steering TOYOTA BZ4X 2023 Owner's Guide

2685-4. Using the driving support systems
Owners Manual_USA_M42C01_en
■Intersection collision avoid-
ance support (crossing
vehicles)
At an intersection, etc., if the
system determines that the pos-
sibility of a collision with an
approaching vehicle or motorcy-
cle is high, the pre-collision
warning and pre-collision brak-
ing will operate. Depending on
the intersection, assistance may
not operate correctly.
■Acceleration Suppression
at Low Speed
When driving at a low speed, if
the accelerator pedal is strongly
depressed and the system
determines that there is a possi-
bility of a collision, EV system
output will be restrained or the
brakes will be applied weakly to
restrict acceleration. During operation, a buzzer will sound
and a warning indicator and
message will be displayed on
the multi-information display.
“Accelerator Pedal is
Pressed”
WARNING
■Pre-collision braking
●When the pre-collision braking
function is operating, a large
amount of braking force will be
applied.
●Pre-collision braking function is
not intended for remain
stopped. If the vehicle is
stopped by pre-collision brak-
ing function, the driver should
operate the brakes as neces-
sary.
●The pre-collision braking func-
tion may not operate if certain
operations are performed by the
driver. If the accelerator pedal is
being depressed strongly or the
steering wheel is being turned,
the system may determine that
the driver is taking evasive
action and possibly prevent the
pre-collision braking function
from operating.

2695-4. Using the driving support systems
Owners Manual_USA_M42C01_en
5
Driving
WARNING
●If the brake pedal is being
depressed, the system may
determine that the driver is tak-
ing evasive action and possibly
delay the operation timing of the
pre-collision brake control.
■Acceleration Suppression at
Low Speed
If the steering wheel is being
turned, the syste m may determine
that the driver is taking evasive
action and possibly prevent the
Acceleration Suppression at Low
Speed function from operating.
■Emergency steering assist
●The emergency steering assist
will be canceled when the sys-
tem determines that lane depar-
ture prevention control has
completed.
●Depending on operations per-
formed by the driver, emer-
gency steering assist may not
operate or operation may be
canceled.
• If the accelerator pedal is depressed strongly, the steering
wheel is turned heavily, the
brake pedal is depressed, or the
turn signal lever is operated, the
system may determine that the
driver is taking evasive action
and the emergency steering
assist may not operate.
• While the emergency steering assist is operating, if the accel-
erator pedal is depressed
strongly, the st eering wheel is
turned heavily, or the brake
pedal is depressed, the system
may determine that the driver is
taking evasive action and emer-
gency steering assist operation
may be canceled.
• While the emergency steering assist is operating, if the steer-
ing wheel is held or turned in the
opposite direction of system
operation, emergency steering
assist operation will be can-
celed.

2705-4. Using the driving support systems
Owners Manual_USA_M42C01_en
■Operating conditions of each function of the pre-collision system
The pre-collision syst em is enabled and the system determines t hat the pos-
sibility of a frontal c ollision with a detected object is high.
However, the system will not operate in the follo wing situations:
●When the vehicle has not been driven a certain amount after a t erminal of
the 12-volt battery has been d isconnected and reconnected
●When the shift position is in R
●When the VSC OFF indicator is illuminated (only the pre-collision warning
function will be operational)
The following are the operational speeds and cancelation condit ions of each
function:
●Pre-collision warning
While the pre-collision warning is operating, if the steering w heel is operated
heavily or suddenly, the pre-co llision warning may be canceled.
●Pre-collision brake assist
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding vehicles, stopped vehiclesApproximately 3 to 110 mph (5 to 180 km/h)Approximately 3 to 110 mph (5 to 180 km/h)
Oncoming vehiclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 50 to 130 mph (80 to 220 km/h)
BicyclesApproximately 3 to 50 mph (5 to 80 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
PedestriansApproximately 3 to 50 mph (5 to 80 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
Preceding motorcycles, stopped motorcyclesApproximately 3 to 110 mph (5 to 180 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
Oncoming motorcyclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 20 to 110 mph (30 to 180 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding vehicles, stopped vehiclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 7 to 110 mph (10 to 180 km/h)
BicyclesApproximately 20 to 50 mph (30 to 80 km/h)Approximately 20 to 50 mph (30 to 80 km/h)

