PRE-COLLISION: PRE-COLLISION SYSTEM: PRECAUTION; 2021 - 2024 MY Camry HV [10/2020

(1) The pre-collision system is enabled and the system determines that the possibility of a frontal collision with a detected object is high. The system may not operate in the following situations:

If a auxiliary battery terminal has been disconnected and reconnected and then the vehicle has not been driven 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)

(2) The operation speeds and operation cancellation for each function is listed below.

Pre-collision warning

Detectable objects	Vehicle speed	Relative speed between your vehicle and object
Preceding and stopped vehicles	Approximately 10 to 180 km/h (7 to 110 mph)	Approximately 10 to 180 km/h (7 to 110 mph)
Oncoming vehicles	Approximately 10 to 180 km/h (7 to 110 mph)	Approximately 20 to 180 km/h (13 to 110 mph)
Bicyclists and pedestrians	Approximately 10 to 80 km/h (7 to 50 mph)	Approximately 10 to 80 km/h (7 to 50 mph)

While the pre-collision warning function is operating, if the steering wheel is operated heavily or suddenly, the pre-collision warning may be cancelled.

Pre-collision brake assist

Detectable objects	Vehicle speed	Relative speed between your vehicle and object
Preceding and stopped vehicles	Approximately 30 to 180 km/h (20 to 110 mph)	Approximately 30 to 180 km/h (20 to 110 mph)
Bicyclists and pedestrians	Approximately 30 to 80 km/h (20 to 50 mph)	Approximately 30 to 80 km/h (20 to 50 mph)

Pre-collision braking

Detectable objects	Vehicle speed	Relative speed between your vehicle and object
Preceding and stopped vehicles	Approximately 10 to 180 km/h (7 to 110 mph)	Approximately 10 to 180 km/h (7 to 110 mph)
Oncoming vehicles	Approximately 10 to 180 km/h (7 to 110 mph)	Approximately 20 to 180 km/h (13 to 110 mph)
Bicyclists and pedestrians	Approximately 10 to 80 km/h (7 to 50 mph)	Approximately 10 to 80 km/h (7 to 50 mph)

If either of the following occur while the pre-collision braking function is operating, 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 assist will not operate in case of an emergency.

Detectable objects

Vehicle speed

Relative speed between your vehicle and object

Preceding and stopped vehicles

Bicyclists and pedestrians

Approximately 40 to 80 km/h (25 to 50 mph)

If any of the following occur while the emergency steering assist function is operating, it will be canceled:

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 oncoming vehicles does not work.

Detectable objects	Vehicle speed	Oncoming vehicle speed	Relative speed between your vehicle and object
Oncoming vehicles	Approximately 10 to 25 km/h (7 to 15 mph)	Approximately 30 to 55 km/h (20 to 35 mph)	Approximately 40 to 80 km/h (25 to 50 mph)
Pedestrians	Approximately 10 to 25 km/h (7 to 15 mph)	-	Approximately 10 to 25 km/h (7 to 15 mph)

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 oncoming vehicles does not work.

Detectable objects	Vehicle speed	Oncoming vehicle speed	Relative speed between your vehicle and object
Oncoming vehicles	Approximately 15 to 25 km/h (10 to 15 mph)	Approximately 30 to 45 km/h (20 to 28 mph)	Approximately 45 to 70 km/h (28 to 43 mph)
Pedestrians	Approximately 10 to 25 km/h (7 to 15 mph)	-	Approximately 10 to 25 km/h (7 to 15 mph)

(a) Conditions under which the system may operate even if there is no possibility of a collision.

In some situations such as the following, the system may determine that there is a possibility of a frontal collision and operate.

When passing a detectable object, etc.
When changing lanes while overtaking a detectable object, etc.
When approaching a detectable object in an adjacent lane or on the roadside, such as when changing the course of travel or driving on a winding road
When rapidly closing on a detectable object, etc.
When approaching objects on the roadside, such as detectable objects, guardrails, utility poles, trees, or walls
When there is a detectable object or other object by the roadside at the entrance of a curve
When there are patterns or paint in front of your vehicle that may be mistaken for a detectable object
When the front of your vehicle is hit by water, snow, dust, etc.
When overtaking a detectable object that is changing lanes or making a right/left turn
When passing a detectable object in an oncoming lane that is stopped to make a right/left turn
When a detectable object approaches very close and then stops before entering the path of your vehicle
If the front of your vehicle is raised or lowered, such as when on an uneven or undulating road surface
When driving on a road surrounded by a structure, such as in a tunnel or on an iron bridge
When there is a metal object (manhole cover, steel plate, etc.), steps, or a protrusion in front of your vehicle
When passing under an object (road sign, billboard, etc.)
When approaching an electric toll gate barrier, parking area barrier, or other barrier that opens and closes
When using an automatic car wash
When driving through or under 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 vehicles, 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

