warning TOYOTA HIGHLANDER 2023 Owners Manual

2294-5. Using the driving support systems
4
Driving
sion is high and that there is suf-
ficient space for the vehicle to
be steered into within its lane,
and the driver has begun eva-
sive maneuver or steering,
emergency steering assist will
assist the steering movements
to help enhance the vehicle sta-
bility and for lane departure pre-
vention. During operation, the
indicator will illuminate in green.
■Intersection right/left turn
assistance
If the system determines that
there is a high possibility of a
collision in the following situa-
tions, it will assist with Pre-colli-
sion warning and, if necessary
Pre-collision braking.
Depending on the configuration
of the intersection, it may not be
possible to support.
 When you turn right/left at an
intersection and cross the
path of an oncoming vehicle 
When you turn right/left,
pedestrian is detected in the
forward direction and esti-
mated to enter your vehicle’s
path (bicyclists are not
detected.)
WARNING
■Limitations of the pre-colli-
sion system
●The driver is solely responsible
for safe driving. Always drive
safely, taking care to observe
your surroundings.
Do not use the pre-collision sys-
tem instead of normal braking
operations under any circum-
stances. This system will not
prevent collisions or lessen col-
lision damage or injury in every
situation. Do not overly rely on
this system. Failure to do so
may lead to an accident, result-
ing in death or serious injury.

2304-5. Using the driving support systems
WARNING
●Although this system is
designed to help avoid a colli-
sion or help reduce the impact
of the collision, its effectiveness
may change according to vari-
ous conditions, therefore the
system may not always be able
to achieve the same level of
performance.
Read the following conditions
carefully. Do not overly rely on
this system and always drive
carefully.
• Conditions under which the sys- tem may operate even if there is
no possibility of a collision:
P. 2 3 5
• Conditions under which the sys- tem may not operate properly:
P. 2 3 6
●Do not attempt to test the oper-
ation of the pre-collision system
yourself.
Depending on the objects used
for testing (dummies, card-
board objects imitating detect-
able objects, etc.), the system
may not operate properly, possi-
bly leading to an accident.
■Pre-collision braking
●When the pre-collision braking
function is operating, a large
amount of braking force will be
applied.
●If the vehicle is stopped by the
operation of the pre-collision
braking function, the pre-colli-
sion braking function operation
will be canceled after approxi-
mately 2 second s. Depress the
brake pedal as necessary.
●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.
●In some situations, while the
pre-collision brak ing function is
operating, operation of the func-
tion may be canceled if the
accelerator pedal is depressed
strongly or the steering wheel is
turned and the system deter-
mines that the driver is taking
evasive action.
●If the brake pedal is being
depressed, the system may
determine that t he driver is tak-
ing evasive action and possibly
delay the operation timing of the
pre-collision braking function.
■Emergency steering assist
●As emergency steering assist
operation will be canceled when
the system determines that lane
departure prevention function
has been completed.
●Emergency steering assist may
not operate or may be cancel in
the following cases as the sys-
tem may determine the driver is
taking actions.
• If the accelerator pedal is being depressed strongly, the steering
wheel is being operated sharply,
the brake pedal is being
depressed or the turn signal
lever is being operated. In this
case, the syst em may deter-
mine that the driver is taking
evasive action and the emer-
gency steering assist may not
operate.

2314-5. Using the driving support systems
4
Driving
■Enabling/disabling the
pre-collision system
The pre-collision system can be
enabled/disabled on ( P.92,
102) of the multi-information dis-
p l a y.
The system is automatically
enabled each time the engine
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.
WARNING

2324-5. Using the driving support systems
■Changing the pre-collision
warning timing
The pre-collision warning timing
can be changed on ( P.92,
102) of the multi-information dis-
play.
The warning timing setting is
retained when the engine switch is
turned OFF. However, if the pre-col-
lision system is disabled and
re-enabled, the operation timing will
return to the default setting (mid-
dle).
If the pre-collision warning tim-
ing is changed, emergency steering assist timing will also
be changed accordingly. If late
is selected, emergency steering
assist would not operate in case
of an emergency.
1
Early
2 Middle
This is the default setting.
3Late
■Operational conditions for e ach pre-collision function
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.
The system may not operate in the following situations:
• If a battery terminal has been disconnected and reconnected an d then the
vehicle has not been driven for a certain amount of time
• If the shift lever is in R
• When the VSC OFF indicator is illuminated (only the pre-collision warning
function will be operational)
The operation speeds and operati on cancellation for each function is listed
below.
●Pre-collision warning

