TOYOTA MIRAI 2020 Owners Manual (in English)

2315-5. Using the driving support systems
5
Driving
MIRAI_OM_USA_OM62073U■
Changing the pre-colli
sion warning timing
The pre-collision warning timing can be changed on
(  P. 124) of the multi-information display.
Press or of the mete r control switches (P. 1 1 8 ) a n d
select .
Press or of the meter control switches, select and
press to select the desired setting.
Early
Middle
This is the default setting.
Late
The warning timing setting is
retained when the power switch is
turned off. However, if the pre-colli-
sion system is disabled and re-
enabled, the operation timing will
return to the default setting (mid-
dle).
1
2

2325-5. Using the driving support systems
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■Operational conditions
The pre-collision system is enabled and the system determines that the pos-
sibility of a frontal collision with a detected object is high.
Each function is operational at the following speed
●Pre-collision warning
● Pre-collision brake assist
● Pre-collision braking
The system may not operate in the following situations:
● If a 12-volt battery terminal has been disconnected and reconnected and then
the vehicle has not been driven for a certain amount of time
● If the shift position is in R
● When the VSC OFF indicator is illuminated (only the pre-collision warning func-
tion will be operational)
Detectable objectsVehicle speedRelative speed between
your vehicle and object
VehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 7 to 110 mph
(10 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
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
VehiclesApprox. 7 to 110 mph
(10 to 180 km/h)Approx. 7 to 110 mph
(10 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)

2335-5. Using the driving support systems
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Driving
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Object detection function
■ Cancelation of the pre-collision braking
If either of the following occur while the pre-collision brakin g function is oper-
ating, it will be canceled:
● The accelerator pedal is depressed strongly.
● The steering wheel is turned sharply or abruptly.
■ Conditions under which the system may operate even if there is no pos-
sibility of a collision
● In some situations such as the following, the system may determ ine that
there is a possibility of a frontal collision and operate.
• When passing a detectable object, etc.
• When changing lanes while overtaking a detectable object, etc.
• When rapidly closing on a detectable object, etc.
• When approaching objects on the roadside, such as detectable o bjects,
guardrails, utility poles, trees, or walls
The system detects objects based on
their size, profile, motion, etc. However,
an object may not be detected depending
on the surrounding brightness and the
motion, posture, and angle of the
detected object, preventing the system
from operating properly. (
P. 235) The
illustration shows an image of detectable
objects.
• When approaching a detectableobject in an adjacent lane or on the
roadside, such as when changing the
course of travel or driving on a wind-
ing road
• When there is a detectable object or other object by the roadside at the
entrance of a curve

2345-5. Using the driving support systems
MIRAI_OM_USA_OM62073U• When there are patterns or paint in front of your vehicle that
may be mis-
taken for a detectable object
• When the front of your vehicle is hit by water, snow, dust, et c.
• When a detectable object approaches very close and then stops before
entering the path of your vehicle
• If the front of your vehicle is raised or lowered, such as whe n on an
uneven or undulating road surface
• When driving on a road surrounded by a structure, such as in a tunnel or
on an iron bridge
• When there is a metal object (manhole cover, steel plate, etc. ), steps, or a
protrusion in front of your vehicle
• When approaching an electric toll gate barrier, parking area b arrier, or
other barrier that opens and closes
• When using an automatic car wash • When overtaking a detectable object that is changing lanes or making a
right/left turn
• When passing a detectable object in an oncoming lane that is stopped to
make a right/left turn
• When passing under an object (road sign, billboard, etc.)

2355-5. Using the driving support systems
5
Driving
MIRAI_OM_USA_OM62073U• When driving through steam or smoke
• When driving near an object that reflects radio waves, such as
a large
truck or guardrail
• When driving near a TV tower, broadcasting station, electric power plant, or other location where strong radio waves or electrical noise may be
present
■ Situations in which the syst em may not operate properly
● In some situations such as the following, 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 sudde n swerv-
ing, acceleration or deceleration)
• When your vehicle approaches a detectable object rapidly
• 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 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 driving through or under
objects that may contact your vehicle,
such as thick grass, tree branches, or
a banner
• When a detectable object is not directly in front of your vehicle

