TOYOTA MIRAI 2023 Owners Manual

2815-5. Using the driving support systems
Owners Manual_USA_M62064_en
5
Driving
• If the rear of the vehicle is raised or lowered due to the carried load
• If a bumper protector, such as an
additional trim strip, is installed to
the rear bumper
• If the orientation of the rear cam-
era has been changed
• If a towing eyelet is installed to the rear of the vehicle
• When water is flowing over the rear camera lens
• When the rear camera is
obscured (dirt, snow, ice, etc., are
attached) or scratched
• If there is a flashing light in the
detection area, such as the emer-
gency flashers of another vehicle
• When a tire chains or an emer-
gency tire puncture repair kit is
used
●Situations in which the rear cam-
era detection function may be diffi-
cult to notice
• The buzzer may be difficult to hear if the surrounding area is noisy,
the volume of the audio system
volume is high, the air condition-
ing system is being used, etc.
• If the temperature in the cabin is
extremely high or low, the audio
system screen may not operate
correctly.
*: If equipped
■Parking Support Brake
function (static objects
front and rear of the vehi-
cle/static objects around
the vehicle
*)
 P.286
PKSB (Parking Sup-
port Brake)*
The Parking Support Brake
system consists of the fol-
lowing functions that oper-
ate when driving at a low
speed or backing up, such
as when parking. When the
system determines that the
probability of a collision
with a detected object or
pedestrian is high, a warn-
ing operates to urge the
driver to take evasive
action. If the system deter-
mines that the possibility of
a collision with a detected
object or pedestrian is
extremely high, the brakes
are automatically applied to
help avoid the collision or
help reduce the impact of
the collision.
PKSB (Parking Support
Brake) system

2825-5. Using the driving support systems
Owners Manual_USA_M62064_en
■Parking Support Brake
function (moving vehicles
rear of the vehicle)
 P.290
■Parking Support Brake
function (pedestrians rear
of the vehicle)
 P.291
*: If equipped
WARNING
■Cautions regarding the use of
the system
Do not overly rely on the system,
as doing so may lead to an acci-
dent.
Always drive while checking the
safety of the surroundings of the
vehicle.
Depending on the vehicle and
road conditions, weather, etc., the
system may not operate.
The detection capa bilities of sen-
sors and radars are limited.
Always drive while checking the
safety of the surroundings of the
vehicle.
●The driver is solely responsible
for safe driving. Always drive
carefully, taking care to observe
your surroundings. The Parking
Support Brake system is
designed to provide support to
lessen the severity of collisions.
However, it may not operate in
some situations.
●The Parking Support Brake sys-
tem 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 imme-
diately as brake control will be
canceled after approximately 2
seconds.
●It is extremely dangerous to
check the system operations by
intentionally driving the vehicle
into the direction of a wall, etc.
Never attempt such actions.
■When to disable the Parking
Support Brake
In the following situations, disable
the Parking Suppor t Brake as the
system may opera te even though
there is no possibility of a colli-
sion.
●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
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
●When equipment that may
obstruct a sensor is installed,
such as a towing 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 acci-
dent 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

2835-5. Using the driving support systems
Owners Manual_USA_M62064_en
5
Driving
The Parking Support Brake can
be enabled/disabled on the
multi-information display. All of
the Parking Support Brake func-
tions (static objects front and
rear of the vehicle, moving vehi-
cles rear of the vehicle, pedestri-
ans rear of the vehicle and static
objects around the vehicle) are
enabled/disabled simultane-
ously.
Use the meter control switches
to enable/disable the parking
support brake. ( P.106)
1 Press or to select .
2 Press or to select
“ PKSB” and then press
.
When the Parking Support Brake is
disabled, the PKSB OFF indicator
( P.97) illuminates. To re-enable the
system when it
was disabled, select on the
multi-information display, select
“ PKSB” and then On. If dis-
abled using this method, the sys-
tem will not be re-enabled by
turning the power switch off and
then to ON.
If the fuel cell system output restric-
tion control or brake control oper-
ates, a buzzer will sound and a
message will be displayed on the
multi-information display and head-
up display (if equipped), multimedia
display, to alert the driver.
Depending on the situation, fuel cell
system output restriction control will
operate to either limit acceleration
or restrict output as much as possi-
ble.
 Fuel cell system output
restriction control is operating
(acceleration restriction)
Acceleration greater than a certain
amount is restric ted by the system.
Multimedia display: No warning dis-
played
Multi-information display: “Object
Detected Acceleration Reduced”
Head-up display (if equipped): No
warning displayed
PKSB OFF indicator: Not illumi-
nated
Buzzer: Does not sound
WARNING
●When a tire chains, compact
spare tire or an emergency tire
puncture repair kit is used
●When towing with the vehicle
■Precautions for the suspen-
sion
Do not modify the suspension of
the vehicle. If the height or tilt of
the vehicle is changed, the sen-
sors may not be able to detect
detectable objects and the system
may not operate correctly, possi-
bly leading to an accident.
Enabling/Disabling the
Parking Support Brake
Display and buzzer for
fuel cell system output
restriction control and
brake control