2715-4. Using the driving support systems
Owners Manual_USA_M42C01_en
5
Driving
●Pre-collisio n braking
If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:
• The accelerator pedal is strongly depressed
• The steering wheel is ope rated heavily or suddenly
●Emergency steering assist
The emergency steeri ng assist will not opera te when the turn signal lights
are flashing.
While the emergency ste ering assist is operating, if any of the following are
performed, emergency steering assi st operation may be canceled:
• The accelerator pedal is strongly depressed
PedestriansApproximately 20 to 50 mph (30 to 80 km/h)Approximately 20 to 50 mph (30 to 80 km/h)
Preceding motorcycles, stopped motorcyclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 7 to 50 mph (10 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding vehicles, stopped vehiclesApproximately 3 to 110 mph (5 to 180 km/h)Approximately 3 to 110 mph (5 to 180 km/h)
Oncoming vehiclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 50 to 130 mph (80 to 220 km/h)
BicyclesApproximately 3 to 50 mph (5 to 80 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
PedestriansApproximately 3 to 50 mph (5 to 80 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
Preceding motorcycles, stopped motorcyclesApproximately 3 to 110 mph (5 to 180 km/h)Approximately 3 to 50 mph (5 to 80 km/h)
Oncoming motorcyclesApproximately 20 to 110 mph (30 to 180 km/h)Approximately 20 to 110 mph (30 to 180 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding vehicles,
stopped vehicles, bicy- cles, pedestrians, motorcycles
Approximately 25 to 50 mph (40 to 80 km/h)Approximately 25 to 50 mph (40 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object

2725-4. Using the driving support systems
Owners Manual_USA_M42C01_en• The steering wheel is ope
rated heavily or suddenly
• The brake pedal is depressed
●Intersection collisio n avoidance support (left/right turn)
The intersection collision avoida nce support (for left/right turning vehicles)
will not operate when the turn signal light s are not flashing.
●Intersection collision avoidance support (crossing vehicles)
Detectable
objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Oncoming vehi- clesApproximately 3 to 25 mph (5 to 40 km/h)Approximately 3 to 45 mph (5 to 75 km/h)Approximately 7
to 70 mph (10 to 115 km/h)
Pedestrians
Approximately 3 to 20 mph (5 to 30 km/h)
-
Approximately 3 to 25 mph (5 to 40 km/h)
Bicycles
Approximately 3 to 20 mph (5 to 30 km/h)
-
Approximately 3 to 30 mph (5 to 50 km/h)
Oncoming motor- cyclesApproximately 3 to 25 mph (5 to 40 km/h)Approximately 3 to 45 mph (5 to 75 km/h)Approximately 7
to 70 mph (10 to 115 km/h)
Detectable objectsVehicle speedCrossing vehicle speedRelative speed between your
vehicle and object
Vehicles (side)
Approximately 3 to 38 mph (5 to 60 km/h)
Your vehicle
speed or less
 Approximately
25 mph (40
km/h) or less
Approximately 3 to 38 mph (5 to 60 km/h)
Motorcycles (side)Approximately 3 to 38 mph (5 to 60 km/h)
Your vehicle
speed or less
 Approximately
25 mph (40
km/h) or less
Approximately 3 to 38 mph (5 to 60 km/h)

2735-4. Using the driving support systems
Owners Manual_USA_M42C01_en
5
Driving
●Acceleration Suppression at Low Speed
The Acceleration Suppression at Low Speed function will not ope rate when
the turn signal lig hts are flashing.
While the Acceleration Suppression at Low Speed function is ope rating, if
any of the following are performed, the low speed sudden acceleration sup-
pression function oper ation will be canceled:
• The accelerator pedal is released
• The steering wheel is ope rated heavily or suddenly
■Detection of detectable objects
Objects are detected based on their
size, shape, and move-
ment.Depending on the ambient
brightness, movement, posture and
direction of a det ectable object, it
may not be detected and the system
may not operate properly. The sys-
tem detects shapes, such as the fol-
lowing, as detectable objects.
■Situations in which the system
may operate even though the
possibility of a co llision is not
high
●In certain situations, such as the
following, the sys tem may deter-
mine that the possibility of a colli-
sion is high and operate:
• When passing a detectable object
• When changing lanes while over-
taking a detectable object • When suddenly approaching a
detectable object
• When approaching a detectable
object or other ob ject on the road-
side, such as guardrails, utility
poles, trees, walls, etc.
• When there is a d etectable object
or other object by the roadside at
the entrance of a curve
• When there are patterns or a painting ahead of the vehicle that
may be mistaken for a detectable
object
• When passing a detectable object that is changing lanes or turning
left/right
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding vehicles, stopped vehiclesApproximately 0 to 9 mph (0 to 15 km/h)Approximately 0 to 9 mph (0 to 15 km/h)
PedestriansApproximately 0 to 9 mph (0 to 15 km/h)Approximately 0 to 9 mph (0 to 15 km/h)
BicyclesApproximately 0 to 9 mph (0 to 15 km/h)Approximately 0 to 9 mph (0 to 15 km/h)

