ESP TOYOTA RAV4 2021 (in English) Service Manual

2814-5. Using the driving support systems
4
Driving
*: If equipped
■Parking Support Brake
function (static objects)
 P.286
■Parking Support Brake
function (rear-crossing
vehicles) (if equipped)
 P.292
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
possibility of a collision
with a detected object is
high, a warning operates to
urge the driver to take eva-
sive action. If the system
determines that the possi-
bility of a collision with a
detected object is extremely
high, the brakes are auto-
matically applied to help
avoid the collision or help
reduce the impact of the
collision.
PKSB (Parking Support
Brake) system
WARNING
■Limitations of the Parking
Support Brake 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 n ot operate.
The detection capabilities 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 comple tely. Addition-
ally, even if the system has
stopped the vehicle, it is neces-
sary to depress the brake pedal
immediately as brake control
will be canceled after approxi-
mately 2 seconds.

2904-5. Using the driving support systems
■Intuitive parking assist buzzer
Regardless of whether the intuitive
parking assist syste m is enabled or
not ( P.275), if the Parking Support
Brake function (static objects) is
enabled ( P.282), the front or rear
sensors detect an object and brake
control and engine output restric-
tion control are performed, the intui-
tive parking assist buzzer will sound
to notify the driv er of the approxi-
mate distance to the object.
■Situations in which the Parking
Support Brake function (static
objects) may op erate even if
there is no possibility of a colli-
sion
In some situations, such as the fol-
lowing, the Parking Support Brake
function (static objects) may operate
even though there is no possibility of
a collision.
●Vehicle surroundings
• When driving on a narrow road
• When driving on a gravel road or in an area with tall grass
• When driving toward a banner, flag, low-hanging branch or boom
barrier (such as those used at rail-
road crossings, toll gates and
parking lots)
• When there is a structure on the roadside (such as when driving in a narrow tunnel
, on a narrow
bridge or on a narrow road)
• When parallel parking
• When there is a rut or hole in the surface of the road
• When driving on a metal cover (grating), such as those used for
drainage ditches
• When driving up or down a steep slope
• If a sensor is hit by a large amount of water, such as when driving on
a flooded road
• When loaded on ships or trucks
• Moving type automatic car wash
• Lift type parking area or multi- story parking lot
• Underground parking area
• Structures on the ground (speed bumps, cat’s eyes, etc.)
• Differences in height
• When moving straight ahead or turning right
• Snow-melting pipes
• Devices for detecting vehicles, such as traffic lig hts, devices for
detecting traffic congestion, or
devices for detecting empty
spaces in parking areas
• Railroad tracks
• H-shaped steel
• When there are vehicles on both sides, or there is a vehicle that
resembles this vehicle
●Weather
• If a sensor is covered with ice, snow, dirt, etc. (when cleared, the
system will return to normal)
• If heavy rain or water strikes a sensor
• When driving in inclement weather such as fog, snow or a sandstorm
• Strong wind is blowing
●Other sonic wave sources
• When vehicle horns, vehicle
detectors, motorcycle engines, air
brakes of large vehicles, the clear-
ance sonar of ot her vehicles or
other devices which produce ultra-
sonic waves are near the vehicle
• If a sticker or an electronic compo-
nent, such as a backlit license
plate (especially fluorescent type),

