vehicle-to-vehicle distance control
mode is automatically canceled in the
following situations.
●VSC is activated.
●TRC is activated for a period of time.
●When the VSC or TRC system is
turned off.
●The sensor cannot detect correctly
because it is covered in some way.
●When the brake control or output
restriction control of a driving support
system operates.
(For example: Pre-Collision System,
Drive-Start Control)
●The parking brake is operated.
●The vehicle is stopped by system con-
trol on a steep incline.
●The following are detected when the
vehicle has been stopped by system
control:
• The driver is not wearing a seat belt.
Enabling/Disabling the
Dynamic Radar Cruise Con-
trol with Road Sign Assist
(vehicles with RSA)

379
5 5-5. Using the driving support systems
Driving
• The driver’s door is opened.
• The vehicle has been stopped for
about 3 minutes
If vehicle-to-vehicle distance control
mode is automatically canceled for any
reasons other than the above, there
may be a malfunction in the system.
Contact any authorized Toyota retailer
or Toyota authorized repairer, or any
reliable repairer.
■Automatic cancelation of constant
speed control mode
Constant speed control mode is auto-
matically canceled in the following 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.
●When the brake control or output
restriction control of a driving support
system operates.
(For example: Pre-Collision System,
Drive-Start Control)
●The parking brake is operated.
If constant speed control mode is auto-
matically canceled for any reasons other
than the above, there may be a malfunc-
tion in the system. Contact any autho-
rized Toyota retailer or Toyota
authorized repairer, or any reliable
repairer.
■Situations in which the curve speed
reduction function may not operate
In situations such as the following, the
curve speed reduction function may not
operate:
●When the vehicle is being driven
around a gentle curve
●When the accelerator pedal is being
depressed
●When the vehicle is being driven
around an extremely short curve
■The Dynamic Radar Cruise Control
with Road Sign Assist may not
operate properly when (vehicles
with RSA)
As the Dynamic Radar Cruise Control
with Road Sign Assist may not operate
properly in conditions in which RSA may
not operate or detect correctly
(P.367), when using this function,
make sure to check the speed limit sign
displayed.
In the following situations, the set speed
may not be changed to the recognized
speed limit by pressing and holding the
“+RES”/“-SET” switch.
●If speed limit information is not avail-
able
●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 response 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 malfunction or
to inform the driver of the need for cau-
tion while driving. If a warning message
is shown on the multi-information dis-
play, read the message and follow the
instructions. (P.341, 544)
■When the sensor may not be cor-
rectly detecting the vehicle ahead
In the case of the following and depend-
ing on the conditions, operate the brake
pedal when deceleration of the system
is insufficient or operate the accelerator
pedal when acceleration is required.

3805-5. Using the driving support systems
As the sensor may not be able to cor-
rectly detect these types of vehicles, the approach warning ( P.375) may not be activated.
●Vehicles that cut in suddenly
●Vehicles traveling at low speeds
●Vehicles that are not moving in the
same lane
●Vehicles with small rear ends (trailers
with no load on board, etc.)
●Motorcycles traveling in the same lane
●When water or snow thrown up by the surrounding vehicles hinders the
detecting of the sensor
●When your vehicle is pointing
upwards (caused by a heavy load in the luggage compartment, etc.)
●Preceding vehicle has an extremely high ground clearance
■Conditions under which the vehi-
cle-to-vehicle distance control mode may not function correctly
In the case of the following conditions,
operate the brake pedal (or accelerator pedal, depending on the situation) as necessary.
As the sensor may not be able to cor- rectly detect vehicles ahead, the system may not operate properly.
●When the road curves or when the lanes are narrow
●When steering wheel operation or your position in the lane is unstable
●When the vehicle ahead of you decel-erates suddenly
●When driving on a road surrounded by a structure, such as in a tunnel or on a
bridge
●While the vehicle speed is decreasing
to the set speed after the vehicle accelerates by depressing the accel-erator pedal
■Situations in which the curve speed
reduction function may not operate properly
In situations such as the following, the
curve speed reduction function may not operate properly:
●When the vehicle is being driven