TOYOTA YARIS CROSS 2022 Owners Manual

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4-5. Using the driving support systems
Driving
●Preceding vehicle has an extremely
high ground clearance
■Conditions under which the vehi-
cle-to-vehicle distance control mode may not function correctly
In the case of the following conditions,
operate the brake pedal (or accelerator pedal, depending on the situation) as necessary.
As the sensor may not be able to cor- rectly detect vehicles ahead, the system may not operate properly.
●When the road curves or when the lanes are narrow
●When steering wheel operation or your position in the lane is unstable
●When the vehicle ahead of you decel-
erates 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 the vehicle accelerates by depressing the accel-
erator pedal

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*: If equipped
In vehicle-to-vehicle distance con-
trol mode, the vehicle automati-
cally accelerates and decelerates
to match the speed changes of the
preceding vehicle even if the accel-
erator pedal is not depressed. In
constant speed control mode, the
vehicle runs at a fixed speed.
Use the dynamic radar cruise con-
trol on freeways and highways.
 Vehicle-to-vehicle distance con-
trol mode ( P.252)
 Constant speed control mode
( P.256)
■Meter display
Multi-information display
Set speed
Indicators
■Operation switches
Vehicle-to-vehicle distance
switch
“+RES” switch
Cancel switch
“-SET” switch
Cruise control main switch
Dynamic radar cruise
control*
Summary of functions
System components
WARNING
■Before using dynamic radar cruise control
●Driving safely is the sole responsi-bility of the driver. Do not rely solely on the system, and drive safely by
always paying careful attention to your surroundings.
●The dynamic radar cruise control provides driving assistance to
reduce the driver’s burden. How- ever, there are limitations to the assistance provided.
Read the following conditions care-
fully. Do not overly rely on this system
and always drive carefully.
• When the sensor may not be cor- rectly detecting the vehicle ahead:  P.259
• Conditions under which the vehicle- to-vehicle distance control mode may not function correctly: P.260

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Driving
WARNING
●Set the speed appropriately depending on the speed limit, traffic
flow, road conditions, weather con- ditions, etc. The driver is responsi-ble for checking the set speed.
●Even when the system is function-ing normally, the condition of the
preceding vehicle as detected by the system may differ from the con-dition observed by the driver.
Therefore, the driver must always remain alert, assess the danger of each situation and drive safely.
Relying solely on this system or assuming the system ensures safety while driving can lead to an
accident, resulting in death or seri- ous injury.
●Switch the dynamic radar cruise control setting to off, using the cruise control main switch when not
in use.
■Cautions regarding the driving
assist systems
Observe the following precautions, as there are limitations to the assistance
provided by the system. Failure to do so may cause an accident resulting in death or serious injury.
●Assisting the driver to measure fol-lowing distance
The dynamic radar cruise control is
only intended to help the driver in
determining the following distance
between the driver’s own vehicle and
a designated vehicle traveling ahead.
It is not a mechanism that allows
careless or inattentive driving, and it
is not a system that can assist the
driver in low-visibility conditions.
It is still necessary for driver to pay
close attention to the vehicle’s sur-
roundings.
●Assisting the driver to judge proper following distance
The dynamic radar cruise control
determines whether the following dis-
tance between the driver’s own vehi-
cle and a designated vehicle traveling
ahead is within a set range. It is not
capable of making any other type of
judgement. Therefore, it is absolutely
necessary for the driver to remain vig-
ilant and to determine whether or not
there is a possibility of danger in any
given situation.
●Assisting the driver to operate the vehicle
The dynamic radar cruise control
does not include functions which will
prevent or avoid collisions with vehi-
cles ahead of your vehicle. Therefore,
if there is ever any possibility of dan-
ger, the driver must take immediate
and direct control of the vehicle and
act appropriately in order to ensure
the safety of all involved.
■Situations unsuitable for
dynamic radar cruise control
Do not use dynamic radar cruise con- trol in any of the following situations.
Doing so may result in inappropriate speed control and could cause an accident resulting in death or serious
injury.
●Roads where there are pedestrians,
cyclists, etc.
●In heavy traffic
●On roads with sharp bends
●On winding roads
●On slippery roads, such as those
covered with rain, ice or snow

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4-5. Using the driving support systems
This mode employs a radar to detect the presence of vehicles up to approx-
imately 100 m (328 ft.) ahead, d etermines the current vehicle-to-vehicle fol-
lowing distance, and operates to maintain a suitable following distance from
the vehicle ahead. The desired vehicle-to-vehicle distance can also be set
by operating the vehicle-to-vehicle distance switch.
When driving on downhill slopes, the vehicle-to-vehicle distanc e may become
shorter.
WARNING
●On steep downhills, or where there are sudden changes between sharp
up and down gradients
Vehicle speed may exceed the set speed when driving down a steep hill.
●At entrances to freeways and high-ways
●When weather conditions are bad enough that they may prevent the
sensors from detecting correctly (fog, snow, sandstorm, heavy rain, etc.)
●When there is rain, snow, etc., on the front surface of the radar or
front camera
●In traffic conditions that require fre-
quent repeated acceleration and deceleration
●When your vehicle is towing a trailer or during emergency towing
●When an approach warning buzzer is heard often
Driving in vehicle-to-vehicle distance control mode

