2019-2022 Toyota Avalon 4 Door Driving -> Intelligent Clearance Sonar (ICS) User Manual
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Driving -> Intelligent Clearance Sonar (ICS) for Your Toyota Avalon 4 Door Fifth Generation (2019-2022)

284  
4-5. Using the driving support systems  
Intelligent Clearanc e Sonar (ICS)  
If a collision with an object may occur due to the vehicle sud-  
denly moving forward due to an accidental accelerator pedal  
operation, the vehicle moving the unintended direction due to  
the wrong shift position being selected, or while parking or trav-  
eling at low speeds, the sensors detect objects, such as a wall,  
in the traveling direction of the vehicle, and the system operates  
to lessen an impact with an object and reduce the resulting dam-  
age.  
Examples of system operation  
The system will operate in situations such as the following if an object  
is detected in the traveling direction of the vehicle.  
◆ When traveling at a low speed and the brake pedal is not  
depressed, or is depressed late  
: If equipped  
285  
4-5. Using the driving support systems  
◆ When the accelerator pedal is depressed excessively  
◆ When the vehicle moves in the unintended direction due to the  
4
wrong shift position being selected  
286  
4-5. Using the driving support systems  
Rear Cross Traffic Auto Brake function  
If a radar sensor detects a vehicle approaching from the right or left at  
the rear of the vehicle and a collision may occur, this function will per-  
form brake control to reduce the likelihood of an impact with the  
approaching vehicle.  
■ Examples of system operation  
The system will operate in situations such as the following if an  
object is detected in the traveling direction of the vehicle.  
◆ When reversing, a vehicle is approaching and the brake pedal  
is not depressed, or is depressed late  
287  
4-5. Using the driving support systems  
Types of sensors  
Front corner sensors  
1
Front center sensors  
2
Rear corner sensors  
3
Rear center sensors  
4
Turning the Intelligent Clearance Sonar system on/off  
1
Press  
/
of the meter con-  
trol switches, select  
.
4
2
Press  
/
of the meter con-  
trol switches, select  
.
3
4
Press  
of the meter con-  
trol switch.  
Select the “Yes” and push  
.
When the Intelligent Clearance Sonar is disabled, the ICS OFF indicator  
illuminates.  
To re-enable the system when it was disabled, select  
on the multi-infor-  
mation display, select and then “On”. If disabled using this method, the  
system will not be re-enabled by turning the engine switch off and then to  
IGNITION ON mode.  
288  
4-5. Using the driving support systems  
Displays and buzzers for engine output restriction control and  
brake control  
If the engine output restriction control or brake control operates, a  
buzzer will sound and a message will be displayed on the multi-infor-  
mation display to alert the driver.  
Depending on the situation, engine output restriction control will operate to  
either limit acceleration or restrict output as much as possible.  
Multi-information ICSOFF  
Control  
Situation  
Buzzer  
display  
Indicator  
Engine output  
restriction con-  
trol is operating  
(acceleration  
restriction)  
Acceleration  
“ObjectDetected  
Acceleration  
Reduced”  
greater than a  
certain amount is  
not possible.  
Engine output  
restriction con-  
trol is operating  
Not illu-  
minated  
Stronger-than-  
normal brake  
(output restricted operation is nec-  
as much as pos- essary.  
sible)  
“Brake!”  
Brake control is  
operating  
Emergency brak-  
ing is necessary.  
Short  
beep  
If the accelera-  
tor pedal is  
depressed:  
“Switch to  
The vehicle has  
been stopped by  
brake control  
operation.  
Vehicle stopped  
by system opera-  
tion  
Illumi-  
nated  
Brake”  
If the accelera-  
tor pedal is not  
depressed:  
“Brake”  
289  
4-5. Using the driving support systems  
Intelligent Clearance Sonar function  
If the Intelligent Clearance Sonar function detects that a collision with  
an object is possible, the engine output will be restricted to restrain  
any increase in the vehicle speed. (Engine output restriction control:  
See A below.)  
Additionally, if the accelerator pedal continues to be depressed, the  
brakes will be applied automatically to reduce the vehicle speed.  
