steering TOYOTA C-HR 2023 Workshop Manual

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● Lane centering function
This function operates when all of the following conditions are met.
• LTA is turned on.
• Setting for “Lane Centering” in of the multi-information disp lay is set
to “ON”. ( P. 786)
• This function recognizes white (yellow) lane lines or the position of a pre-
ceding vehicle (except when the preceding vehicle is small, suc h as a
motorcycle).
• The dynamic radar cruise control with full-speed range is oper ating in
vehicle-to-vehicle distance control mode.
• Width of traffic lane is approximately 3 to 4 m (10 to 13 ft.) .
• Turn signal lever is not operated.
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. ( P. 399)
• Vehicle does not accelerate or decelerate by a fixed amount or more.
• Steering wheel is not operated with a steering force level sui table for
changing lanes.
• ABS, VSC, TRC and PCS are not operating.
• TRC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. ( P. 398)
• The vehicle is being driven in the center of a lane.
• Steering assist function is not operating.
■ Temporary cancelation of functions
● When operation conditions are no longer met, a function may be temporarily
canceled. However, when the operation conditions are met again, operation
of the function is automatically restored. ( P. 396)
● If the operation conditions (P. 397) are no longer met while the lane cen-
tering function is operating, the buzzer may sound to indicate that the func-
tion has been temporarily canceled.
■ Steering assist function/lane centering function
● Depending on the vehicle speed, lane departure situation, road conditions,
etc., the driver may not feel the function is operating or the function may not
operate at all.
● The steering control of the function is overridden by the driver’s steering
wheel operation.
● Do not attempt to test the operation of the steering assist function.

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■ Lane departure alert function
● The warning buzzer may be difficult to hear due to external noise, audio
playback, etc.
● If the edge of the course* is not clear or straight, the lane departure alert
function may not operate.
● Vehicle with BSM: It may not be possible for the system to determine if there
is a danger of a collision with a vehicle in an adjacent lane.
● Do not attempt to test the operation 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 warning
● When the system determines that the driver is driving without holding the
steering wheel while the system 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 tempora rily can-
celed. This warning also operates in the same way when the driv er continu-
ously 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 operating.
Depending on the vehicle condition and road conditions, the war ning may
not operate. Also, if the system determines that the vehicle is driving
around a curve, warnings will occur earlier than during straigh t-lane driving.
● When the system determines that the driver is driving without holding the
steering wheel while the steering wheel assist of the steering assist function
is operating.
If the driver continues to keep their hands off of the steering wheel and the
steering wheel assist is operating, the buzzer sounds and the d river is
warned. Each time the buzzer sounds, the continuing time of the buzzer
becomes longer.
In the following situations, a warning mes-
sage urging the driver to hold the steering
wheel and the symbol shown in the illus-
tration are displayed on the multi-informa-
tion display to warn the driver. The
warning stops when the system deter-
mines that the driver holds the steering
wheel. Always keep your hands on the
steering wheel when using this system,
regardless of warnings.

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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.

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■ Conditions under which the vehicle-to-vehicle distance control mode
may not function correctly
In the case of the following conditions, operate the brake peda l (or accelera-
tor pedal, depending on the situation) as necessary.
As the sensor may not be able to correctly detect vehicles ahea d, the system
may not operate properly.
● When the vehicle ahead of you decelerates 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 accelerator pedal
● When the road curves or when the lanes
are narrow
● When steering wheel operation or your
position in the lane is unstable

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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

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■The system can be operated when
● The power switch is in ON mode.
● Toyota parking assist-sensor function is on.
● The vehicle speed is less than about 10 km/h (6 mph).
● A shift lever other than P is selected.
● Vehicles with side sensors: Steering wheel is turned approximately 90° or
more
■ If “Parking assist unavailable. Clean parking assist sensor” is displayed
on the multi-information display
A sensor may be covered with ice, snow, dirt, etc. Remove the i ce, snow, dirt,
etc., from the sensor to return the system to normal.
Also, due to ice forming on a sensor at low temperatures, a war ning message
may be displayed or the sensor may not be able to detect an obj ect. Once the
ice melts, the system will return to normal.
■ If “Parking assist Malfunction Visit your dealer” is displayed on the
multi-information display
The system may not operate due to the malfunction of a sensor.
Have the vehicle inspected by any authorized Toyota retailer or Toyota autho-
rized repairer, or any reliable repairer.
■ Sensor detection information
The following situations may occur during use.
● The sensors may be able to only detect objects near the front and rear bum-
pers.
● Depending on the shape of the object and other factors, the detection dis-
tance may shorten, or detection may be impossible.
● If an object is extremely close to a sensor, it may not be detected.
● There will be a short delay between object detection and display. Even at
low speeds, there is a possibility that the object will come wi thin the sensor’s
detection areas before the display is shown and the warning bee p 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 buzzer if buzzers for other systems are sound-
ing.