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Driving
Example of constant speed cruising
When there are no vehicles ahead
The vehicle travels at the speed set by the driver.
Example of deceleration cruising and follow-up cruising
When a preceding vehicle driving slower than the set speed appe ars
When a vehicle is detected running ahead of you, the system automatically deceler-
ates your vehicle. When a greater reduction in vehicle speed is necessary, the sys-
tem applies the brakes (the stop lights will come on at this ti me). The system will
respond to changes in the speed of the vehicle ahead in order t o maintain the vehi-
cle-to-vehicle distance set by the driver. Approach warning war ns you when the sys-
tem cannot decelerate sufficiently to prevent your vehicle from closing in on the
vehicle ahead.
When the turn signal lever is operated and your vehicle moves t o an overtaking lane
while driving at 80 km/h (50 mph) or more, the vehicle will acc elerate to help to over-
take a passing vehicle.
The system’s identification of what is an overtaking lane may b e determined solely
based on the location of the steering wheel in the vehicle (lef t side driver position
versus right side driver position.) If the vehicle is driven to a region where the over-
taking lane is on a different side from where the vehicle is no rmally driven, the vehi-
cle may accelerate when the turn signal lever is operated in th e opposite direction to
the overtaking lane (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 over-
taking lane is to the left, the vehicle may accelerate when the right turn signal is acti-
vated).
Example of acceleration
When there are no longer any preceding vehicles driving slower than the

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4-5. Using the driving support systems
set speed
The system accelerates until the set speed is reached. The system then returns to
constant speed cruising.
1 Press the cruise control main
switch to activate the cruise con-
trol.
Dynamic radar cruise control indicator will come on and a message will be dis-
played on the multi-information display. Press the switch again to deactivate the cruise control.
If the cruise control main switch is pressed and held for 1.5 seconds or more, the system turns on in constant
speed control mode. ( P.256)
“Radar Ready”
2 Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) and press the “-SET”
switch to set the speed.
Cruise control “SET” indicator will come on.
The vehicle speed at the moment the
switch is released becomes the set
speed.
■Adjusting the set speed by the
switch
To change the set speed, press the
“+RES” or “-SET” switch until the
desired set speed is displayed.
1 Increases the speed
2 Decreases the speed
Fine adjustment: Press the switch.
Large adjustment: Press and hold the
switch to change the speed, and
release when the desired speed is
reached.
In the vehicle-to-vehicle distance
control mode, the set speed will be
Setting the vehicle speed
(vehicle-to-vehicle distance
control mode)
Adjusting the set speed

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Driving
increased or decreased as follows:
Fine adjustment: By 1 km/h (0.6 mph)*1
or 1 mph (1.6 km/h)*2 each time the
switch is pressed
Large adjustment: Increases or
decreases in 5 km/h (3.1 mph)*1 or 5
mph (8 km/h)*2 increments for as long
as the switch is held
In the constant speed control mode
( P.256), the set speed will be
increased or decreased as follows:
Fine adjustment: By 1 km/h (0.6 mph)*1
or 1 mph (1.6 km/h)*2 each time the
switch is pressed
Large adjustment: The speed will con-
tinue to change while the switch is held.
*1: When the set speed is shown in
“km/h”
*2: When the set speed is shown in
“MPH”
■Increasing the set speed by
the accelerator pedal
1 Accelerate with accelerator
pedal operation to the desired
vehicle speed
2 Press the “-SET” switch
Pressing the switch changes the
vehicle-to-vehicle distance as fol-
lows:
1 Long
2 Medium
3 Short
If a vehicle is running ahead of you, the
preceding vehicle mark will also be
displayed.
Select a distance from the table
below. Note that the distances
shown correspond to a vehicle
speed of 80 km/h (50 mph). Vehi-
cle-to-vehicle distance
increases/decreases in accor-
dance with vehicle speed.
Changing the vehicle-to-
vehicle distance (vehicle-to-
vehicle distance control
mode)
Vehicle-to-vehicle distance
settings (vehicle-to-vehicle
distance control mode)
Distance
options
Vehicle-to-vehicle dis-
tance
LongApproximately 50 m (160
ft.)
MediumApproximately 40 m (130
ft.)
ShortApproximately 30 m (100
ft.)