(Brake control: See B below.)  
4
290  
4-5. Using the driving support systems  
On  
Off  
Time  
On  
Off  
Down  
Time  
On  
Off  
Down  
Up  
Time  
Accelerator pedal  
Brake pedal  
Start of control  
1
2
3
4
5
6
7
High possibility of a collision  
Engine output  
Braking force  
Extremely high possibility of a  
collision  
291  
4-5. Using the driving support systems  
■The Intelligent Clearance Sonar function will operate when  
The function will operate when the ICS OFF indicator is not illuminated or  
flashing (P. 287, 295) and all of the following conditions are met:  
●Engine output restriction control  
• The Intelligent Clearance Sonar system is enabled.  
• The vehicle speed is 10 mph (15 km/h) or less.  
• There is an object in the traveling direction of the vehicle and 6 to 13 ft. (2  
to 4 m) away.  
• The system determines that a stronger-than-normal brake operation is  
necessary to avoid a collision.  
●Brake control  
• Engine output restriction control is operating.  
• The system determines that an emergency brake operation is necessary  
to avoid a collision.  
■The Intelligent Clearance Sonar function will stop operating when  
The function will stop operating if any of the following conditions are met:  
●Engine output restriction control  
4
• The Intelligent Clearance Sonar system is disabled.  
• The collision becomes avoidable with normal brake operation.  
• The object is no longer 6 to 13 ft. (2 to 4 m) away in the traveling direction  
of the vehicle.  
●Brake control  
• The Intelligent Clearance Sonar system is disabled.  
• Approximately 2 seconds elapse after the vehicle is stopped by brake  
control.  
• The brake pedal is depressed after the vehicle is stopped by brake con-  
trol.  
• The object is no longer 6 to 13 ft. (2 to 4 m) away in the traveling direction  
of the vehicle.  
■Detection range of the Intelligent Clearance Sonar function  
The detection range of the Intelligent Clearance Sonar function differs from  
the detection range of the intuitive parking assist. (P. 279)  
Therefore, even if the intuitive parking assist detects an object and provides a  
warning, the Intelligent Clearance Sonar function may not start operating.  
■If the Intelligent Clearance Sonar function has operated  
If the vehicle is stopped due to operation of the Intelligent Clearance Sonar  
function, the Intelligent Clearance Sonar system will be disabled and the ICS  
OFF indicator will illuminate.  
292  
4-5. Using the driving support systems  
■Re-enabling the Intelligent Clearance Sonar system  
To re-enable the Intelligent Clearance Sonar system when it is disabled due  
to operation of the Intelligent Clearance Sonar function, either enable the sys-  
tem again (P. 287), or turn the engine switch off and then back to IGNITION  
ON mode.  
Additionally, if the object becomes no longer in the traveling direction of the  
vehicle or if the traveling direction of the vehicle changes (such as changing  
from moving forward to backing up, or from backing up to moving forward),  
the system will be re-enabled automatically.  
■Objects that the Intelligent Clearance Sonar function may not detect  
The sensors may not be able to detect certain objects, such as the following.  
●Cotton cloth, snow, and other materials that are poor reflectors of ultrasonic  
waves.  
(People may also not be detected depending on the type of clothing they are  
wearing.)  
●Objects which are not perpendicular to the ground, are not perpendicular to  
the traveling direction of the vehicle, are uneven or are waving.  
●Low objects  
●Thin objects such as wires, fences, ropes and signposts  
●Objects that are extremely close to the bumper  
■Situations in which the Intelligent Clearance Sonar may not operate  
properly  
When the shift lever is in N  
■Intuitive parking assist buzzer  
Regardless of whether the intuitive parking assist system is enabled or not  
(P. 276), if the Intelligent Clearance Sonar system is enabled (P. 287),  
the front or rear sensors detect an object and brake control is performed, the  
intuitive parking assist buzzer will sound to notify the driver of the approxi-  
mate distance to the object.  
293  
4-5. Using the driving support systems  
■Situations in which the Intelligent Clearance Sonar function may operate  
even if there is no possibility of a collision  
In some situations such as the following, the Intelligent Clearance Sonar  
function may operate even though there is no possibility of a collision.  
