System Description [12/2017 - 10/2020]

1. *1: w/ Headup Display System
2. *2: w/o Vacuum Brake Booster
3. *3: w/ Vacuum Brake Booster
4. *4: w/ Panoramic View Monitor System

1. Initiation Condition (When all of the following conditions are met, the driving torque restriction control is performed.)
   • The parking support brake system is turned on.
   • An static objects is detected by an ultrasonic sensor.
   • The vehicle speed is 15 km/h (9 mph) or less.
   • Collision is avoidable if emergency braking is performed by the driver.
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • No obstruction is detected by the ultrasonic sensors.
   • A possible collision is avoided.

1. Initiation Condition (When all of the following conditions are met, brake control is performed.)
   • Driving torque restriction control is performed.
   • A collision is likely even if emergency braking is performed by the driver.
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • The brake pedal is depressed after the vehicle is stopped by brake control.
   • Approximately 2 seconds have elapsed since the vehicle was stopped by brake control.
   • No obstruction is detected by the ultrasonic sensors.

1. When brake control operates, the parking support brake system automatically turns off. The system remains off until it is turned on by an operation on the multi-information display screen, the object of brake control goes away, approximately the entire length of the vehicle, the vehicle moves forward approximately the entire length of the vehicle, or the engine switch is turned off and back on (IG).

   Parking support brake system (static objects) operation 

   Fig 1: Parking Support Brake System (Static Objects) Operation

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Initiation Condition (When all of the following conditions are met, the driving torque restriction control is performed.)
   • The parking support brake system is turned on.
   • The shift position is in R.
   • When a vehicle is approaching the right or left at the rear of the vehicle.
   • The speed of an approaching vehicle from the rear is 8 km/h (5 mph) or more.
   • The vehicle speed is 15 km/h (9 mph) or less.
   • When a collision with an approaching vehicle is imminent
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • When the vehicle approaching the right or left at the rear of the vehicle is no longer detected.
   • A possible collision is avoided.

1. Initiation Condition (When all of the following conditions are met, brake control is performed.)
   • Driving torque restriction control is performed.
   • A collision is likely even if emergency braking is performed by the driver.
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • The brake pedal is depressed after the vehicle is stopped by brake control.
   • Approximately 2 seconds have elapsed since the vehicle was stopped by brake control.
   • When the vehicle approaching the right or left at the rear of the vehicle is no longer detected.

1. When brake control operates, the parking support brake system automatically turns off. The system remains off until it is turned on by an operation on the multi-information display screen, the object of brake control goes away, the vehicle reverses approximately 300 mm (11.8 in.) or more, or the engine switch is turned off and back on (IG).

   Parking support brake system (rear crossing vehicles) operation 

   Fig 2: Parking Support Brake System (Rear Crossing Vehicles) Operation

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Initiation Condition (When all of the following conditions are met, the driving torque restriction control is performed.)
   • The parking support brake system is turned on.
   • The shift position is in R.
   • The vehicle speed is 15 km/h (9 mph) or less.
   • Possibility of collision with pedestrian behind vehicle.
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • A possible collision is avoided.
   • Pedestrians behind vehicle are no longer there.

1. Initiation Condition (When all of the following conditions are met, brake control is performed.)
   • Driving torque restriction control is performed.
   • A collision is likely even if emergency braking is performed by the driver.
2. Cancellation Condition (When any of the following conditions are met, driving torque restriction control is canceled.)
   • The parking support brake system is turned off.
   • The brake pedal is depressed after the vehicle is stopped by brake control.
   • Approximately 2 seconds have elapsed since the vehicle was stopped by brake control.
   • Pedestrians behind vehicle are no longer there.

1. When the system operates up to the brake control, the parking support brake system switch turns off automatically, and remains off until either the driver performs the parking support brake system switch on operation, the pedestrians to the rear of the vehicle disappear or the driver reverses the vehicle by 300 mm (11.8 in.) or more.

Parking support brake system (rear pedestrians) operation 

Fig 3: Parking Support Brake System (Rear Pedestrians) Operation

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

1. Environmental influence
   • There is an obstacle on the shoulder of the road (when the vehicle is driven in a narrow tunnel, on a narrow bridge or on a narrow road).
     Fig 4: Driving In A Narrow Tunnel, On A Narrow Bridge Or On A Narrow Road

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The vehicle is being driven on grass or a gravel road.
     Fig 5: Driving On Grass Or A Gravel Road

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The vehicle is driven toward a banner or flag, a low-hanging branch or a boom barrier (such as those used at railroad crossings, toll gates and parking lots).
     Fig 6: Driving Toward A Banner Or Flag, A Low-Hanging Branch Or A Boom Barrier

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

     HINT: 

     Even if the parking support brake system operates while on a railroad crossing, brake control will be automatically be canceled after approximately 2 seconds. Brake control can also be canceled by depressing the brake pedal. After brake control is canceled, depress the accelerator pedal to drive out of the railroad crossing.

