steering TOYOTA RAV4 HYBRID 2023 Service Manual

2594-5. Using the driving support systems
4
Driving
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.263
• Conditions under which the sys- tem may not operate properly:
 P.265
●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, pos-
sibly 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 sig-
nal lever is being operated. In
this case, the system may
determine that t he driver is tak-
ing evasive action and the
emergency steering assist may
not operate.

2614-5. Using the driving support systems
4
Driving
■Changing the pre-collision
warning timing
The pre-collision warning timing
can be changed on the
screen ( P.110, 121) of the
multi-information display.
The warning timing setting is
retained when the power switch is
turned to OFF. Howe ver, if the pre-
collision system is disabled and re-
enabled, the operation timing will
return to the default setting (mid-
dle).
If the pre-collision warning timing is changed, emergency steering
assist timing will also be changed
accordingly.
If late is selected, emergency steer-
ing 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 12-volt battery terminal has been di sconnected and reconn ected and
then the vehicle has not been dr iven 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.

2624-5. Using the driving support systems
●Pre-collision warning
While the pre-collision warning function is operating, if the steering wheel is
operated heavily or suddenly, the pre -collision warning may be canceled.
●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 turned 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.
If any of the following occur wh ile the emergency steering assi st function is
operating, it will be canceled:
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)
Detectable objectsVehicle speedRelative speed between your vehicle and object
PedestriansApprox. 25 to 50 mph (40 to 80 km/h)Approx. 25 to 50 mph (40 to 80 km/h)

2634-5. Using the driving support systems
4
Driving
• The accelerator pedal is depressed strongly.
• The steering wheel is turned 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.265)
The illustration sh ows an image of
detectable objects.
■Conditions under which the
system may operate even if
there is no possibility of a colli-
sion
●In some situations such as the fol-
lowing, the system may determine
Detectable
objectsVehicle speedOncoming vehicle speedRelative speed between your
vehicle and object
Vehicles
Approx. 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
Vehicles
Approx. 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)

2654-5. Using the driving support systems
4
Driving
objects that may contact your
vehicle, such as thick grass, tree
branches, or a banner
• 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, radar equipped vehi-
cles, etc., or other location where
strong radio waves or electrical
noise may be present
• When there are many things which can reflect the radio waves
of the radar in the vicinity (tunnels,
truss bridges, gravel roads, snow
covered road that have tracks,
etc.)
• While making a right/left turn, when an oncoming vehicle or a
crossing pedestrian has already
exited the path of your vehicle
• While making a right/left turn, closely in front of an oncoming
vehicle or a crossing pedestrian.
• While making a right/left turn, when an oncoming vehicle or a
crossing pedestrian stops before
entering the path of your vehicle
• While making a right/left turn,
when an oncoming vehicle turns
right/left in front of your vehicle
• While steering into the direction of oncoming traffic
■Situations in which the system
may not operate properly
●In some situations such as the fol-
lowing, an object may not be
detected by the radar sensor and
front camera, pre
venting the sys-
tem from opera ting 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 sudden
swerving, acceleration or deceler-
ation)
• When your vehicle approaches a detectable object rapidly
• When a detectable object is not
directly in front of your vehicle
• When a detectable object is near
a wall, fence, gua rdrail, 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 there are many things which can reflect the radio waves
of the radar in the vicinity (tunnels,
truss bridges, gravel roads, snow
covered road that have tracks,
etc.)
• When there is an effect on the radio waves to the radar that is
installed on another vehicle
• When multiple det ectable objects
are close together
• If the sun or other light is shining
directly on a detectable object

2674-5. Using the driving support systems
4
Driving
• 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
• When driving in a traffic lane sep-
arated by more t han one lane
where oncoming vehicles are driv-
ing while making a right/left turn
• When largely out of place with the opposite facing targeted oncom-
ing vehicle during a right/left turn
• While making a right/left turn, when a pedestrian approaches
from behind or side of your vehicle
●In addition to the above, in some
situations, such as the following,
the emergency steering assist
may not operate.
• When the white (yellow) lane lines are difficult to see, such as when
they are faint, di verging/merging,
or a shadow is cast upon them • When the lane is wider or nar-
rower than normal
• When there is a light and dark pat-
tern on the road surface, such as
due to road repairs
• When a pedestrian is detected
near the centerline of the vehicle
• When the target is too close
• When there is insufficient safe or unobstructed space for the vehicle
to be steered into
• If oncoming vehicle is present
• If VSC function is operating
●In some situations such as the fol-
lowing, sufficient braking force or
steering force 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, ext remely hot, or
wet
• If the vehicle is not properly main- tained (brakes or tires are exces-
sively worn, imprope r tire inflation
pressure, etc.)
• When the vehicle is being driven on a gravel road or other slippery
surface
• When the road surface has deep wheel tracks
• When driving on a hill road
• When driving on a road that has inclines to the left or right
■If VSC is disabled
●If VSC is disabled ( P.327), the
pre-collision brak e 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 displayed on the multi-
information display.

2684-5. Using the driving support systems
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.282) 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
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 m ust be paid to
the area in front of the vehicle.
The driver must always assume
full responsibilit y 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) lin es 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.

2694-5. Using the driving support systems
4
Driving
WARNING
●A spare tire, tire chains, etc. are
equipped.
●When the tires have been
excessively worn, or when the
tire inflation pressure 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 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 to correct the
path of the vehicle without relying
solely on the functions.
●When the follow-up cruising dis-
play is displayed ( P.273) and
the preceding vehicle changes
lanes. (Your veh icle may follow
the preceding vehicle and also
change lanes.)
●When the follow-up cruising dis-
play is displayed ( P.273) 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.273) 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.273) 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.

2714-5. Using the driving support systems
4
Driving
■Lane departure alert func-
tion
When the system determines that the vehicle might depart
from its lane or course
*, a warn-
ing is displayed on the multi-
information display, and a warn-
ing buzzer will sound to alert the
driver.
When the warning buzzer sounds,
check the area around your vehicle
and carefully operate the steering
wheel to move the vehicle back to
the center of the lane.
Vehicle with BSM: When the sys-
tem determines that the vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking vehicle in the adjacent
lane is high, the lane departure
alert will operate even if the turn
signals are operating.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
■Steering assist function
When the system determines
WARNING
●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 dirty 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, b rand or tread
pattern are used.
●When tires of a size other than
specified are installed.
●Snow tires, etc. are equipped.
●The vehicle is being driven at
extremely high speeds.
Functions included in
LTA system

2724-5. Using the driving support systems
that the vehicle might depart
from its lane or course
*, the sys-
tem provides assistance as nec-
essary by operating the steering
wheel in small amounts for a
short period of time to keep the
vehicle in its lane.
Vehicle with BSM: When the sys-
tem determines that the vehicle
might depart from its lane and that
the possibility of a collision with an
overtaking vehicle in the adjacent
lane is high, the steering assist
function will operate even if the turn
signals are operating.
*: Boundary between asphalt and the side of the road, such as
grass, soil, or a curb
■Vehicle sway warning func-
tion
When the vehicle is swaying
within a lane, the warning
buzzer will sound and a mes- sage will be displayed on the
multi-information display to alert
the driver.
■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 control
with full-speed range is not operat-
ing, the lane centering function
does not operate.
In situations where the white (yel-
low) lane lines are difficult to see or
are not visible, such as when in a
traffic jam, this function will operate
to help follow a preceding vehicle
by monitoring the position of the
preceding vehicle.