2914-5. Using the driving support systems
4
Driving
fog lights, fender pole or wireless
antenna is installed near a sensor
●Changes in the vehicle posture
• If the vehicle is significantly tilted
• If the front of the vehicle is raised or lowered due to the carried load
• If the orientation of a sensor has been changed due t o a collision or
other impact
■Situations in which the Parking
Support Brake function (static
objects) may not operate prop-
erly
In some situations, such as the fol-
lowing, this function may not oper-
ate properly.
●Weather
• When a sensor or the area around a sensor is extremely hot or cold
• When strong winds are blowing
• If a sensor is covered with ice, snow, dirt, etc. (when cleared, the
system will return to normal)
• If heavy rain or water strikes a sensor
• When driving in inclement weather such as fog, snow or a sandstorm
• A sensor is frozen. (Thawing the
area will resolve this problem.)
●Vehicle surroundings
• When an object that cannot be detected is betw een the vehicle
and a detected object • If an object such as a vehicle,
motorcycle, bicycle or pedestrian
cuts in front of the vehicle or runs
out from the side of the vehicle
• The vehicle is approaching a tall or curved curb.
• On an extremely bumpy road, on
an incline, on gravel, or on grass.
• The objects draw too close to the sensor.
●Other sonic waves sources
• When vehicle horns, vehicle
detectors, motorcycle engines, air
brakes of large vehicles, the clear-
ance sonar of ot her vehicles or
other devices which produce ultra-
sonic waves are near the vehicle
• If a sticker or an electronic compo-
nent, such as a backlit license
plate (especially fluorescent type),
fog lights, fender pole or wireless
antenna is installed near a sensor
●Changes in the vehicle
• If the vehicle is significantly tilted
• If the front of the v ehicle is raised
or lowered due to the carried load
• If the orientation of a sensor has
been changed due to a collision or
other impact
• When equipment that may
obstruct a sensor is installed, such
as a towing eyelet, bumper pro-
tector (an additional trim strip,
etc.), bicycle car rier, or snow plow
• If the suspension has been modi- fied or tires of a size other than
specified are installed
• If paint or a stic ker is applied to
the sensor

2954-5. Using the driving support systems
4
Driving
●When there are spinning objects
near your vehicle such as the fan
of an air conditioning unit
●When water is splashed or
sprayed toward the rear bumper,
such as from a sprinkler
■Situations in which the Parking
Support Brake function (rear-
crossing vehicles) may not
operate properly
In some situations, such as the fol-
lowing, the radar sensors may not
detect an object and this function
may not operate properly
●Stationary objects
●When a sensor or the area around
a sensor is extremely hot or cold
●If the rear bumper is covered with
ice, snow, dirt, etc.
●When it is raining heavily or water
strikes the vehicle
●When the detecti on area of a
radar sensor is obstructed by an
adjacent vehicle
●If the vehicle is s ignificantly tilted
●When equipment that may
obstruct a sensor is installed, such
as a towing eyelet, bumper pro-
tector (an additional trim strip,
etc.), bicycle carrier, or snow plow
●If the suspension has been modi-
fied 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
●If a sticker or an electronic compo-
nent, such as a backlit license
plate (especially fluorescent type),
fog lights, fender pole or wireless antenna is installed near a radar
sensor
●If the orientation of a radar sensor
has been changed
●When multiple vehicles are
approaching with only a small gap
between each vehicle
●If a vehicle is approaching the rear
of your vehicle rapidly
●Situations in which the radar sen-
sor may not detect a vehicle
• When a vehicle approaches from
the right or left at the rear of the
vehicle while you are turning while
backing up
• When turning while backing up
• When backing out of a shallow angle parking spot
• When backing up on a slope with a sharp change in grade

3254-5. Using the driving support systems
4
Driving
*: If equipped
Each time the guide line switch-
ing button is selected, the mode
will change as follows:
Distance guide line
 Only the distance guide lines
are displayed.
Estimated course line 
Estimated course lines will be
added to the distance guide
lines.
In addition to screen switching
by operating the camera switch,
automatic display mode is avail-
able. In this mode, the screen is
switched automatically in
response to vehicle speed.
In automatic display mode, the
monitor will automatically dis-
play images in the following situ-
ations:
 When the shift lever is shifted
to “N” or “D” position.
 When vehicle speed is
reduced to approximately 6
mph (10 km/h) or less.
The side view screen displays images from the cameras installed on
WARNING
●When a sensor indicator on the intuitive parking assist display illumi-
nates in red or a buzzer sounds continuously, be sure to check the area
around the vehicle immediately a nd do not proceed any further until
safety has been ensured, otherwise an unexpected accident may o ccur.
●As the intuitive parking assist display is displayed over the camera view,
it may be difficult to see the intuitive parking assist display depending on
the color and brightness of the surrounding area.
Switching the guide line
mode
Automatic display mode
Checking the sides of the vehicle