   • The vehicle is close to other vehicles while being parallel parked.
     Fig 7: Close To Other Vehicles While Being Parallel Parked

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The vehicle is being driven on a steep slope.
     Fig 8: Driving On A Steep Slope

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • There are objects located lower than the ultrasonic sensors.
     Fig 9: Objects Located Lower Than The Ultrasonic Sensors

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The vehicle is being driven on a narrow road.
     Fig 10: Driving On A Narrow Road

     Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • There is a rut or hole in the surface of the road.
   • When the vehicle is driven on a metal cover (grating), such as those used for drainage ditches.
2. Influence from the weather
   Fig 11: Influence From The Weather

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • In severe weather such as fog, snow or a sandstorm.
   • Foreign matter such as snow, ice or mud is attached to an ultrasonic sensor. (The system returns to normal when the foreign matter is removed.)
   • When there is a downpour, or water is splashing on the vehicle.
   • Water is covering an ultrasonic sensor due to a flooded road.
3. Influence from other ultrasonic waves
   • When ultrasonic waves are received from the horn or parking sonar system of another vehicle, a motorcycle engine, or the air brakes of a large vehicle.
   • Electronic components such as a backlit license plate (especially fluorescent types), fog lights, a fender pole or a wireless antenna are installed near an ultrasonic sensor.
4. Changes in the vehicle.
   Fig 12: Changes In The Vehicle

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The height of the vehicle has drastically changed due to loading (the nose tilts up or down).
   • The vehicle is significantly tilted.
   • An ultrasonic sensor is misaligned due to a collision, etc.
5. Others
   Fig 13: Vehicle Is Being Loaded Onto A Ship, Truck Or Other Transport Vessel

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
   • The vehicle is being loaded onto a ship, truck or other transport vessel.
   • The vehicle is being operated on a drum tester such as a speedometer tester, brake/speedometer combination tester or chassis dynamometer.
   • When the vehicle is being towed.

• When a vehicle is travelling along a road that is located extremely close to a parking space.
  Fig 14: When A Vehicle Is Travelling Along A Road That Is Located Extremely Close To A Parking Space

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• When a vehicle is entering an adjacent parking space.
  Fig 15: When A Vehicle Is Entering An Adjacent Parking Space

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• When an object is passing extremely close to the vehicle.
  Fig 16: When An Object Is Passing Extremely Close To The Vehicle

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• When there is a metal object behind the vehicle such as a guard rail, wall, traffic sign or parked vehicle that easily reflects radio waves.
  Fig 17: When There Is A Metal Object Behind The Vehicle Such As A Guard Rail, Wall, Traffic Sign Or Parked Vehicle That Easily Reflects Radio Waves

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

• Solid objects (pillars, pylons, fences, parked vehicles, etc.)
  Fig 18: Solid Objects (Pillars, Pylons, Fences, Parked Vehicles, Etc.)

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• Moving objects (such as passing vehicles, motorcycles, etc.)
  Fig 19: Moving Objects (Such As Passing Vehicles, Motorcycles, Etc.)

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• Moving objects (such as flags, exhaust gas, large drops of rain, large snowflakes, rainwater on roads, etc.)
  Fig 20: Moving Objects (Such As Flags, Exhaust Gas, Large Drops Of Rain, Large Snowflakes, Rainwater On Roads, Etc.)

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• Patterns on roads (white lines, pedestrian crossings, stones, streetcar rails, repaired areas, fallen leaves, gravel, etc.)
  Fig 21: Patterns On Roads (White Lines, Pedestrian Crossings, Stones, Streetcar Rails, Repaired Areas, Fallen Leaves, Gravel, Etc.)

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

  Surrounding objects reflected off puddles or wet road surfaces.

• Shadows.
  Fig 22: Shadows.

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• Driving onto an area with a difference in height.
  Fig 23: Driving Onto An Area With A Difference In Height.

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

  Grating, ditches and gutters.

  Sides of roads and steps.

• The vehicle is extremely tilted (loaded, suddenly braking, etc.).

  A lowered suspension or tire with a different diameter than a genuine tire, etc. is installed.

  There are changes in gradient.

  Fig 24: There Are Changes In Gradient.

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
• The camera is dirty (dirty, snow-melting agents, etc.).
  Fig 25: The Camera Is Dirty (Dirty, Snow-Melting Agents, Etc.).

  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

  Water drops are moving over the camera lens.

1. Others
   • An aftermarket accessory (backlit license plate, fog light, etc.) is installed near the rear camera.
   • An aftermarket protective part is installed to the rear bumper (bumper trim, etc.).
   • The axis of the camera is misaligned (due to reinstallation, collision, etc.).
   • A towing hook is installed.

1. The parking support brake system uses the multi-information display in the combination meter assembly, the headup display (meter mirror sub-assembly)* and PKSB OFF indicator light to indicate the operation status of the system.

1. When the operation conditions are met, the clearance warning ECU assembly sends display or illumination request signals to the combination meter assembly, headup display (meter mirror sub-assembly)* and PKSB OFF indicator light. The clearance warning ECU assembly also sends buzzer sound request signals to the combination meter assembly.

*1: May be displayed if snow or other foreign matter is attached to an ultrasonic sensor.*2: Brake pedal is not depressed*3: w/ Headup Display System

1. When operation of the parking support brake system is temporarily suspended due to a malfunction or dirty ultrasonic sensor, a message is displayed on the multi-information display in the combination meter assembly, the PKSB OFF indicator light blinks and the buzzer sounds.

*1: Including when the shift position is not in D or R.*2: Only displayed when the engine switch is turned on (IG).

1. When the parking support brake system is off, the PKSB OFF indicator light illuminates.

Fig 26: Intelligent Clearance Sonar System Off Display

Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002