steering TOYOTA PRIUS 2022 Service Manual

PRIUS_OM_OM47F01U_(U)
3094-5. Using the driving support systems
4
Driving
■Lane centering function
This function is linked with
dynamic radar cruise control
with full-speed range and pro-
vides the required assistance
by operating the steering wheel
to keep the vehicle in its current
lane.
When dynamic radar cruise con-
trol with full-speed range is not
operating, the lane centering
function does not operate.
In situations where the white
(yellow) lane lines are difficult to
see or are not visible, such as
when in a traffic jam, this func-
tion will operate to help follow a
preceding vehicle by monitoring
the position of the preceding
vehicle.
If the system detects that the steering wheel has not been oper ated for
a fixed amount of time or the steering wheel is not being firml y gripped,
a warning is displayed on the multi-information display and the function
is temporarily canceled.

PRIUS_OM_OM47F01U_(U)
3114-5. Using the driving support systems
4
Driving
LTA i n d i c a t o r
The illumination condition of the
indicator informs the driver of
the system operation status.
Illuminated in green: LTA sys-
tem is operating.
Flashing in orange: Lane
departure alert function is oper-
ating.
Steering control indicator and operation display of steering wh eel
operation support
When that steering wheel assistanc e of the steering assist function
or lane centering function is operating, the indicator illumina tes and
the operation display on the mul ti-information display is turned on.
Lane departure alert function display
Displayed when the multi-informat ion display is switched to the
driving assist system information screen.
*: Boundary between asphalt and the side of the road, such as gra ss, soil, or
a curb
Indications on combination meter
1
2
3
Inside of displayed lines is
whiteInside of displayed lines is
black
Indicates that the system is recog-
nizing white (yellow) lines or a
course
*. When the vehicle
departs from its lane, the white
line displayed on the side the
vehicle departs from flashes
orange. Indicates that the system is not
able to recognize white (yellow)
lines or a course* or is temporar-
ily canceled.

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PRIUS_OM_OM47F01U_(U)
4-5. Using the driving support systems
Follow-up cruising display
Displayed when the multi-information display is switched to the driving
assist system information screen.
Indicates that steering assist of the lane centering function i s operating by
monitoring the position of a preceding vehicle.
When the follow-up cruising display is displayed, if the preced ing vehicle
moves, your vehicle may move in the same way. Always pay carefu l atten-
tion to your surroundings and operate the steering wheel as nec essary to
correct the path of the vehicle and ensure safety.
■ Operation conditions of each function
●Lane departure alert function
This function operates when all of the following conditions are met.
• LTA is turned on.
• Vehicle speed is approximately 32 mph (50 km/h) or more.
*1
• System recognizes white (yellow) lane lines or a course*2. (When a white
[yellow] line or course
*2 is recognized on only one side, the system will
operate only for the recognized side.)
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• Turn signal lever is not operated.
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. ( P. 316)
*1: The function operates even if the vehicle speed is less than a pproxi-
mately 32 mph (50 km/h) when the lane centering function is ope rating.
*2: Boundary between asphalt and the side of the road, such as gra ss, soil,
or a curb
● Steering assist function
This function operates when all of the following conditions are met in addi-
tion to the operation conditions for the lane departure alert function.
• Setting for (“LTA Steering Assist Mode”) in of the multi-
information display is set to “On”. ( P. 124)
• Vehicle is not accelerated or decelerated by a fixed amount or more.
• Steering wheel is not operated with a steering force level suitable for changing lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. ( P. 315)
4

PRIUS_OM_OM47F01U_(U)
3134-5. Using the driving support systems
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Driving
●Vehicle sway warning function
This function operates when all of the following conditions are met.
• Setting for (“Lane Sway Warning Status”) in of the multi- information display is set to “On”. ( P. 124)
• Vehicle speed is approximately 32 mph (50 km/h) or more.
• Width of traffic lane is approximately 9.8 ft. (3 m) or more.
• No system malfunctions are detected. ( P. 316)
● Lane centering function
This function operates when all of the following conditions are met.
• LTA is turned on.
• Setting for (“LTA Steering Assist Mode”) and (“LTA
Center Trace On/Off”) in of the multi-information display are set to
“On”. ( P. 124)
• This function recognizes white (yellow) lane lines or the posi tion of a pre-
ceding vehicle (except when the preceding vehicle is small, such 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 10 to 13 ft. (3 to 4 m) .
• Turn signal lever is not operated.
• Vehicle is not being driven around a sharp curve.
• No system malfunctions are detected. ( P. 316)
• Vehicle does not accelerate or decelerate by a fixed amount or more.
• Steering wheel is not operated with a steering force level suitable for changing lanes.
• ABS, VSC, TRAC and PCS are not operating.
• TRAC or VSC is not turned off.
• Hands off steering wheel warning is not displayed. ( P. 315)
• The vehicle is being driven in the center of a lane.
• Steering assist function is not operating.