2365-5. Using the driving support systems
MIRAI_OM_USA_OM62073U• When a detectable object appears to be nearly the same color o
r bright-
ness 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, et c.
• When a very bright light ahead, such as the sun or the headlig hts of
oncoming 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 vehi cle
• If a preceding vehicle has a small rear end, such as an unload ed truck
• 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 bicycle, 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, tandem bicycle, etc.)
• If a pedestrian/or the riding height of a bicyclist ahead is s horter than
approximately 3.2 ft. (1 m) or taller than approximately 6.5 ft. (2 m)
• If a pedestrian/bicyclist is wearing oversized clothing (a rai n coat, long
skirt, etc.), making their silhouette obscure
• If a pedestrian is bending forward or squatting or bicyclist i s 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
• If a preceding vehicle has a low rear
end, such as a low bed trailer
• If a vehicle ahead has extremely high ground clearance

2375-5. Using the driving support systems
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Driving
MIRAI_OM_USA_OM62073U• 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 detectable object appear to be n early the
same color as its surroundings
• When driving in a place where the surrounding brightness changes sud- denly, such as at the entrance or exit of a tunnel
• After the fuel cell system has started the vehicle has not bee n driven for a
certain amount of time
• While making a left/right turn and for a few seconds after mak ing a left/
right turn
• While driving on a curve and for a few seconds after driving o n a curve
• If your vehicle is skidding
• 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
● In some situations such as the following, sufficient braking fo rce may not be
obtained, preventing the system from performing properly:
• If the braking functions cannot operate to their full extent, such as when
the brake parts are extremely cold, extremely hot, or wet
• If the vehicle is not properly maintained (brakes or tires are excessively
worn, improper tire inflation pressure, etc.)
• When the vehicle is being driven on a gravel road or other sli ppery sur-
face
■ If VSC is disabled
●If VSC is disabled ( P. 297), the pre-collision brake assist and pre-collision
braking functions are also disabled.
● The PCS warning light will turn on and “VSC Turned Off Pre-Coll ision Brake
System Unavailable” will be displayed on the multi-information display.
• If the front of the vehicle is raised or
lowered

2385-5. Using the driving support systems
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LDA (Lane Depar ture Al ert with steering
control)
When driving on highways and freeways with white (yellow) lane
lines, this function alerts the driver when the vehicle might d epart from
its lane or course
* and provides assistance by operating the steering
wheel to keep the vehicle in its lane or course
*.
The LDA system recognizes white
(yellow) lane lines or a course
*
using the front camera. Addition-
ally, 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
Summary of functions
WARNING
■ Before using LDA system
● Do not rely solely upon the LDA system. The LDA system does not auto-
matically drive the vehicle 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 attention to the surround-
ing conditions and operating the steering wheel to correct the path of the
vehicle. Also, the driver must take adequate breaks when fatigu ed, such
as from driving for a long period of time.
● Failure to perform appropriate driving operations and pay caref ul attention
may lead to an accident, resulting in death or serious injury.
● When not using the LDA system, use the LDA switch to turn the system
off.
■ Situations unsuitable for LDA system
In the following situations, use the LDA switch to turn the sys tem off. Failure
to do so may lead to an accident, resulting in death or serious injury.
● Vehicle is driven on a road surface which is slippery due to rainy weather,
fallen snow, freezing, etc.
● Vehicle is driven on a snow-covered road.
● White (yellow) lines are difficult to see due to rain, snow, fo g, dust, etc.
● A spare tire, tire chains, etc. are equipped.

2395-5. Using the driving support systems
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WARNING
●When the tires have been excessively worn, or when the tire inf lation pres-
sure is low.
● When tires of a size other than specified are installed.
● Vehicle is driven in traffic lanes other than that highways and freeways.
● During emergency towing
■ Preventing LDA system malfunctio ns and operations performed 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, d o not install a
grille 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 t o correct the
path of the vehicle without relying solely on the functions.
● Vehicle is being driven around a sharp curve.
●Objects or patterns that could be mis-
taken for white (yellow) lines are pres-
ent on the side of the road (guardrails,
reflective poles, etc.).

2405-5. Using the driving support systems
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WARNING
●There are shadows on the road that run parallel with, or cover, the white
(yellow) lines.
● The vehicle is driven in an area without white (yellow) lines, such as in
front of a tollgate or checkpoint, or at an intersection, etc.
● The white (yellow) lines are cracked, “Botts’ dots”, “Raised pa vement
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 lines 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 surface that is bright due to reflec ted light, etc.
● The vehicle is driven in an area where the brightness changes suddenly,
such as at the entrances and exits of tunnels, etc.
●Vehicle is driven where the road
diverges, merges, etc.
● Repair marks of asphalt, white (yellow)
lines, etc. are present due to road
repair.