2845-5. Using the driving support systems
Owners Manual_USA_M62064_en
Fuel cell system output
restriction control is operating
(output restricted as much as
possible)
The system has determined that
stronger-than-normal brake opera-
tion is necessary.
Multimedia display: “BRAKE!”
Multi-information display: “BRAKE!”
Head-up display (if equipped):
“BRAKE!”
PKSB OFF indicator: Not illumi-
nated
Buzzer: Short beep
 Brake control is operating
The system determ ined that emer-
gency braking is necessary.
Multimedia display: “BRAKE!”
Multi-information display: “BRAKE!”
Head-up display (if equipped):
“BRAKE!”
PKSB OFF indicator: Not illumi-
nated
Buzzer: Short beep
 Vehicle stopped by system
operation
The vehicle has been stopped by
brake control operation.
Multimedia displ ay: “Switch to
Brake” (If the accelerator pedal is
not depressed, “Press Brake Pedal”
will be displayed.)
Multi-information di splay: “Switch to
Brake” (If the accelerator pedal is
not depressed, “Brake” will be dis-
played.)
Head-up display (if equipped):
“Switch to Brake” (If the accelerator pedal is not depressed, “Press
Brake Pedal” will be displayed.)
PKSB OFF indicato
r: Illuminated
Buzzer: Sounds repeatedly
If the Parking Support Brake
determines that a collision with a
detected object or pedestrian is
possible, the fuel cell system
output will be restricted to
restrain any increase in the vehi-
cle speed. (Fuel cell system out-
put restriction control: See figure
2.)
Additionally, if the accelerator
pedal continues to be
depressed, the brakes will be
applied automatically to reduce
the vehicle speed. (Brake con-
trol: See figure 3.)
 Figure 1 When the PKSB
(Parking Support Brake) is not
operating
Fuel cell system output
Braking force
Time
 Figure 2 When fuel cell sys-
System overview

2855-5. Using the driving support systems
Owners Manual_USA_M62064_en
5
Driving
tem output restriction control
operates Fuel cell system output
Braking force
Time
Fuel cell system output
restriction control begins
operating (System deter-
mines that possibility of colli-
sion with detected object is
high)
 Figure 3 When fuel cell sys-
tem output restriction control
and brake control operates
Fuel cell system output
Braking force
Time
Fuel cell system output
restriction control begins operating (System deter-
mines that possibility of colli-
sion with detected object is
high)
Brake control begins operat-
ing (System determines that
possibility of co
llision with
detected object is extremely
high)
■If the Parking Support Brake
has operated
If the vehicle is stopped due to oper-
ation of the Parking Support Brake,
the Parking Support Brake will be
disabled and the PKSB OFF indica-
tor will illuminate. If the Parking Sup-
port Brake operates unnecessarily,
brake control can be canceled by
depressing the brake pedal or wait-
ing for approximate ly 2 seconds for
it to automatically be canceled.
Then, the vehicle can be operated
by depressing the accelerator pedal.
■Re-enabling the Parking Sup-
port Brake
To re-enable the Parking Support
Brake when it has been disabled
due to operation of the Parking Sup-
port Brake, either enable the system
again ( P.283), or turn the power
switch off and then back to ON.
Additionally, if a ny of the following
conditions are m et, the system 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 vehi-
cle
●The traveling direction of the vehi-
cle changes*
*
: Except when the Pedestrian Rear of the Vehicle operated.