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■If the Parking Support Brake has operated
If the vehicle is stopped due to operation of the Parking Suppo rt Brake, the
Parking Support Brake will be disabled and the PKSB OFF indicat or will illu-
minate. If the Parking Support Brake operates unnecessarily, br ake control
can be canceled by depressing the brake pedal or waiting for ap proximately 2
seconds for it to automatically be canceled. Then, the vehicle can be oper-
ated by depressing the accelerator pedal.
■ Re-enabling the Parking Support Brake
To re-enable the Parking Support Brake when it has been disabled due to oper-
ation of the Parking Support Brake, either enable the system ag ain (P. 476),
or turn the engine switch off and then back to ON.
Additionally, if any of the following conditions are met, the s ystem will be re-
enabled automatically and the PKSB OFF indicator will turn off:
● The P shift position is selected
● The object is no longer detected in the traveling direction of the vehicle
● The traveling direction of the vehicle changes
■ If “Parking Support Brake Unavailable” and “Parking assist unavailable.
Clean parking assist sensor” is displayed on the multi-informat ion dis-
play and the PKSB OFF indicator is flashing
● A sensor may be covered with ice, snow, dirt, etc. Remove any ice, snow,
dirt, etc., from the sensor to return the system to normal.
If this message continues to be displayed even after cleaning t he sensor, or
is displayed even though the sensor is clean, have the vehicle inspected
any authorized Toyota retailer, Toyota authorized repairer, or any reliable
repairer.
● It is possible the sensor may be frozen.
Once the ice melts, the system will return to normal.
● Water may be continuously flowing over the surface of the sensor.
When the system judges there is no problem, the system will ret urn to nor-
mal.
■ If a 12-volt battery terminal has been disconnected and reconnected
The system needs to be initialized. To initialize the system, d rive the vehicle
straight ahead for 5 seconds or more at a speed of approximatel y 35 km/h
(22 mph) or more. Additionally, fo r vehicles with the Parking Support Brake
function, turn the steering wheel fully to the left and right w ith the vehicle
stopped.

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S-IPA (Simple Intelligent Parking Assist
System)
The Simple Intelligent Parking Assist System automatically oper ates
the steering wheel to provide support when backing into an area near
a target parking spot, and when departing from a parallel parki ng spot.
(Shift lever operations and speed adjustment when moving forwar d or
backing up are not performed automatically.)
● The Simple Intelligent Parking Assist System does not park the
vehicle automatically. It is a system that provides support whe n
pulling out of a perpendicular or parallel parking spot.
● The Simple Intelligent Parking Assist System provides steering
wheel operation assistance to guide the vehicle toward the sele cted
intended parking spot. The selected intended parking spot may n ot
always be reachable, depending on road and vehicle conditions a t
the time of parking, and the distance to the intended parking s pot.
While the Simple Intelligent Parking Assist System is operating , if the
system detects an obstacle that could result in a collision, th e emer-
gency brakes operate, regardless of whether the PKSB (Parking S up-
port Brake) system is on or off. ( P. 495)
: If equipped
Function summary
Linking with the PKSB (Parking Support Brake) system (if
equipped)
WARNING
● When backing up or proceeding forward, be sure to directly confirm the
safety of the area to the front or rear, and the area around th e vehicle, and
slowly back up or proceed forward while adjusting the vehicle s peed by
depressing the brake pedal.
● If it seems the vehicle may make contact with a pedestrian, another vehi-
cle or any other obstacles, stop the vehicle by depressing the brake pedal,
and then press the S-IPA switch ( P. 492) to turn the system off.

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The guidance screen is displayed on the multi-information display.
Operation display area
Displays the operating condition of
the Simple Intelligent Parking
Assist System.
Stop display
When illuminated, depress the
brake pedal and stop the vehicle at
once.
Assistance level indicator
Displays a gauge indicating the level until the vehicle’s stopp ing position/
the position at which assist control ends.
S-IPA switch icon
Displayed when the assist mode can be changed and the system ca n be
turned off or on using the S-IPA switch.
Steering wheel auto operation display
Displays when the steering wheel auto operation is being perfor med.
Toyota parking assist-sensor display/door position (open/close) dis-
play
 P. 455
Advice display
Follow the instructions on the display and perform any indicated opera-
tions.
As an example, the illustration shows the display indicating it is necessary
to depress the brake pedal in order to control the vehicle spee d and to con-
firm the safety of your surroundings.
Guidance screen

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Assist mode will be canceled or stopped in the following cases.
Assist control is canceled when
● The system temperature preservation function operates
● There is a system malfunction
● System determined that the parking environment is not suitable
for assist to continue
When assist control is canceled, firmly grasp the steering whee l,
depress the brake pedal and stop the vehicle.
Start again from the beginning, as the system will already be c an-
celed. When continuing to park manually, operate the steering
wheel as you normally would.
Assist control is stopped when
● The steering wheel is operated
● The vehicle speed exceeds 7 km/h (4 mph) during assist control
● The PKSB (Parking Support Brake) system operates (if
equipped)
When assist control is stopped, it can be resumed by following the
guidance shown on the screen.
Canceling or stopping assist mode