●Vehicle surroundings  
• When driving on a narrow road  
• When driving on a gravel road or in  
an area with tall grass  
4
• When driving toward a banner, flag, low-hanging branch or boom barrier  
(such as those used at railroad crossings, toll gates and parking lots).  
• When driving on a narrow path surrounded by a structure, such as in a  
tunnel or on an iron bridge  
• When parallel parking  
• When there is a rut or hole in the surface of the road  
• When driving on a metal cover (grating), such as those used for drainage  
ditches  
• When driving on a steep slope  
• If a sensor is hit by a large amount of water, such as when driving on a  
flooded road  
●Weather  
• If a sensor is covered with ice, snow, dirt, etc. (when cleared, the system  
will return to normal)  
• If heavy rain or water strikes a sensor  
• When driving in inclement weather such as fog, snow or a sandstorm  
●Other ultrasonic waves sources  
• When vehicle horns, vehicle detectors, motorcycle engines, air brakes of  
large vehicles, the clearance sonar of other vehicles or other devices  
which produce ultrasonic waves are near the vehicle  
• If a sticker or an electronic component, such as a backlit license plate  
(especially fluorescent type), fog lights, a fender pole or wireless antenna  
is installed near a sensor  
294  
4-5. Using the driving support systems  
●Changes in the vehicle posture  
• If the vehicle is significantly tilted  
• If the front of the vehicle is raised or lowered due to the carried load  
• If the orientation of a sensor has been changed due to a collision or other  
impact  
■If the Intelligent Clearance Sonar function operates unnecessarily such  
as at a railroad crossing  
Even in the event that the Intelligent Clearance Sonar function operates  
unnecessarily, such as at a railroad crossing, brake control will be canceled  
after approximately 2 seconds, allowing you to proceed forward and leave the  
area, Brake control can also be canceled by depressing the brake pedal.  
Depressing the accelerator pedal again will allow you to proceed forward and  
leave the area.  
■Situations in which the Intelligent Clearance Sonar Brake function may  
not operate properly  
In some situations such as the following, this function may not operate prop-  
erly.  
●Weather  
• When a sensor or the area around a  
sensor is extremely hot or cold  
• When strong winds are blowing  
• If a sensor is covered with ice, snow, dirt, etc. (when cleared, the system  
will return to normal)  
• If heavy rain or water strikes a sensor  
• When driving in inclement weather such as fog, snow or a sandstorm  
●Vehicle surroundings  
• When an object that cannot be detected is between the vehicle and a  
detected object  
• If an object such as a vehicle, motorcycle, bicycle or pedestrian cuts in  
front of the vehicle or runs out from the side of the vehicle.  
295  
4-5. Using the driving support systems  
●Other ultrasonic waves sources  
• When vehicle horns, vehicle detectors, motorcycle engines, air brakes of  
large vehicles, the clearance sonar of other vehicles or other devices  
which produce ultrasonic waves are near the vehicle  
• If a sticker or an electronic component, such as a backlit license plate  
(especially fluorescent type), fog lights, a fender pole or wireless antenna  
is installed near a sensor  
●Changes in the vehicle posture  
• If the vehicle is significantly tilted  
• If the front of the vehicle is raised or lowered due to the carried load  
• If the orientation of a sensor has been changed due to a collision or other  
impact  
■If a battery terminal has been disconnected and reconnected  
The system needs to be initialized.  
To initialize the system, drive the vehicle straight ahead for 5 seconds or more  
at a speed of approximately 22 mph (35 km/h) or more.  
■If “ICS Unavailable” is displayed on the multi-information display and  
the ICS OFF indicator is flashing  
4
Initialization may not have been performed after a battery terminal was dis-  
connected and reconnected. Initialize the system. (P. 295)  
If this message continues to be displayed even after initialization, have the  
vehicle inspected by your Toyota dealer.  