3274-5. Using the driving support systems
4
Driving
●The side views can be displayed even when the outside rear view mirrors
are retracted.
In addition to screen switching
by operating the camera switch,
automatic display mode is avail-
able. In this mode, the screen is
switched automatically in
response to vehicle speed.
In automatic display mode, the
monitor will automatically dis-
play images in the following situ-
ations:
 When the shift lever is shifted
to “N” or “D” position.
 When vehicle speed is
reduced to approximately 6
mph (12 km/h) or less.
Side View
 Check the positions and dis-
tance between the vehicle
width guide line and a target
object such as the obstacle or
curb of the road.
WARNING
●When a sensor indicator on the intuitive parking assist display illumi-
nates in red or a buzzer sounds continuously, be sure to check the area
around the vehicle immediately a nd do not proceed any further until
safety has been ensured, otherwise an unexpected accident may o ccur.
●As the intuitive parking assist display is displayed over the camera view,
it may be difficult to see the intuitive parking assist display depending on
the color and brightness of the surrounding area.
Automatic display modeUsing the vehicle width
guide line

3504-5. Using the driving support systems
Press the Stop & Start cancel
switch to disable the Stop &
Start system.
The Stop & Start cancel indica-
tor will illuminate.
Pressing the switch again will
enable the Stop & Start system and
the Stop & Start cancel indicator
will turn off.
■Automatic enabling of the Stop
& Start system
If the Stop & Start system is dis-
abled using the Sto p & Start cancel
switch, it will be automatically re-
enabled once the engine switch is
turned off and then the engine is
started.
When the engine is stopped by
the Stop & Start system when
the vehicle is on an incline,
when the brake pedal is
released, brake force is tempo-
rarily maintained to prevent the
vehicle from rolling backwards
before the engine is restarted
and drive force is generated.
When drive force is generated, the maintained brake force is
automatically canceled.

This function operates on flat
surfaces as well as steep
inclines.
 Sound may be generated
from the brake system, but
this does not indicate a mal-
function.
 Brake pedal response may
change and vibration may
occur, but this does not indi-
cate a malfunction.
■Points for use
●If the engine switch is pressed
when the engine is stopped by the
Stop & Start system, the engine
will not be able to be restarted by
the automatic engine start func-
tion. In this case, restart the
engine using the normal engine
starting procedure. ( P.195, 196)
●When the engine is being
restarted by the Stop & Start sys-
tem, the power ou tlets may be
temporarily unusable, but this
does not indicate a malfunction.
●Installation and removal of electri-
cal components and wireless
devices may affect the Stop &
Start system. Contact your Toyota
dealer for details.
●When stopping the vehicle for a
longer period of time, turn the
engine switch to OFF to stop the
engine completely.
●When the engine is restarted by
the Stop & Start system, the steer-
ing wheel may temporarily feel
heavy.
■Operating conditions
●The Stop & Start system is opera-
tional when all of the following
conditions are met:
Disabling the Stop & Start
system
Hill-start assist control

3554-5. Using the driving support systems
4
Driving
■FF vehicles/Dynamic
Torque Control AWD vehi-
cles
1 Eco drive mode
Suitable for drivi ng to improve fuel
economy by more smoothly gener-
ating torque in response to acceler-
ator pedal operations compared to
normal mode and restraining air
conditioning system operations
(heating/cooling).
When the switch is pressed while
not in Eco drive mode, the system
switches to Eco drive mode and the
NOTICE
●Even though the driver’s door is
closed, the open door warning
light is illuminated or the interior
light is illuminated when the
interior light switch is in the door
position.
●Even though the driver’s door is
open, the open door warning
light does not illuminate or the
interior light does not illuminate
when the interior light switch is
in the door position.
Driving mode select
switch
The driving modes can be
selected to suit the driving
and usage conditions.
Selecting a driving mode