In some situations such as the following, an object may not be detected by the radar sensor and front camera, preventing the system from operating 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 deceleration)
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, guardrail, 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 detectable objects are close together
If the sun or other light is shining directly on a detectable object
When a detectable object is a shade of white and looks extremely bright
When a detectable object appears to be nearly the same color or brightness as its surroundings
If a detectable object cuts or suddenly emerges in front of your vehicle
When the front of your vehicle is hit by water, snow, dust, etc.
When a very bright light ahead, such as the sun or the headlights of oncoming traffic, shines directly into the front camera
When approaching the side or front of a vehicle ahead
If a vehicle ahead is a motorcycle
If a vehicle ahead is narrow, such as a personal mobility vehicle
If a preceding vehicle has a small rear end, such as an unloaded truck
If a preceding vehicle has a low rear end, such as a low bed trailer
If a vehicle ahead has extremely high ground clearance
If a vehicle ahead is carrying a load which protrudes past its rear bumper
If a vehicle ahead is irregularly shaped, such as a tractor or side car
If a pedestrian/or the riding height of a bicyclist ahead is shorter than approximately 1 m (3.2 ft.) or taller than approximately 2 m (6.5 ft.)
If a vehicle ahead is a child sized bicycle, a bicycle that is carrying a large load, a bicycle ridden by more than one person, or a uniquely shaped bicycle (bicycle with a child seat, tandem bicycle, etc.)
If a pedestrian/bicyclist is wearing oversized clothing (a rain coat, long skirt, etc.), making their silhouette obscure
If a pedestrian is bending forward or squatting or bicyclist is bending forward
If a pedestrian/bicyclist is moving fast
If a pedestrian is pushing a stroller, wheelchair, bicycle or other vehicle
When driving in inclement weather such as heavy rain, fog, snow or a sandstorm
When driving through steam or smoke
When the surrounding area is dim, such as at dawn or dusk, or while at night or in a tunnel, making a detectable object appear to be nearly the same color as its surroundings
When driving in a place where the surrounding brightness changes suddenly, such as at the entrance or exit of a tunnel
After the hybrid system has started the vehicle has not been driven for a certain amount of time
While making a left/right turn and for a few seconds after making a left/right turn
While driving on a curve and for a few seconds after driving on a curve
If your vehicle is skidding
If the front of the vehicle is raised or lowered
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 separated by more than one lane where oncoming vehicles are driving while making a right/left turn
When largely out of place with the opposite facing targeted oncoming vehicle during a right/left turn
While making a right/left turn, when a pedestrian approaches from behind or side of your vehicle

(d) In some situations such as the following, sufficient braking force or steering force may not be obtained, preventing the system from performing properly:

In the following situations, disable the system, as it may not operate properly, possibly leading to an accident resulting in death or serious injury:

(a) If a malfunction related to terminal contact or part installation occurs, removal and reinstallation of the suspected part may return the system to normal. However, this the normal condition may only be temporary.

(b) When determining the malfunctioning area, before disconnecting connectors or removing/installing parts, check for DTCs and note the vehicle condition and operations that were performed when the malfunction occurred (stored DTCs, etc.).

(c) Be sure to check for DTCs related to other systems. The pre-collision system may be influenced by malfunctions in other systems.

(a) When removing or installing any ECUs or sensors, make sure that the power switch is off unless otherwise specified in the procedure.

(b) After removing and installing any ECUs or sensor, make sure to check for DTCs and confirm that no DTCs are output.

(1) When replacing the millimeter wave radar sensor assembly, always replace it with a new one. If a millimeter wave radar sensor assembly which was installed to another vehicle is used, the information stored in the millimeter wave radar sensor assembly will not match the information from the vehicle and a DTC may be stored.

(2) When the millimeter wave radar sensor assembly has been replaced with a new one, it is necessary to perform millimeter wave radar sensor assembly beam axis alignment and to clear the vehicle control history. Before performing the Driving Adjustment, make sure to read Before Starting Driving Adjustment.

Beam axis alignment of the millimeter wave radar sensor assembly can be performed using either Triangle Target, Flat Surface Target or Driving Adjustment.

(1) When the forward recognition camera is replaced with a new one or the windshield glass is replaced or removed/installed, make sure to read Before Starting Adjustment, then perform optical axis alignment for the forward recognition camera and clear the vehicle control history for each system.

Forward recognition camera axis alignment can be performed by using either One Time Recognition, Sequential Recognition or Driving Adjustment.

(2) When replacing the forward recognition camera, always replace it with a new one. If a forward recognition camera which was installed to another vehicle is used, the information stored in the forward recognition camera will not match the information from the vehicle and a DTC may be stored.

(3) Do not damage the forward recognition camera lens or allow it to become dirty.

If the forward recognition camera lens has been touched, replace it with a new forward recognition camera.

(4) Do not reuse a forward recognition camera that has been dropped or subjected to a strong impact.

(1) When replacing the windshield glass of a vehicle equipped with a forward recognition camera, make sure to use a Toyota genuine part. If a non-Toyota genuine part is used, the forward recognition camera may not be able to be installed due to a missing bracket or the pre-collision system may not operate properly due to a difference in the transmissivity or black ceramic border.

(2) Do not attach stickers, including transparent stickers, or other items to the windshield glass near the forward recognition camera.

(a) The pre-collision system records data related to vehicle control and operation. Make sure to clear the data if requested by the customer.