■If “ICS Unavailable” and “Parking Assist Unavailable Clean Parking  
Assist Sensor” are displayed on the multi-information display and the  
ICS OFF indicator is flashing  
●A sensor may be covered with ice, snow, dirt, etc. In this case, remove the  
ice, snow, dirt, etc., from the sensor to return the system to normal. If this  
message is shown even after removing dirt from the sensor, or shown when  
the sensor was not dirty to begin with, have the vehicle inspected at your  
Toyota dealer.  
●A sensor may be frozen. Once the ice melts, the system will return to nor-  
mal.  
●Water may be continuously flowing over the sensor surface, such as in a  
heavy rain. When the system determines that it is normal, the system will  
return to normal.  
296  
4-5. Using the driving support systems  
WARNING  
■Limitations of the Intelligent Clearance Sonar system  
Do not overly rely on the system, as doing so may lead to an accident.  
●The driver is solely responsible for safe driving. Always drive carefully, tak-  
ing care to observe your surroundings. The Intelligent Clearance Sonar  
system is designed to provide support to lessen the severity of collisions.  
However, it may not operate in some situations.  
●The Intelligent Clearance Sonar system is not designed to stop the vehicle  
completely. Additionally, even if the system has stopped the vehicle, it is  
necessary to depress the brake pedal immediately as brake control will be  
canceled after approximately 2 seconds.  
■To ensure the Intelligent Clearance Sonar system can operate properly  
Observe the following precautions regarding the sensors (P. 287). Failure  
to do so may cause a sensor to not operate properly, and may cause an  
accident.  
●Do not modify, disassemble or paint the sensors.  
●Do not replace a sensor with a part other than a genuine part.  
●Do not subject a sensor or its surrounding area to a strong impact.  
●Do not damage the sensors, and always keep them clean.  
Observe the following precautions regarding the radar sensors (P. 263).  
Failure to do so may cause a radar sensor to not operate properly, and may  
cause an accident.  
●Do not modify, disassemble or paint the sensors.  
●Do not replace a radar sensor with a part other than a genuine part.  
●Do not subject a radar sensor or its surrounding area to a strong impact.  
●Do not damage the radar sensors, and always keep the radar sensors and  
their surrounding area on the bumper clean.  
■Handling the suspension  
Do not modify the suspension, as changes to the height or inclination of the  
vehicle may prevent the sensors from detecting objects correctly or cause  
the system to not operate or operate unnecessarily.  
297  
4-5. Using the driving support systems  
NOTICE  
■To prevent the system from malfunctioning  
●If the area around a sensor is subjected to an impact, the system may not  
operate properly due to the sensor being misaligned. Have the vehicle  
inspected by your Toyota dealer.  
●When using a high pressure washer to wash the vehicle, do not spray the  
sensors directly, as doing so may cause a sensor to malfunction.  
●When using steam to clean the vehicle, do not direct steam too close to  
the sensors as doing so may cause a sensor to malfunction.  
■To prevent a radar sensor from malfunctioning  
●If the area around a radar sensor is subjected to an impact, the system  
may not operate properly due to a sensor malfunction. Have the vehicle  
inspected by your Toyota dealer.  
●Observe the radar sensor handling precautions. (P. 263)  
■To prevent unnecessary operation of the Intelligent Clearance Sonar  
system  
4
In the following situations, disable the Intelligent Clearance Sonar system  
as the system may operate even though there is no possibility of a collision.  
●When inspecting the vehicle using a chassis roller, chassis dynamo or free  
roller  
●When loading the vehicle onto a boat, truck or other transport vessel  
●If the suspension has been modified or tires of a size other than specified  
are installed  
●If the front of the vehicle is raised or lowered due to the carried load  
●When equipment that may obstruct a sensor is installed, such as a towing  
eyelet, bumper protector (an additional trim strip, etc.), bicycle carrier, or  
snow plow  
●When using an automatic car wash  
298  
4-5. Using the driving support systems  
Rear Cross Traffic Auto Brake function  
If the Rear Cross Traffic Auto Brake function detects that a collision  
with an approaching vehicle is possible, the engine output will be  
restricted to restrain any increase in vehicle speed. (Engine output  
restriction control: See A below.)  