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4-5. Using the driving support systems
1Pressing the cancel switch can-
cels the speed control.
The speed control is also canceled
when the brake pedal is depressed.
2 Pressing the “+RES” switch
resumes the cruise control and
returns vehicle speed to the set
speed.
However, cruise control does not
resume when the vehicle speed is
approximately 25 km/h (16 mph) or
less.
When your vehicle is too close to a
vehicle ahead, and sufficient auto-
matic deceleration via the cruise
control is not possible, the display
will flash and the buzzer will sound
to alert the driver. An example of
this would be if another driver cuts
in front of you while you are follow-
ing a vehicle. Depress the brake
pedal to ensure an appropriate
vehicle-to-vehicle distance.
■Warnings may not occur when
In the following instances, warnings
may not occur even when the vehi-
cle-to-vehicle distance is small.
 When the speed of the preceding
vehicle matches or exceeds your
vehicle speed
 When the preceding vehicle is
traveling at an extremely slow
speed
 Immediately after the cruise con-
trol speed was set
 When depressing the accelerator
pedal
When constant speed control mode
is selected, your vehicle will main-
tain a set speed without controlling
the vehicle-to-vehicle distance.
Select this mode only when vehi-
cle-to-vehicle distance control
mode does not function correctly
due to a dirty radar, etc.
1 With the cruise control off, press
and hold the cruise control main
switch for 1.5 seconds or more.
Canceling and resuming the
speed control
Approach warning (vehicle-
to-vehicle distance control
mode)
Selecting constant speed
control mode

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Driving
Immediately after the switch is pressed,
the dynamic radar cruise control indica- tor will come on. Afterwards, it switches to the cruise control indicator.
Switching to constant speed control mode is only possible when operating the switch with the cruise control off.
2 Accelerate or decelerate, with
accelerator pedal operation, to
the desired vehicle speed (at or
above approximately 30 km/h
[20 mph]) and press the “-SET”
switch to set the speed.
Cruise control “SET” indicator will come on.
The vehicle speed at the moment the switch is released becomes the set speed.
Adjusting the speed setting: P. 2 5 4
Canceling and resuming the speed set- ting: P. 2 5 6
When this function is enabled and
the system is operating in vehicle-
to-vehicle distance control mode
( P.252), when a speed limit sign
is detected, the recognized speed
limit will be displayed with an
up/down arrow. The set speed can
be increased/reduced to the recog-
nized speed limit by pressing and
holding the “+RES”/“-SET” switch.
 When the current set speed is
lower than the recognized speed
limit
Press and hold the “+RES” switch.
 When the current set speed is
higher than the recognized
speed limit
Dynamic Radar Cruise Con-
trol with Road Sign Assist (if
equipped)

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Press and hold the “-SET” switch.
Dynamic Radar Cruise Control with
Road Sign Assist can be
enabled/disabled in on the
multi-information display. ( P.457)
When the Dynamic Radar Cruise
Control with Road Sign Assist is
operating, while driving down a hill,
the vehicle speed may exceed the
set speed.
In this case, the displayed set vehi-
cle speed will be highlighted and a
buzzer will sound to alert the driver.
■Dynamic radar cruise control can be set when
●The shift lever is in range 2nd or higher.
●Depending on the control mode, this item can be set at the following
speeds. • Vehicle-to-vehicle distance control mode: Approximately 30 km/h (20
mph) or more • Constant speed control mode: Approximately 30 km/h (20 mph) or
more
■Accelerating after setting the vehi- cle speed
The vehicle can accelerate by operating
the accelerator pedal. After accelerat- ing, the set speed resumes. However, during vehicle-to-vehicle distance con-
trol mode, the vehicle speed may decrease below the set speed in order to maintain the distance to the preceding
vehicle.
■Shift position selection
Select a shift position according to the vehicle speed. If the engine speed is too high or too low, control may be automat-
ically canceled.
■Automatic cancelation of vehicle- to-vehicle distance control mode
Vehicle-to-vehicle distance control mode
is automatically canceled in the follow- ing situations.
●Actual vehicle speed falls below approximately 25 km/h (16 mph).
●VSC is activated.
●TRC is activated for a period of time.
●When the VSC or TRC system is turned off.
●The sensor cannot detect correctly because it is covered in some way.
●When the brake control or output restriction control of a driving support
system operates. (For example: Pre- Collision System, Drive-Start Control)
●When the shift lever is in N or the clutch pedal is depressed for a certain amount of time or more.
●The parking brake is operated.
If vehicle-to-vehicle distance control
mode is automatically canceled for any reasons other than the above, there may be a malfunction in the system.
Contact any authorized Toyota retailer or Toyota authorized repairer, or any reli-able repairer.
■Automatic cancelation of constant
speed control mode
Constant speed control mode is auto- matically canceled in the following situa-
tions:
●Actual vehicle speed is more than
approximately 16 km/h (10 mph) below the set vehicle speed.
●Actual vehicle speed falls below approximately 30 km/h (20 mph).
●VSC is activated.
Enabling/Disabling the
Dynamic Radar Cruise Con-
trol with Road Sign Assist (if
equipped)