Toyota Yaris: Pre-collision System / Precaution

Toyota Yaris XP210 (2020-2024) Reapir and Service Manual / Vehicle Interior / Pre-collision / Pre-collision System / Precaution

PRECAUTION

PRECAUTION FOR DISCONNECTING CABLE FROM NEGATIVE AUXILIARY BATTERY TERMINAL

NOTICE:

  • When disconnecting the cable from the negative (-) auxiliary battery terminal, some systems must be initialized after the cable is reconnected.

    Click here

  • If the auxiliary battery has been discharged and charged or the cable has been disconnected and reconnected to the negative (-) auxiliary battery terminal, perform Steering Sensor Zero Point Calibration.

    Click here

CAUTION:

When driving on public roads, obey all speed limits and traffic laws.

PRE-COLLISION SYSTEM OPERATION CONDITIONS

(a) Operational conditions

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

  • If an 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 pre-collision system is enabled and the system determines that the possibility of a frontal collision with a vehicle is high. 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

    Vehicles

    Approximately 10 to 180 km/h (7 to 110 mph)

    Approximately 10 to 180 km/h (7 to 110 mph)

  • Pre-collision brake assist

    Detectable objects

    Vehicle speed

    Relative speed between your vehicle and object

    Vehicles

    Approximately 30 to 180 km/h (20 to 110 mph)

    Approximately 30 to 180 km/h (20 to 110 mph)

  • Pre-collision braking

    Detectable objects

    Vehicle speed

    Relative speed between your vehicle and object

    Vehicles

    Approximately 10 to 180 km/h (7 to 110 mph)

    Approximately 10 to 180 km/h (7 to 110 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.

HANDLING PRECAUTION FOR PRE-COLLISION SYSTEM

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

(1) 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 vehicle or other object.
  • When changing lanes while overtaking a preceding vehicle.
  • When approaching a vehicle in an adjacent lane or on the roadside, such as when changing the course of travel.
  • When rapidly closing on a vehicle ahead.
  • When approaching a vehicle or object on the roadside, such as a guardrails, utility poles, trees, or walls.
  • When there is a vehicle or 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 vehicle.
  • When the front of your vehicle is hit by water, snow, dust, etc.
  • When overtaking a preceding vehicle that is changing lanes or making a right/left turn.
  • When passing an oncoming vehicle that is stopped to make a right/left turn.
  • When a vehicle ahead 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.)

(b) Situations in which the system may not operate properly

(1) In some situations such as the following, a vehicle may not be detected by the millimeter wave radar sensor assembly and forward recognition camera, preventing the system from operating properly:

  • When an oncoming vehicle is approaching your vehicle.
  • When your vehicle or a vehicle ahead is wobbling.
  • If a vehicle ahead makes an abrupt maneuver (such as sudden swerving, acceleration or deceleration).
  • When your vehicle approaches a vehicle ahead rapidly.
  • When a vehicle ahead is not directly in front of your vehicle.
  • When a vehicle ahead is near a wall, fence, guardrail, manhole cover, steel plate on the road, another vehicle, etc.
  • When a vehicle ahead is under a structure.
  • When part of a vehicle ahead is hidden by an object.
  • 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 vehicles ahead are close together.
  • If the sun or other light is shining directly on a vehicle ahead.
  • When a vehicle ahead is a shade of white and looks extremely bright.
  • When a vehicle ahead appears to be nearly the same color or brightness as its surroundings.
  • If a vehicle 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 forward recognition camera.
  • When approaching the side or front of a vehicle ahead.
  • If a vehicle ahead is a motorcycle or bicycle.
  • 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.
  • 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 vehicle ahead 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 engine 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 forward recognition camera.
  • The vehicle is being driven at extremely high speeds.
  • When driving on a hill.
  • If the millimeter wave radar sensor assembly or forward recognition camera is misaligned.

(c) In some situations such as the following, sufficient braking 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, extremely hot, or wet.
  • If the vehicle is not properly maintained (brakes or tires are excessively worn, improper 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.

(d) If VSC is disabled:

  • If VSC is disabled, the pre-collision brake assist and pre-collision braking functions are also disabled.
  • The PCS warning light will turn on and "VSC Turned Off Pre-Collision Brake System Unavailable" will be displayed on the multi-information display.

PRECAUTION BEFORE SERVICING

(a) When to disable the pre-collision system

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

  • When the vehicle is being towed
  • When the vehicle is towing another vehicle
  • When transporting the vehicle via truck, boat, train or similar means of transportation
  • When the vehicle is raised on a lift with the engine running and the tires are allowed to rotate freely
  • When inspecting the vehicle using a drum tester such as a chassis dynamometer or speedometer tester, or when using an on vehicle wheel balancer
  • When a strong impact is applied to the front bumper or front grille, due to an accident or other reasons
  • If the vehicle cannot be driven in a stable manner, such as when the vehicle has been in an accident or is malfunctioning
  • When the vehicle is driven in a sporty manner or off-road
  • When the tires are not properly inflated
  • When the tires are very worn
  • When tires of a size other than specified are installed
  • When tire chains are installed
  • When a compact spare tire or an emergency tire puncture repair kit is used
  • If equipment (snow plow, etc.) that may obstruct the millimeter wave radar sensor assembly or forward recognition camera is temporarily installed to the vehicle

TROUBLESHOOTING PRECAUTIONS

(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) Before disconnecting connectors or removing/installing parts, determine the malfunctioning area by checking and writing down the vehicle conditions (output DTCs, etc.) at the time the malfunction occurred.

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

(d) The pre-collision system uses the CAN communication system. First, confirm that there are no malfunctions in the CAN communication system. Refer to How to Proceed with Troubleshooting.

HANDLING PRECAUTIONS

(a) When removing and installing ECUs, sensors, switches or other pre-collision system related parts, perform the following:

  • Make sure that the ignition switch is off unless otherwise specified in the procedure.
  • After removal/installation, check for DTCs and confirm that a normal system code is output.

PRECAUTION WHEN REPLACING COMPONENTS

(a) Millimeter Wave Radar Sensor Assembly:

(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.

HINT:

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

Triangle Target: Click here

Flat Surface Target: Click here

Driving Adjustment: Click here

(3) When replacing the millimeter wave radar sensor assembly, always check that ECU security key is registered.

Click here

(b) Forward Recognition Camera:

(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.

HINT:

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

One Time Recognition: Click here

Sequential Recognition: Click here

Driving Adjustment: Click here

(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 dirty or damage the lens when replacing the forward recognition camera.

HINT:

If the forward recognition camera lens is touched, replace the forward recognition camera with a new one.

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

(c) Windshield Glass:

(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 outer side of the windshield glass assembly within the area in front of the forward recognition camera.

PRECAUTIONS FOR RECORDED DATA

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

Click here

    Pre-collision System

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    Parts Location

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