Additionally, if the accelerator pedal continues to be depressed, the  
brakes will be applied automatically to reduce the vehicle speed.  
(Brake control: See B below.)  
299  
4-5. Using the driving support systems  
On  
Off  
Time  
On  
Off  
Down  
4
Time  
On  
Off  
Down  
Up  
Time  
Accelerator pedal  
Brake pedal  
Start of control  
1
2
3
4
5
6
7
High possibility of a collision  
Engine output  
Braking force  
Extremely high possibility of a  
collision  
300  
4-5. Using the driving support systems  
■The Rear Cross Traffic Auto Brake function will operate when  
The function will operate when the ICS OFF indicator is not illuminated or  
flashing (P. 287, 295) and all of the following conditions are met:  
●Engine output restriction control  
• The Intelligent Clearance Sonar with Rear Cross Traffic Auto Brake is  
enabled.  
• The vehicle speed is 10 mph (15 km/h) or less.  
• Vehicles which are approaching from the right or left at the rear of the  
vehicle at a traveling speed of less than approximately 5 mph (8 km/h)  
• The shift lever is in R.  
• The system determines that a stronger than normal brake operation is  
necessary to avoid a collision with an approaching vehicle.  
●Brake control  
• Engine output restriction control is operating.  
• The system determines that an emergency brake operation is necessary  
to avoid a collision with an approaching vehicle.  
■The Rear Cross Traffic Auto Brake function will stop operating when  
The function will stop operating if any of the following conditions are met:  
●Engine output restriction control  
• The Intelligent Clearance Sonar with Rear Cross Traffic Auto Brake is  
disabled.  
• The collision becomes avoidable with normal brake operation.  
• A vehicle is no longer approaching from the right or left at the rear of the  
vehicle.  
●Brake control  
• The Intelligent Clearance Sonar with Rear Cross Traffic Auto Brake is  
disabled.  
• Approximately 2 seconds elapse after the vehicle is stopped by brake  
control.  
• The brake pedal is depressed after the vehicle is stopped by brake con-  
trol.  
• A vehicle is no longer approaching from the right or left at the rear of the  
vehicle.  
■Detection area of the Rear Cross Traffic Auto Brake function  
The detection area of the Rear Cross Traffic Auto Brake function differs from  
the detection area of the RCTA function (P. 269).  
Therefore, even if the RCTA function detects a vehicle and provides an alert,  
the Rear Cross Traffic Auto Brake function may not start operating.  
■If the Rear Cross Traffic Auto Brake function has operated  
If the vehicle is stopped due to operation of the Rear Cross Traffic Auto Brake  
function, the Rear Cross Traffic Auto Brake function will be disabled and the  
ICS OFF indicator will illuminate.  
301  
4-5. Using the driving support systems  
■Re-enabling the Rear Cross Traffic Auto Brake function  
To re-enable the Rear Cross Traffic Auto Brake function when it is disabled  
while it is operating, either enable the Intelligent Clearance Sonar system  
again (P. 287), or turn the engine switch off and then back to IGNITION ON  
mode. When the function is disabled, the ICS OFF indicator will illuminate.  
(P. 87)  
If there is no longer a vehicle approaching from the right or left at the rear of  
the vehicle when backing up, or if the traveling direction of the vehicle  
changes (such as changing from backing up to moving forward), the system  
will be re-enabled automatically. When the function is re-enabled, the ICS  
OFF indicator will turn off.  
■Conditions under which the Rear Cross Traffic Auto Brake function will  
not detect a vehicle  
The Rear Cross Traffic Auto Brake function is not designed to detect the fol-  
lowing types of vehicles and/or objects.  
●Vehicles approaching from directly behind  
●Vehicles backing up in a parking space next to your vehicle  
4
●Vehicles that the sensors cannot detect  
due to obstructions  
●Vehicles which suddenly accelerate or  
decelerate near your vehicle  
●Guardrails, walls, signs, parked vehicles and similar stationary objects*  
●Small motorcycles, bicycles, pedestrians, etc.*  
●Vehicles moving away from your vehicle  
●Vehicles approaching from the parking spaces next to your vehicle*  
*: Depending on the conditions, detection of a vehicle and/or object may  
occur.  
