ESP TOYOTA BZ4X 2022 (in English) Service Manual

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5-4. Using the driving support systems
Use the meter control switches to
enable/disable the Toyota parking
assist-sensor. ( P. 1 7 6 )
1 Press or to select .
2 Press or to select
and then press .
When the Toyota parking assist-sensor
function is disabled, the Toyota parking
assist-sensor OFF indicator ( P.169)
illuminates.
To re-enable the system when it was
disabled, select on the multi-infor-
mation display, select and then
On. If disabled using this method, the
system will not be re-enabled by turning
the power switch off and then to ON.
Turning Toyota parking
assist-sensor on/off
WARNING
■Cautions regarding the use of
the system
There is a limit to the degree of recog- nition accuracy and control perfor-
mance that this system can provide, do not overly rely on this system. The driver is always responsible for paying
attention to the vehicle’s surroundings and driving safely.
■To ensure the system can oper-ate properly
Observe the following precautions.
Failing to do so may result in the vehi- cle being unable to be driven safely and possibly cause an accident.
●Do not damage the sensors, and always keep them clean.
●Do not attach a sticker or install an electronic component, such as a backlit license plate (especially fluo-
rescent type), fog lights, fender pole or wireless antenna near a radar sensor.
●Do not subject the surrounding area of the sensor to a strong impact. If
subjected to an impact, have the vehicle inspected by any authorized Toyota retailer or Toyota authorized
repairer, or any reliable repairer. If the front or rear bumper needs to be removed/installed or replaced,
contact any authorized Toyota retailer or Toyota authorized repairer, or any reliable repairer.
●Do n ot m od i fy, d is a sse mb l e o r p ai n t the sensors.
●Do not attach a license plate cover.
●Keep your tires properly inflated.
■When to disable the function
In the following situations, disable the function as it may operate even though there is no possibility of a colli-
sion.
●Failing to observe the warnings
above.
●A non-genuine Toyota suspension
(lowered suspension, etc.) is installed.
■Notes when washing the vehicle
Do not apply intensive bursts of water or steam to the sensor area.
Doing so may result in the sensor malfunctioning.
●When using a high pressure washer to wash the vehicle, do not spray the sensors directly, as doing
so may cause a sensor to malfunc- tion.

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5-4. Using the driving support systems
Driving
■The system can be operated when
●The power switch is in ON.
●Toyota parking assist-sensor function is on.
●The vehicle speed is less than about 10 km/h (6 mph).
●A shift position other than P is selected.
■Sensor detection information
●The sensor’s detection areas are lim-ited to the areas around the vehicle’s
front and rear bumpers.
●The following situations may occur
during use. • Depending on the shape of the object and other factors, the detection dis-
tance may shorten, or detection may be impossible.• Detection may be impossible if static
objects draw too close to the sensor. • There will be a short delay between static object detection and display
(warning buzzer sounds). Even at low speeds, there is a possibility that the object will come within 30 cm before
the display is shown and the warning buzzer sounds.• It might be difficult to hear the buzzer
due to the volume of the audio system or air flow noise of the air conditioning system.
• It may be difficult to hear the sound of this system due to the buzzers of other systems.
■Objects which the system may not
be properly detected
The shape of the object may prevent the sensor from detecting it. Pay particular
attention to the following objects:
●Wires, fences, ropes, etc.
●Cotton, snow and other materials that
absorb sound waves
●Sharply-angled objects
●Low objects
●Tall objects with upper sections pro- jecting outwards in the direction of your vehicle
People may not be detected if they are wearing certain types of clothing.
■Situations in which the system may not operate properly
Certain vehicle conditions and the sur- rounding environment may affect the ability of a sensor to correctly detect
objects. Particular instances where this may occur are listed below.
●There is dirt, snow, water drops or ice on a sensor. (Cleaning the sensors will resolve this problem.)
●A sensor is frozen. (Thawing the area will resolve this problem.)
In especially cold weather, if a sensor is frozen the sensor display may be displayed abnormally, or objects, such
as a wall, may not be detected.
●When a sensor or the area around a
sensor is extremely hot or cold.
●On an extremely bumpy road, on an incline, on gravel, or on grass.
●When vehicle horns, vehicle detec-tors, motorcycle engines, air brakes of large vehicles, the clearance sonar of
other vehicles or other devices which produce ultrasonic waves are near the vehicle
●A sensor is coated with a sheet of spray or heavy rain.
●If objects draw too close to the sensor.
WARNING
●When using steam to clean the vehicle, do not direct steam too
close to the sensors as doing so may cause a sensor to malfunction.

