Toyota Yaris: Front Camera / Before Starting Driving Adjustment

Toyota Yaris XP210 (2020-2024) Reapir and Service Manual / Engine & Hybrid System / Cruise Control / Front Camera / Before Starting Driving Adjustment




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. Also, the dynamic radar cruise control system, lane control system, pre-collision system, front camera system or automatic high beam system may not operate properly due to a difference in the transmissivity or black ceramic border.


  • Purpose of forward recognition camera optical axis learning:
    • If the installation position or orientation of the forward recognition camera is changed due to it being replaced with a new one or the windshield glass sub-assembly being replaced or removed and installed, it is necessary to perform forward recognition camera optical axis learning for the forward recognition camera to learn the driving direction of the vehicle and its horizontal axis in order for each driving support system to operate correctly.
  • Driving direction of vehicle and horizontal axis


    Driving Direction


    Horizontal Axis

    • Before adjustment


      When using a new forward recognition camera


      When reusing forward recognition camera


      Previously learned driving direction



    • After adjustment


      Newly learned driving direction




  • When performing the driving adjustment, obey all applicable traffic laws.
  • Select a road where the driving adjustment can be carried out safely.

(a) Driving adjustment concept

  • Based on the observed movement in external imaging data (white lines, buildings, etc.) captured by the forward recognition camera while the vehicle is being driven, the vehicle driving direction is calculated and stored within the camera, and in this way adjustment is performed.
  • The time required before adjustment is completed varies according to the vehicle speed and external conditions.


Vehicle driving direction


Movement detected in external imaging data

(b) Driving conditions

  • Perform the adjustment outside during daytime, on a sunny or cloudy day.
  • If preceding vehicles are present, they should be kept at a distance of at least 20 m (66 ft.)
  • Perform the adjustment mainly on a straight road without incline or decline, with a dry and smooth road surface.
  • Steer the vehicle straight without drifting or wobbling, and avoid sudden acceleration or deceleration.
  • Drive at a vehicle speed of 40 km/h or more.

After driving the vehicle with all conditions met for approximately 5 to 15 minutes cumulatively, the adjustment will be completed.


  • If the adjustment does not complete even after driving for 15 minutes or more, change to a different driving route.
  • If the adjustment does not complete even after driving for 30 minutes or more, perform adjustment by target recognition.

(c) Road environment


When driving on a bumpy or unpaved road, making frequent accelerations and decelerations, etc., the camera condition may be unstable, which may cause adjustment to take a long time.

  • Road environments conducive to adjustment


    Roads with continuous white lines


    Roads with objects such as buildings or utility poles

  • Road environments which hinder adjustment


    Roads with scenery that does not change


    Backlit or high-glare environments


    When surrounded by moving vehicles



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