2334-5. Using the driving support systems
4
Driving
While the pre-collision warning function is operating, if the steering wheel is
operated heavily or suddenly, the pre-collis ion warning may be cancelled.
●Pre-collision brake assist
●Pre-collision braking
If either of the following occur while the pre-collision braking function is oper-
ating, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is tur ned sharply or abruptly.
●Emergency steering assist
When the turn signal lights are flashing, emergency steering as sist will not
operate in case of an emergency.
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 7 to 110 mph
(10 to 180 km/h)
Oncoming vehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 13 to 110 mph
(20 to 180 km/h)
Bicyclists and pedestri-
ansApprox. 7 to 50 mph (10
to 80 km/h)Approx. 7 to 50 mph (10
to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding and stopped
vehiclesApprox. 20 to 110 mph
(30 to 180 km/h)Approx. 20 to 110 mph
(30 to 180 km/h)
Bicyclists and pedestri-
ansApprox. 20 to 50 mph
(30 to 80 km/h)Approx. 20 to 50 mph
(30 to 80 km/h)
Detectable objectsVehicle speedRelative speed between your vehicle and object
Preceding and stopped
vehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 7 to 110 mph
(10 to 180 km/h)
Oncoming vehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 13 to 110 mph
(20 to 180 km/h)
Bicyclists and pedestri-
ansApprox. 7 to 50 mph (10
to 80 km/h)Approx. 7 to 50 mph (10
to 80 km/h)

2344-5. Using the driving support systems
If any of the following occur while the emergency steering assi st function is
operating, it will be canceled:
• The accelerator pedal is depressed strongly.
• The steering wheel is tur ned sharply or abruptly.
• The brake pedal is depressed.
●Intersection right/left turn assistance (pre-collision warning)
When the turn signal lights are not flashing, support for turning left or right at
an intersection which targets on coming vehicles does not work.
●Intersection right/left turn assistance (pre-collision braking)
When the turn signal lights are not flashing, support for turning left or right at
an intersection which targets on coming vehicles does not work.
■Object detection function
The system detects objects based
on their size, profile, motion, etc.
However, an object may not be
detected depending on the sur- rounding brightness and the motion,
posture, and angle of the detected
object, preventing the system from
operating properly. (
P.236)
The illustration shows an image of
Detectable objectsVehicle speedRelative speed between
your vehicle and object
Preceding and stopped
vehicles, bicyclists and
pedestriansApprox. 25 to 50 mph
(40 to 80 km/h)Approx. 25 to 50 mph
(40 to 80 km/h)
Detectable objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Oncoming vehi-
clesApprox. 7 to 15
mph (10 to 25
km/h)Approx. 20 to 35
mph (30 to 55
km/h)Approx. 25 to 50
mph (40 to 80
km/h)
Pedestrians
Approx. 7 to 15
mph (10 to 25
km/h)
—
Approx. 7 to 15
mph (10 to 25
km/h)
Detectable objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Oncoming vehi-
clesApprox. 10 to 15
mph (15 to 25
km/h)Approx. 20 to 28
mph (30 to 45
km/h)Approx. 28 to 43
mph (45 to 70
km/h)
Pedestrians
Approx. 7 to 15
mph (10 to 25
km/h)
—
Approx. 7 to 15
mph (10 to 25
km/h)

2394-5. Using the driving support systems
4
Driving
pre-collision brake assist and
pre-collision braking functions are
also disabled.
●The PCS warning light will turn on
and “VSC Turned OFF Pre-Colli-
sion Brake System Unavailable”
will be display ed on the
multi-informat ion display.
LTA (Lane Tracing
Assist)
While driving on a road with
clear white (yellow) lane
lines, the LTA system warns
the driver if the vehicle may
deviate from the current
lane or course
*, and also
can slightly operate the
steering wheel to help avoid
deviation from the lane or
course
*. Also, while the
dynamic radar cruise con-
trol with full-speed range
( P.249) is operating, this
system will operate the
steering wheel to maintain
the vehicle’s lane position.
The LTA system recognizes
white (yellow) lane lines or a
course
* using the front cam-
era. Additionally, it detects
preceding vehicles using
the front camera and radar.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb

2404-5. Using the driving support systems
WARNING
■Before using LTA system
●Do not rely solely upon the LTA
system. The LTA system does
not automatically drive the vehi-
cle or reduce the amount of
attention that must be paid to
the area in front of the vehicle.
The driver must always assume
full responsibility for driving
safely by paying careful atten-
tion to the surrounding condi-
tions and operating the steering
wheel to correct the path of the
vehicle. Also, the driver must
take adequate breaks when
fatigued, such as from driving
for a long period of time.
●Failure to perform appropriate
driving operations and pay care-
ful attention may lead to an
accident, resulting in death or
serious injury.
■Situations unsuitable for LTA
system
In the following situations, use the
LTA switch to turn the system off.
Failure to do so may lead to an
accident, resulting in death or
serious injury.
●Vehicle is driven on a road sur-
face which is slippery due to
rainy weather, fallen snow,
freezing, etc.
●Vehicle is driven on a snow-cov-
ered road.
●White (yellow) lines are difficult
to see due to rain, snow, fog,
dust, etc.
●Vehicle is driven in a temporary
lane or restricted lane due to
construction work.
●Vehicle is driven in a construc-
tion zone.
●A spare tire, tire chains, etc. are
equipped.
●When the tires have been
excessively worn, or when the
tire inflation p ressure is low.
●When your vehicle is towing a
trailer or during emergency tow-
ing.
■Preventing LTA system mal-
functions and operations per-
formed by mistake
●Do not modify the headlights or
place stickers, etc. on the sur-
face of the lights.
●Do not modify the suspension
etc. If the suspension etc. needs
to be replaced, contact your
Toyota dealer.
●Do not install or place anything
on the hood or grille. Also, do
not install a gr ille guard (bull
bars, kangaroo bar, etc.).
●If your windshield needs
repairs, contact your Toyota
dealer.
■Conditions in which functions
may not operate properly
In the following situations, the
functions may not operate prop-
erly and the vehicle may depart
from its lane. Drive safely by
always paying careful attention to
your surroundings and operate
the steering wheel to correct the
path of the vehicle without relying
solely on the functions.

2414-5. Using the driving support systems
4
Driving
WARNING
●When the follow-up cruising dis-
play is displayed (
P.245) and
the preceding vehicle changes
lanes. (Your vehicle may follow
the preceding vehicle and also
change lanes.)
●When the follow-up cruising dis-
play is displayed (
P.245) and
the preceding vehicle is sway-
ing. (Your vehicle may sway
accordingly and depart from the
lane.)
●When the follow-up cruising dis-
play is displayed (P.245) and
the preceding vehicle departs
from its lane. (Your vehicle may
follow the preceding vehicle and
depart from the lane.)
●When the follow-up cruising dis-
play is displayed (
P.245) and
the preceding vehicle is being
driven extremely close to the
left/right lane line. (Your vehicle
may follow the preceding vehi-
cle and depart from the lane.)
●Vehicle is being driven around a
sharp curve.
●Objects or patterns that could
be mistaken for white (yellow)
lines are present on the side of
the road (guardrails, reflective
poles, etc.).
●Vehicle is driven where the road
diverges, merges, etc.
●Repair marks of asphalt, white
(yellow) lines, etc. are present
due to road repair.
●There are shadows on the road
that run parallel with, or cover,
the white (yellow) lines.

2424-5. Using the driving support systems
WARNING
●The vehicle is driven in an area
without white (yellow) lines,
such as in front of a tollgate or
checkpoint, or at an intersec-
tion, etc.
●The white (yellow) lines are
cracked, “Botts’ dots”, “Raised
pavement marker” or stones are
present.
●The white (yellow) lines cannot
be seen or are difficult to see
due to sand, etc.
●The vehicle is driven on a road
surface that is wet due to rain,
puddles, etc.
●The traffic li nes are yellow
(which may be more difficult to
recognize than lines that are
white).
●The white (yellow) lines cross
over a curb, etc.
●The vehicle is driven on a bright
surface, such as concrete.
●If the edge of the road is not
clear or straight.
●The vehicle is driven on a sur-
face that is bright due to
reflected light, etc.
●The vehicle is driven in an area
where the brightness changes
suddenly, such as at the
entrances and exits of tunnels,
etc.
●Light from the h eadlights of an
oncoming vehicle, the sun, etc.
enters the camera.
●The vehicle is driven on a slope.
●The vehicle is driven on a road
which tilts left or right, or a wind-
ing road.
●The vehicle is driven on an
unpaved or rough road.
●The traffic lane is excessively
narrow or wide.
●The vehicle is extremely tilted
due to carrying heavy luggage
or having improper tire pres-
sure.
●The distance to the preceding
vehicle is extremely short.
●The vehicle is moving up and
down a large amount due to
road conditions during driving
(poor roads or road seams).
●When driving in a tunnel or at
night with the headlights off or
when a headlight is dim due to
its lens being dir ty or it being
misaligned.
●The vehicle is struck by a cross-
wind.
●The vehicle is affected by wind
from a vehicle driven in a
nearby lane.
●The vehicle has just changed
lanes or crossed an intersec-
tion.
●Tires which differ by structure,
manufacturer, brand or tread
pattern are used.
●When tires of a size other than
specified are installed.
●Snow tires, etc . are equipped.
●The vehicle is b eing driven at
extremely high speeds.