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5-4. Using the driving support systems
Driving
*: If equipped
Meter control switches
Turning the RCTA function on/off.
Outside rear view mirror indica-
tors
When a vehicle approaching from the
right or left at the rear of the vehicle is
detected, both outside rear view mirror
indicators will flash.
Multimedia display
If a vehicle approaching from the right
or left at the rear of the vehicle is
detected, the RCTA icon ( P.344) for
the detected side will be displayed on
the multimedia display. This illustration
shows an example of a vehicle
approaching from both sides of the
vehicle.
Driving assist information indica-
tor
When the RCTA is off, “Rear Cross
Traffic Alert OFF” will be displayed on
the multi-information display.
RCTA (Rear Crossing
Traffic Alert)*
The RCTA function uses the
BSM rear side radar sensors
installed behind the rear
bumper. This function is
intended to assist the driver in
checking areas that are not
easily visible when backing
up.
WARNING
■Cautions regarding the use of the system
The driver is solely responsible for safe driving. Always drive safely, tak-ing care to observe your surround-
ings.
The RCTA function is only a supple-
mentary function which alerts the driver that a vehicle is approaching from the right or left at the rear of the
vehicle.
As the RCTA function may not func-
tion correctly under certain conditions, the driver’s own visual confirmation of safety is necessary.
Over reliance on this function may lead to an accident resulting death or
serious injury.
■To ensure the system can oper-
ate properly
 P. 3 2 5
System components

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5-4. Using the driving support systems
Driving
The buzzer can alert for faster vehi-
cles approaching from farther away.
Example:
■The RCTA function is operational when
The RCTA function operates when all of the following conditions are met:
●The power switch is in ON.
●The RCTA function is on.
●The shift position is in R.
●The vehicle speed is less than approximately 15 km/h (9 mph).
●The approaching vehicle speed is between approximately 8 km/h (5 mph) and 56 km/h (34 mph).
■Adjusting the buzzer volume
The buzzer volume can be adjusted on the multi-information display.
The volume of the RCTA buzzer can be
adjust on of the multi-information
display. ( P.340)
■Muting a buzzer temporarily
When an object is detected, the tempo-
rary mute switch is displayed on the
multimedia display system.
Select to mute a buzzer of the
Toyota parking assist-sensor, RCTA and
RCD all together.
Mute will be canceled automatically in the following situations:
●When the shift position is changed.
●When the vehicle speed exceeds a certain speed.
●When there is a malfunction in a sen-sor or the system is temporarily unavailable.
●When the operating function is dis-abled manually.
●When the power switch is turned off.
■Conditions under which the system will not detect a vehicle
The RCTA function is not designed to detect the following types of vehicles and/or objects:
●Vehicles approaching from directly behind
●Vehicles backing up in a parking space next to your vehicle
●Vehicles that the sensors cannot detect due to obstructions
●Guardrails, walls, signs, parked vehi-
cles and similar stationary objects*
●Small motorcycles, bicycles, pedestri-
ans, etc.*
●Vehicles moving away from your vehi- cle
Approach-
ing vehicleSpeed
A pp r ox i -
mate alert
distance
Fast56 km/h (34
mph)
40 m (131
ft.)
Slow8 km/h (5
mph)
5.5 m (18
ft.)

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5-4. Using the driving support systems
●When a sensor or the area around a
sensor is extremely hot or cold
●If the suspension has been modified
or tires of a size other than specified are installed
●If the front of the vehicle is raised or lowered due to the carried load
*: If equipped
RCD (Rear Camera
Detection)*
When the vehicle is backing
up, the rear camera detection
function can detect pedestri-
ans in the detection area
behind the vehicle. If a pedes-
trian is detected, a buzzer will
sound and an icon will be dis-
played on the multimedia dis-
play to inform the driver of the
pedestrian.
WARNING
■Cautions regarding the use of the system
The recognition and control capabili- ties for this system are limited.
The driver should always drive safely
by always being responsible without over relying on the system and have a understanding of the surrounding situ-
ations.
■To ensure the system can oper-
ate properly
Observe the following, otherwise there is the danger that could lead to
an accident.
●Always clean the camera without
damaging it.
●Do not install market electronic
parts (such as Illuminated license plate, fog lamps, etc.) in the camera vicinity.