2865-5. Using the driving support systems
Owners Manual_USA_M62064_en
■If “PKSB Unavailable” is dis-
played on the multi-information
display and the PKSB OFF indi-
cator is on
If the vehicle is stopped due to oper-
ation of the Parki ng Support Brake,
the Parking Suppor t Brake will be
disabled and the PKSB OFF indica-
tor will illuminate.
●A sensor may be covered with
water drops, ice, snow, dirt, etc.
Remove the water drops, ice,
snow, dirt, etc., from the sensor to
return the system to normal.
Also, due to ice forming on a sen-
sor at low temperatures, a warn-
ing message may be displayed or
the sensor may n ot be able to
detect an object. Once the ice
melts, the system will return to
normal.
●If this message is displayed only
when the R shift position is
selected, the rear camera lens
may be dirty. Clean the camera
lens. If this message is displayed
when the shift position is any posi-
tion other than R, a sensor on the
front or rear bumper may be dirty.
Clean the sensors and their sur-
rounding area on the bumpers.
●If this message continues to be
displayed even after cleaning the
sensor, or is displayed even
though the sensor is clean, have
the vehicle inspected by your Toy-
ota dealer.
■Intuitive parking assist buzzer
Regardless of whether the Intuitive
parking assist buzzer is enabled or
not, if the PKSB ( Parking Support
Brake) system is enabled, the front
or rear sensors detect a static object
and brake control is performed, the
Intuitive parking assist buzzer will
sound to notify the driver of the
approximate distanc e to the object.
*: If equipped
This function will operate in situ-
ations such as the following if an
object is detected in the travel-
ing direction of the vehicle.
Parking Support Brake
function (static
objects front and rear
of the vehicle/static
objects around the
vehicle
*)
If the sensors detect a static
object, such as a wall, in the
traveling direction of the
vehicle and the system
determines that a collision
may occur due to the vehi-
cle suddenly moving for-
ward due to an accidental
accelerator pedal operation,
the vehicle moving the
unintended direction due to
the wrong shift position
being selected, or while
parking or traveling at low
speeds, the system will
operate to lessen the impact
with the detected static
object and reduce the
resulting damage.
Examples of function
operation (static objects
front and rear)

2875-5. Using the driving support systems
Owners Manual_USA_M62064_en
5
Driving
■When traveling at a low
speed and the brake pedal
is not depressed, or is
depressed late
■When the accelerator pedal
is depressed excessively
■When the vehicle moves in
the unintended direction
due to the wrong shift posi-
tion being selected
The system will operate in the
following situations when a sta-
tionary object is detected in the
surrounding area.
Examples of function
operation (static objects
around the vehicle) (vehi-
cles with the Advanced
Park)

2885-5. Using the driving support systems
Owners Manual_USA_M62064_en
■When moving forward and a
collision with a stationary
object on the inner side of a
turn is likely
■When reversing and a colli-
sion with a stationary
object on the outer side of a
turn is likely
 P.261
■The Parking Support Brake
function (static objects front
and rear) will operate when
The function will op erate when the
PKSB OFF indicator is not illumi-
nated ( P.97, 457) and all of the
following conditi ons are met:
●Fuel cell system output restriction
control
• The Parking Support Brake is enabled.
• The vehicle speed is approxi- mately 9 mph (15 km/h) or less.
• There is a static object in the trav-
eling direction of the vehicle and
approximately 6 to 13 ft. (2 to 4 m)
away.
• The Parking Support Brake deter- mines that a stronger-than-nor-
mal brake operation is necessary
to avoid a collision.
●Brake control
• Fuel cell system output restriction control is operating.
• The Parking Support Brake deter-
mines that an immediate brake
operation is necessary to avoid a
collision.
■The Parking Support Brake
function (static objects around
the vehicle) (ve hicles with the
Advanced Park) will operate
when
This function is operable when any
Types of sensors
WARNING
■To ensure the system can
operate properly
 P. 2 6 2
■If the PKSB (Parking Support
Brake) system operates
unnecessarily, such as at a
railroad crossing
 P. 2 8 5
■Notes when washing the vehi-
cle
 P. 2 6 3