■RCTA function buzzer  
Regardless of whether the RCTA function is enabled or not (P. 261), if the  
Rear Cross Traffic Auto Brake function is enabled and brake control is per-  
formed, a buzzer will sound to notify the driver.  
302  
4-5. Using the driving support systems  
■Situations in which the system may operate even though there is no  
possibility of a collision  
In some situations such as the following, the Rear Cross Traffic Auto Brake  
function may operate even though there is no possibility of a collision.  
●When the parking space faces a street  
and vehicles are being driven on the  
street  
●When a detected vehicle turns while  
approaching the vehicle  
●When a vehicle passes by the side of  
your vehicle  
●When the distance between your vehicle  
and metal objects, such as a guardrail,  
wall, sign, or parked vehicle, which may  
reflect electrical waves toward the rear  
of the vehicle, is short  
●When there are spinning objects near your vehicle such as the fan of an air  
conditioning unit  
●When water is splashed or sprayed toward the rear bumper, such as from a  
sprinkler  
303  
4-5. Using the driving support systems  
■Situations in which the Rear Cross Traffic Auto Brake function may not  
operate properly  
In some situations such as the following, this function may not operate prop-  
erly.  
●Objects and vehicles which the radar sensors are not designed to detect  
• Stationary objects  
• Vehicles which are moving away from your vehicle  
• Pedestrians, motorcycles, bicycles, etc.*  
• Objects which are extremely close to a radar sensor  
• Vehicles which are approaching from the right or left at the rear of the  
vehicle at a traveling speed of less than approximately 5 mph (8 km/h)  
• Vehicles which are approaching from the right or left at the rear of the  
vehicle at a traveling speed of more than approximately 15 mph (24 km/h)  
*: Depending on conditions, detection of a vehicle and/or object may occur.  
●Situations in which the radar sensors may not be able to detect an object  
• When a sensor or the area around a sensor is extremely hot or cold  
• If the rear bumper is covered with ice, snow, dirt, etc.  
• If heavy rain or water strikes the vehicle  
4
• When the detection area of a radar sensor is obstructed by an adjacent  
vehicle  
• If the vehicle is significantly tilted  
• When equipment that may obstruct a sensor is installed, such as a towing  
eyelet, bumper protector (an additional trim strip, etc.), bicycle carrier, or  
snow plow  
• If the suspension has been modified or tires of a size other than specified  
are installed  
• If the front of the vehicle is raised or lowered due to the carried load  
• If a sticker or an electronic component, such as a backlit license plate  
(especially fluorescent type), fog lights, a fender pole or wireless antenna  
is installed near a radar sensor  
• If the orientation of a radar sensor has been changed due to a collision or  
other impact or removal and installation  
• When multiple vehicles are approaching with only a small gap between  
each vehicle  
• When a vehicle is approaching at high speed  
●Situations in which the radar sensor may not detect a vehicle  
• When a vehicle approaches from the  
right or left at the rear of the vehicle  
while you are turning while backing  
up  
• When turning while backing up  
304  
4-5. Using the driving support systems  
• When backing out of a shallow angle  
parking spot  
• Vehicles that the sensors cannot  
detect due to obstructions  
• When backing up on a slope with a  
sharp change in grade  
• When a vehicle turns into the detec-  
tion area  
■Handling the radar sensors  
P. 263  

Related Topics

Driving
Before driving (Driving the vehicle) Cargo and luggage Vehicle load limits Trailer towing Dinghy towing Driving procedures Engine (ignition) switch Automatic transmission Turn signal lever Parking brake Brake Hold Operating the lights and wipers Headlight switch Automatic High Beam Windshield wipers and washer Refueling Using the driving support systems Toyota Safety Sense P PCS (Pre-Collision System) LDA (Lane Departure Alert with steering control) Dynamic radar cruise control BSM (Blind Spot Monitor) RCTA function Rear Camera Detection function Intuitive parking assist Driving mode select switches Driving assist systems Driving tips (Winter driving tips)

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