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5-4. Using the driving support systems
Driving
■Static Objects Around the
Vehicle (vehicles with
Advanced Park)
 P. 3 6 3
WARNING
■Cautions regarding the use of
the system
Do not overly rely on the system, as doing so may lead to an accident.
Always drive while checking the safety of the surroundings of the vehi-cle.
Depending on the vehicle and road conditions, weather, etc., the system may not operate.
The detection capabilities of sensors and radars are limited. Always drive while checking the safety of the sur-
roundings of the vehicle.
●The driver is solely responsible for
safe driving. Always drive carefully, taking care to observe your sur-roundings. The Parking Support
Brake system is designed to pro- vide support to lessen the severity of collisions. However, it may not
operate in some situations.
●The Parking Support Brake system
is not designed to stop the vehicle completely. Additionally, even if the system has stopped the vehicle, it
is necessary to depress the brake pedal immediately as brake control will be canceled after approximately
2 seconds.
●It is extremely dangerous to check
the system operations by intention- ally driving the vehicle into the direction of a wall, etc. Never
attempt such actions.
■When to disable the Parking Sup- port Brake
In the following situations, disable the
Parking Support Brake as the system may operate even though there is no possibility of a collision.
●When inspecting the vehicle using a chassis roller, chassis dynamo or
free roller
●When loading the vehicle onto a
boat, truck or other transport vessel
●If the suspension has been modi-
fied or tires of a size other than specified are installed
●If the front of the vehicle is raised or lowered due to the carried load
●When equipment that may obstruct a sensor is installed, such as a tow-ing eyelet, bumper protector (an
additional trim strip, etc.), bicycle carrier, or snow plow
●When using automatic car washing devices
●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 a tire chains, compact spare tire or an emergency tire puncture
repair kit is used
■Precautions for the suspension
Do not modify the suspension of the vehicle. If the height or tilt of the vehi-cle is changed, the sensors may not
be able to detect detectable objects and the system may not operate cor-rectly, possibly leading to an accident.

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5-4. Using the driving support systems
Remote control function is a system
which assists in parking or exiting
from a parking space selected on
the multimedia display by allowing
changing the shift position, operat-
ing the steering wheel, accelerator
pedal, and brake pedal from out-
side of the vehicle via a smart-
phone.
■Perpendicular parking (for-
ward/reverse) function
Assistance is provided from the
position the vehicle is stopped near
the target parking space until the
vehicle is in the parking space.
( P.376)
■Perpendicular exiting (for-
ward/reverse) function
Assistance is provided from the
parked position until the vehicle is
in a position where you can easily
exit from the parking space.
( P.379)
■Parallel parking function
Assistance is provided from the
position the vehicle is stopped near
the target parking space until the
vehicle is in the parking space.
( P.381)
■Parallel exiting function
Assistance is provided from the
parked position until the vehicle is
in a position where you can easily
exit from the parking space.
( P.384)
■Memory function
Assistance is provided until the
vehicle is guided into a previously
registered parking space. ( P.386)
■Remote control function
By operating a smartphone, assis-
tance in entering or exiting a nearby
target parking space, confirmed on
the screen of the smartphone, is
provided from outside of the vehi-
cle. ( P.391)
Purpose of the Remote con-
trol function
Advanced Park Functions
WARNING
■Cautions regarding the use of the system
The recognition and control capabili-
ties for this system are limited. Do not overly rely on this system. The driver is always responsible for paying
attention to the vehicle’ surroundings and driving safely.
●As with a normal vehicle, take care to observe your surroundings while the vehicle is moving.
●Always pay attention to the vehi-cle’s surroundings while the system
is operating and depress the brake pedal as necessary to slow or stop the vehicle.
●When parking, make sure that the vehicle can be parked in the target
parking space before beginning operation.

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5-4. Using the driving support systems
Driving
WARNING
●Depending on the condition of the road surface or the vehicle, the dis-
tance between the vehicle and a parking space, etc., it may not be possible to detect a parking space
or the system may not be able to provide assistance to the point the vehicle is fully parked.
●This system will guide the vehicle to appropriate positions for changing
the direction of travel, however, if you feel that the vehicle is approaching too close to an adja-
cent parked vehicle at any time, depress the brake pedal and change the shift position. However,
if this is performed, the number of times the vehicle changes direction may increase, and the vehicle may
be parked at an angle.
●As following objects may not be
detected, make sure to check the safety of the area around your vehi-cle and depress the brake pedal to
stop the vehicle if it may collide with an object.
• Thin objects such as wire, fences, rope, etc.
• Cotton, snow and other materials that absorb sound waves
• Sharply-angled objects
• Low objects (curb stones, parking
blocks, etc.)
• Tall objects with upper sections that
protrude outward
●Even if there is an object in the tar-
get parking space, it may not be detected and assistance may be performed.
●While the system is operating, if it is likely that your vehicle will collide with a nearby vehicle, parking
block, object, or person, depress the brake pedal to stop the vehicle and press the Advanced Park main
switch to disable the system.
●Never use only the multimedia dis-
play to view the area behind the vehicle. The image displayed may differ than the actual situation.
Using only the screen when back- ing up may lead to an accident, such as a collision with another
vehicle. When backing up, make sure to look directly or use the mir-rors to check the safety of the area
around your vehicle, especially behind the vehicle.
●When the ambient temperature is extremely low, the screen may appear dark or the displayed image
may become unclear. Also, as mov- ing objects may appear distorted or may not be able to be seen on the
screen, make sure to directly check the safety of the area around your vehicle.
●In the following situations, while the vehicle is stopped and held by
Advanced Park, it may be canceled and the vehicle may start moving. Immediately depress the brake
pedal. Failure to do so may lead to an accident.
• When the driver’s door is opened
• When operations instructed by the
system are not performed within a certain amount of time
• When the brake pedal is depressed and the vehicle is stopped for a cer-tain amount of time
• When the system malfunctions
●As the steering wheel will turn while this system is operating, pay atten-tion to the following.