2745-4. Using the driving support systems
Owners Manual_USA_M42C01_en• When passing a detectable object
which is stopped to make a
left/right turn
• When a detectable object stops immediately before entering the
path of the vehicle
• When passing through a location with a structure above the road
(traffic sign, b illboard, etc.)
• When approaching an electric toll gate barrier, parking lot barrier, or
other barrier that opens and
closes
• When turning left/right and an oncoming vehicle or pedestrian
crosses in front of the vehicle
• When attempting to turn left/right in front of an oncoming vehicle or
pedestrian
• When turning left/right and an oncoming vehicle or pedestrian
stops immediately before entering
the path of the vehicle
• When turning left/right and an oncoming vehicle turns left/right in
front of the vehicle • When the steering wheel is oper-
ated toward the path of an oncom-
ing vehicle
■Situations in which the system
may not operate properly
●In certain situations, such as the
following, a detectable object may
not be detected by the front sen-
sors, and the system may not
operate properly:
• When a detectable object is approaching your vehicle
• When your vehicle or a detectable object is wandering
• When a detectable object makes
an abrupt maneuver (such as sud-
den swerving, acceleration or
deceleration)
• When suddenly approaching a detectable object
• When the detectable object is
near a wall, fence, guardrail, man-
hole cover, steel plate on the road
surface, or another vehicle
• When there is a structure above a detectable object
• When part of a detectable object
is hidden by another object (large
luggage, umbrella, guardrail, etc.)
• When multiple det ectable objects
are overlapping
• When a bright light, such as the sun, is reflecting off of a detect-
able object
• When a detectable object is white and looks extremely bright
• When the color or brightness of a detectable object causes it to
blend in with its surroundings
• When a detectable object cuts in
front of or suddenly emerges in
front of your vehicle
• When approaching a vehicle
which is diagonal

2755-4. Using the driving support systems
Owners Manual_USA_M42C01_en
5
Driving
• If a vehicle ahead is a child sized bicycle, is carrying a large load, is
carrying an extra passenger, or
has an unusual shape (bicycles
equipped with a child seat, tan-
dem bicycles, etc.)
• If a pedestrian or bicycle is shorter than approximately 3.2 ft. (1 m) or
taller than approximately 6.5 ft. (2
m).
• When the silhouette of a pedes- trian or bicycle is unclear (such as
when they are wearing a raincoat,
long skirt, etc.)
• When a pedestrian or bicycle is
bending forward or squatting
• When a pedestrian or bicycle is moving at high speed
• When a pedestrian is pushing a stroller, wheelchair, bicycle or
other vehicle
• When a detectable object blends in with the surrounding area, such
a s w h e n i t i s d i m ( a t d a w n o r d u s k )
or dark (at night or in a tunnel)
• When the vehicle has not been driven for a certain amount of time
after the EV syst em was started
• While turning left /right or a few
seconds after turning left/right
• While driving around a curve and a few seconds after driving around
a curve
• When turning left/right and an oncoming vehicle i s driving in a
lane 3 or more l anes from the
vehicle
• When turning left/right and the direction of the vehicle differs
greatly from the direction traffic
flows in the oncoming lane
• When turning left/right and approaching a pedestrian which
was traveling in the same direc- tion as the vehicle and continues
straight
●In addition to the preceding, in
certain situations, such as the fol-
lowing, the emergency steering
assist may not operate properly:
• When a detectable object is too close to the vehicle
• When there is insufficient space to perform evasive steering maneu-
vers or an obstruction exists in the
evasion direction
• When there is an oncoming vehi- cle
 The pre-collision system can
be enabled/disabled through
a customize setting. ( P.572)
The system is enabled each time
the power switch is turned to ON.
When the system is disabled,
the PCS warning light will illu-
minate and a message will be
displayed on the multi-infor-
mation display.
Changing the pre-colli-
sion setting

2765-4. Using the driving support systems
Owners Manual_USA_M42C01_en
“Pre-Collision System OFF”
 The pre-collision setting can
be changed on the customize
settings. ( P.572)
 When the pre-collision warn-
ing timing is changed, the
emergency steering assist
timing will also be changed.
When “Later” is selected, the
emergency steering assist will
not operate in most cases.
 When the dynamic radar
cruise control is operating, the
pre-collision warning will
operate at the “Earlier” timing,
regardless of the user setting. 
When driving on a road with
clear lane lines with the
dynamic radar cruise control
operating, lane lines and pre-
ceding and surrounding vehi-
cles are detected using the
front camera and radar sen-
sor, and the steering wheel is
operated to maintain the vehi-
cle’s lane position.
Use the this function only on high-
ways and expressways.
If the dynamic radar cruise control
is not operating, the function will not
operate.
In situations where the lane lines
are difficult to see or are not visible,
such as when in a traffic jam, sup-
port will be provided using the path
of preceding and surrounding vehi-
cles.
If the system determines that the
steering wheel has not been oper-
ated for a certain amount of time or
the steering wheel is not being
firmly gripped, the driver will be
alerted via a display and this func-
tion will be temporarily canceled.
If the steering wheel is firmly
gripped, the func tion will begin
operating again.
LTA (Lane Tracing
Assist)
LTA functions

2775-4. Using the driving support systems
Owners Manual_USA_M42C01_en
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.