Toyota Yaris: Millimeter Wave Radar Sensor / Before Starting Driving Adjustment

Toyota Yaris XP210 (2020-2023) Reapir and Service Manual / Engine & Hybrid System / Cruise Control / Millimeter Wave Radar Sensor / Before Starting Driving Adjustment




  • Purpose of millimeter wave radar beam axis learning
    • If the installation position or orientation of the millimeter wave radar sensor is changed due to it being removed and reinstalled or replaced with a new one, or due to the front bumper or radiator grille being replaced, it is necessary for the millimeter wave radar sensor to learn the driving direction of the vehicle in order for each driving support system to operate correctly.
  • Vehicle driving direction


    Vehicle driving direction

    • Adjustment


      When using a new millimeter wave radar sensor


      When reusing millimeter wave radar sensor


      Millimeter wave radar sensor after adjustment


      Previously learned driving direction


      Newly learned driving direction


      Horizontal direction


      Vertical 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

  • The millimeter wave radar sensor emits radio waves in the millimeter wave band, and if objects that reflect these radio waves are present within the detection range, the system uses those reflected waves to detect the distance to, direction of, and relative speed of those objects.
  • The distance to the detected object is detected using the time delay between when the radio wave is emitted and when the reflected wave is detected; the direction of the object is calculated using the phase difference of the received radio waves, and the speed is detected using the frequency shift of the reflected waves.
  • On curves, the estimated curve radius is used to perform course compensation.
  • The time required before adjustment is completed varies according to the vehicle speed and external conditions.


Movement in external environment

(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.)
  • Stationary objects such as guard rails should be present.
  • Drive the vehicle straight ahead at a speed of 40 km/h or more.
  • Ensure that there is no snow, ice, or foreign matter on the front or rear of the radar sensor cover or on the front surface of the sensor.
  • Make sure that no covers other than the genuine radar sensor cover are installed.
  • Drive on a road that does not have heavy snow accumulation around it.


If the sensor axis is excessively misaligned, the online axis alignment may not be able to make progress.

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

(c) Road environment


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

  • Road environments conducive to adjustment


    Roads with stationary metallic objects such as guard rails

  • Road environments which hinder adjustment


    Inside tunnels where there are many diffuse


    Underneath elevated structures where there are many diffuse radar reflections


    In residential neighborhoods where there are many diffuse radar reflections


    Roads where there are very few radar reflections


    INSTALLATION PROCEDURE 1. INSTALL MILLIMETER WAVE RADAR SENSOR ASSEMBLY NOTICE: If the millimeter wave radar sensor assembly has been struck or dropped, replace the millimeter wave radar sensor assembly with a new one...

    Driving Adjustment

    DRIVING ADJUSTMENT CAUTION / NOTICE / HINT NOTICE: Make sure to read Before Starting Driving Adjustment before proceeding with work. Click here Make sure to perform the transition to online axis alignment mode with the vehicle stopped...

    Other information:

    Toyota Yaris XP210 (2020-2023) Reapir and Service Manual: External BBC Circuit (P33B300)

    DESCRIPTION When the engine is started (high electrical load) from engine stopped by the stop and start control, the external backup boost converter (eco run vehicle converter assembly) supplements auxiliary battery voltage in order to prevent the function from being disabled due to decrease in power source voltage supplied to the navigation system...

    Toyota Yaris XP210 (2020-2023) Reapir and Service Manual: Data List / Active Test

    DATA LIST / ACTIVE TEST DATA LIST NOTICE: In the following table, the values listed under "Normal Condition" are reference values. Do not depend solely on these reference values when deciding whether a part is faulty or not. HINT: Using the GTS to read the Data List allows the values or states of switches, sensors, actuators and other items to be read without removing any parts...


    Supplemental Restraint System (SRS) Precautions

    The front and side supplemental restraint systems (SRS) include different types of air bags. Please verify the different types of air bags which are equipped on your vehicle by locating the “SRS AIRBAG” location indicators. These indicators are visible in the area where the air bags are installed.

    The air bags are installed in the following locations:

    The steering wheel hub (driver air bag) The front passenger dashboard (front passenger air bag) The outboard sides of the front seatbacks (side air bags) The front and rear window pillars, and the roof edge along both sides (curtain air bags)

    read more

    Copyright © 2023