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5-4. Using the driving support systems
Driving
ing assist completion screen will rotate.
■If you feel that the vehicle is
approaching close to a surround- ing vehicle, object, person, or gut-ter
Depress the brake pedal to stop the vehicle and then change the shift posi-tion to change the direction of travel of
the vehicle. At this time, assist will be suspended. However, if the “Start” but-ton is selected, assist will resume and
the vehicle will move in the direction cor- responding to the selected shift position.■Function description
When exiting from a perpendicular
parking space, if the system deter-
mines that exit is possible the per-
pendicular exiting (forward/reverse)
function can be used. Also,
depending on the surrounding envi-
ronment, if it is necessary to
change the direction of travel of the
vehicle, the shift position can be
changed by assistance control.
■Perpendicular exiting (for-
ward/reverse) function
1 With the brake pedal depressed
and P shift position selected,
press the Advanced Park main
switch and check that the exit
direction selection screen is dis-
NOTICE
■When using the perpendicular parking (forward/reverse) func-tion
●Make sure that there are no obstructions within the yellow guide lines and between the vehicle and
target parking spot. If there are any obstructions between the vehicle and the target parking space, or
between the yellow guide lines, cancel the function.
●As the target parking space will not be able to be set correctly if the sur-face of the parking space is on a
slope or has differences in height, the vehicle may stray from the tar-get parking space or be slanted.
Therefore, do not use the function for this kind of parking spot.
●When parking in a narrow parking space, the vehicle may closely approach an adjacent parked vehi-
cle. If a collision seems likely, depress the brake pedal to stop the vehicle.
●If a detected parked vehicle is nar-row or parked extremely close to
the curb, the position at which assistance will park the vehicle will also be close to the curb. If it seems
likely the vehicle will collide with something or drive off of the road, depress the brake pedal to stop the
vehicle, and then press the Advance Park main switch to dis-able the system.
Advanced Park perpendicu-
lar exiting (forward/reverse)
function

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5-4. Using the driving support systems
played on the multimedia dis-
play.
2 Select an arrow on the multime-
dia display to select the direction
you wish to exit.
If the turn signal lever is operated, only exit to the left or right can be selected.
3 Depress the brake pedal and
select “Start” button.
If you feel that the vehicle is approach- ing close to a surrounding vehicle,
object, person, or gutter: P. 3 8 0
A buzzer will sound, an operation mes-
sage will be displayed on the multi information display, and assistance will begin operating. To cancel assistance,
press the Advanced Park main switch. If assistance is canceled, “Advanced Park Cancelled” will be displayed.
4 Perform operations as indicated
by the advice displays until the
vehicle is in a position where
exit is possible.
If the steering wheel is not operated,
the vehicle will stop at the exit position. Assistance can be ended by depress-ing the accelerator pedal or brake
pedal. When the vehicle reaches a position where exit is possible, “You can exit by moving the steering wheel”
will be displayed. If the steering wheel is operated, “Advanced Park Finished” will be displayed and assistance will
end. Grip the steering wheel and drive forward.
■If you feel that the vehicle is
approaching close to a surround- ing vehicle, object, person, or gut-ter
Depress the brake pedal to stop the vehicle and then change the shift posi-tion to change the direction of travel of
the vehicle. At this time, assist will be suspended. However, if the “Start” button is selected,
assist will resume and the vehicle will move in the direction corresponding to
the selected shift position.
■Perpendicular exiting (for- ward/reverse) function
Do not use exiting (forward/reverse)
function in any situation other than when exciting a parallel parking spot. If assis-tance is started unintentionally, depress
the brake pedal and stop the vehicle, then press the Advanced Park main