2895-5. Using the driving support systems
Owners Manual_USA_M62064_en
5
Driving
of the following conditions are met in
addition to the operating conditions
for stationary objects front and rear.
●After the fuel cell system has been
started, the vehicle has moved
approximately 23.0 ft. (7 m) or
less
●The R shift position is selected
●After the shift position has been
changed from R to D, the vehicle
has moved approximately 23.0 ft.
(7 m) or less
■The Parking Support Brake
function (static objects front
and rear/static objects around
the vehicle) will stop operating
when
The function will st op operating if
any of the following conditions are
met:
●Fuel cell system output restriction
control
• The Parking Support Brake is dis-
abled.
• The system determines that the collision has beco me avoidable
with normal brake operation.
• The static object is no longer approximately 6 to 13 ft. (2 to 4 m)
away from the vehicle or in the
traveling directi on of the vehicle.
●Brake control
• The Parking Support Brake is dis- abled.
• Approximately 2 seconds have elapsed since the vehicle was
stopped by brake control.
• The brake pedal is depressed after the vehicle is stopped by
brake control.
• The static object is no longer approximately 6 to 13 ft. (2 to 4 m)
away from the vehicle or in the
traveling directi on of the vehicle.
■Detection range
The detection range of the Parking
Support Brake function (static
objects front and r ear of the vehi-
cle/static objects around the vehicle)
differs from the detection range of the intuitive parking assist. (
P.266)
Therefore, even if the intuitive park-
ing assist detects an object and pro-
vides a warning, the PKSB (Parking
Support Brake) may not start oper-
ating.
■Objects which the system may
not be properly detected
 P.264
■Side sensors and side cameras
 P.271
■Situations in which the system
may not operate properly
 P.264
■Situations in which the system
may operate even if there is no
possibility of a collision
 P.265
■Situations in which the system
may operate even though there
is no possibility of a collision
(static objects around the vehi-
cle) (vehicle with the Advanced
Park)
In addition to the situations in which
stationary objects front and rear
(  P.288) may not be detected,
objects may not be detected by the
sensors in the fo llowing situation:
●When moving sideways, such as
when parallel parking

2905-5. Using the driving support systems
Owners Manual_USA_M62064_en
*: If equipped
This function will operate in situ-
ations such as the following if a
vehicle is detected in the travel-
ing direction of the vehicle.
■When reversing, a vehicle is
approaching and the brake
pedal is not depressed, or
is depressed late
P.258
■The system will operate when
The function will op erate when the
PKSB OFF indicator is not illumi-
nated ( P.97, 457) and all of the
following conditi ons are met:
●Fuel cell system output restriction
control
• The Parking Support Brake is enabled.
• The vehicle speed is approxi- mately 9 mph (15 km/h) or less.
• Vehicles are approaching from the
right or left at the rear of the vehi-
cle at a traveling speed of approx-
imately 5 mph (8 km/h) or more.
• The shift position is in R.
• The Parking Support Brake deter- mines that a stronger than normal
brake operation is necessary to
avoid a collision with an approach-
ing vehicle.
●Brake control
• Fuel cell system output restriction
control is operating.
• The Parking Support Brake deter- mines that an emergency brake
operation is necessary to avoid a
collision with an approaching vehi-
cle.
■The system will stop operating
when
The function will stop operating if
any of the following conditions are
met:
●Fuel cell system output restriction
control
• The Parking Support Brake is dis-
abled.
• The collision becomes avoidable
Parking Suppor t Brake
function (moving vehi-
cle rear of the vehi-
cle)
*
If a rear radar sensor
detects a vehicle approach-
ing from the right or left at
the rear of the vehicle and
the system determines that
the possibility of a collision
is high, this function will
perform brake control to
reduce the likelihood of an
impact with the approach-
ing vehicle.
Examples of function
operation
Types of sensors
WARNING
■To ensure the system can
operate properly
 P. 2 5 7