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4-5. Using the driving support systems
■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. 312)
● If the operation conditions ( P. 313) 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 drive r’s steering
wheel operation.
● Do not attempt to test the operation of the steering assist fun ction.
■ Lane departure alert function
●The warning buzzer may be difficult to hear due to external noi se, audio
playback, etc.
● If the edge of the course
* is not clear or straight, the lane departure alert
function may not operate.
● Do not attempt to test the operation of the lane departure aler t function.
*: Boundary between asphalt and the side of the road, such as gra ss, soil, or
a curb

PRIUS_OM_OM47F01U_(U)
3154-5. Using the driving support systems
4
Driving
■Hands off steering wheel warning
●When the system determines that t he 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 temporarily 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 th e 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 straight-lane driving.
● When the system determines that t he 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.
■ Vehicle sway warning function 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.
When the system determines that the
vehicle is swaying while the vehicle sway
warning function is operating, a buzzer
sounds and a warning message urging
the driver to rest and the symbol shown in
the illustration are simultaneously dis-
played on the multi-information display.
Depending on the vehicle and road condi-
tions, the warning may not operate.

326
PRIUS_OM_OM47F01U_(U)
4-5. Using the driving support systems
Example of constant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
Example of deceleration crui sing 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 automatically
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 fr om closing in on the vehicle ahead.
When the vehicle ahead of you stops, your vehicle will also stop (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 cruising. If the start-off operatio n is not per-
formed, system control continues to keep your vehicle stopped.
When the turn signal lever is operated and your vehicle moves to an over-
taking lane while driving at 50 mph (80 km/h) 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 vehicle in a region where the overtaking lane
is to the right but then drives to a region where the overtaking 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.
1
2
3

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4-5. Using the driving support systems
■Conditions under which the vehic le-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 ahead, 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 th e 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

PRIUS_OM_OM47F01U_(U)
3634-5. Using the driving support systems
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Driving
■Operation conditions
The power switch is turned on.
●Front corner sensors:
• Shift position is not in P
• Vehicle speed is approximately 6 mph (10 km/h) or less
● Front side sensors/rear side sensors:
• Shift position is not in P
• Vehicle speed is approximately 6 mph (10 km/h) or less
• Steering wheel is turned approximately 90  or more
● Front center sensors:
• Shift position is not in P or R
• Vehicle speed is approximately 6 mph (10 km/h) or less
● Rear corner sensors/rear center sensors:
Shift position is in R
■ Intuitive parking assist pop-up display
P. 385
■ Sensor detection information
●The sensor’s detection areas are limited to the areas around th e vehicle’s
bumper.
● Depending on the shape of the obstacle and other factors, the detection dis-
tance may shorten, or detection may be impossible.
● Obstacles may not be detected if they are too close to the sens or.
● There will be a short delay between obstacle detection and disp lay. Even
when traveling at a low speed, if you come too close to an obstacle before
the display and buzzer activate, the display and buzzer may not activate at
all.
● Thin posts or objects lower than the sensor may not be detected when
approached, even if they have been detected once.
● It might be difficult to hear beeps due to the volume of audio system or air
flow noise of the air conditioning system.

381
PRIUS_OM_OM47F01U_(U)
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Driving
S-APGS (Simple Advanced Parking Guidance
System)

■Function summary
The Simple Advanced Parking Guidance System automatically
operates the steering wheel to provide support when backing into
an area near a target parking spot, and when departing from a par-
allel parking spot. (Changing the shift position and speed adju st-
ment when moving forward or backing up are not performed
automatically.)
● The Simple Advanced Parking Guidance System does not park
the vehicle automatically. It is a system that provides support
when pulling out of a perpendicular or parallel parking spot.
● The Simple Advanced Parking Guidance System provides steer-
ing wheel operation assistance to guide the vehicle toward the
selected intended parking spot. The selected intended parking
spot may not always be reach able, depending on road and vehi-
cle conditions at the time of parking, and the distance to the
intended parking spot.
■Linking with the Parki ng Support Brake function
While the Simple Advanced Parking Guidance System is operating,
if the system detects an obstacl e that could result in a collision, the
emergency brakes operate, regardl ess of whether the Parking Sup-
port Brake function is on or off. ( P. 383)
: If equipped
Simple Advanced Parking Guidance System
WARNING
●When backing up or proceeding forward, be sure to directly conf irm 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, ano ther vehi-
cle or any other obstacles, stop the vehicle by depressing the brake pedal,
and then press the S-APGS switch ( P. 384) to turn the system off.