PRE-COLLISION: PRE-COLLISION SYSTEM: PRECAUTION; 2022 MY RAV4 RAV4 HV [12/2021

The different types of forward recognition camera cover are shown in the table below.

(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 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 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 7 to 110 mph(10 to 180 km/h)	Approximately 7 to 110 mph(10 to 180 km/h)
Bicyclists and pedestrians	Approximately 7 to 50 mph(10 to 80 km/h)	Approximately 7 to 50 mph(10 to 80 km/h)

Pre-collision brake assist

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

Pre-collision braking

Detectable objects	Vehicle speed	Relative speed between your vehicle and object
Vehicles	Approximately 7 to 110 mph(10 to 180 km/h)	Approximately 7 to 110 mph(10 to 180 km/h)
Bicyclists and pedestrians	Approximately 7 to 50 mph(10 to 80 km/h)	Approximately 7 to 50 mph(10 to 80 km/h)

If either of the following occurs 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.

(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 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.)

(1) In some situations such as the following, an object may not be detected by the millimeter wave radar sensor assembly and forward recognition 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 forward recognition 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 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/or the riding height of a bicyclist ahead is shorter than approximately 3.2 ft.(1 m) or taller than approximately 6.5 ft. (2 m).
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.
for HV Model:
After the hybrid system has started the vehicle has not been driven for a certain amount of time
for Gasoline Model:
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:

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
for HV Model:
When the vehicle is raised on a lift with the hybrid system on and the tires are allowed to rotate freely
for Gasoline Model:
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

(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 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.

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

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

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.

(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.

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