3564-5. Using the driving support systems
Eco drive mode indicator illumi-
nates on the multi-information dis-
play.
2Normal mode
Suitable for normal driving.
The driving mode returns to normal
mode if the switch is pressed while
in Eco drive mode or sport mode.
3Sport mode
Controls the steering feeling and
engine to create an acceleration
response that is su itable for sporty
driving. Suitable for when crisp
handling is desired, such as when
driving on mountainous roads.
When the switch is pressed while
not in sport mode, the system
switches to sport mode and the
sport mode indicator illuminates on
the multi-inform ation display.
■Dynamic Torque Vectoring
AWD vehicles
1 Eco drive mode
Suitable for driving to improve fuel economy by more
smoothly gener-
ating torque in response to acceler-
ator pedal operations compared to
normal mode and restraining air
conditioning system operations
(heating/cooling).
When the switch is pressed while
not in Eco drive mode, the system
switches to Eco drive mode and the
Eco drive mode i ndicator illumi-
nates on the multi-information dis-
play.
2 Normal mode
Suitable for n ormal driving.
The driving mode returns to normal
mode if the switch i s pressed while
in Eco drive mode or sport mode.
3 Sport mode
Controls the steering feeling and
engine to create an acceleration
response that is suitable for sporty
driving. Suitable for when crisp
handling is desired, such as when
driving on mountainous roads.
When the switch is pressed while
not in sport mode, the system
switches to sport mode and the
sport mode indicat or illuminates on
the multi-information display.
■When changing to a driving
mode other than normal mode
●The background color of the multi-
information display changes
according to the selected driving
mode.
●When the speedometer is set to
analog display, the speedometer
display color also changes. (For
vehicles with the 7-inch multi-
information di splay only)
●Switches to AWD control suitable
for the selected mode. (For
Dynamic Torque Vectoring AWD
vehicles only)

3644-5. Using the driving support systems
■ABS (Anti-lock Brake Sys-
tem)
Helps to prevent wheel lock
when the brakes are applied
suddenly, or if the brakes are
applied while driving on a slip-
pery road surface
■Brake assist
Generates an increased level of
braking force after the brake
pedal is depressed when the
system detects a panic stop sit-
uation
■VSC (Vehicle Stability Con-
trol)
Helps the driver to control skid-
ding when swerving suddenly or
turning on slippery road sur-
faces.
■Enhanced VSC (Enhanced
Vehicle Stability Control)
Provides cooperative control of
the ABS, TRAC, VSC and EPS.
Helps to maintain directional
stability when swerving on slip-
pery road surfaces by con-
trolling steering performance.
■Trailer Sway Control
Helps the driver to control trailer
sway by selectively applying
brake pressure for individual
wheels and reducing driving
torque when trailer sway is
detected.
■TRAC (Traction Control)
Helps to maintain drive power
and prevent the drive wheels
from spinning when starting the
vehicle or accelerating on slip-
pery roads
■Active Cornering Assist
(ACA)
Helps to prevent the vehicle
from drifting to the outer side by
performing inner wheel brake
control when attempting to
accelerate while turning
■Hill-start assist control
Helps to reduce the backward
movement of the vehicle when
starting on an uphill
■EPS (Electric Power Steer-
ing)
Employs an electric motor to
reduce the amount of effort
Driving assist systems
To keep driving safety and
performance, the following
systems operate automati-
cally in response to various
driving situations. Be
aware, however, that these
systems are supplementary
and should not be relied
upon too heavily when oper-
ating the vehicle.
Summary of the driving
assist systems