Calibration [12/2019 - 10/2022]

1. The parking assist monitor system can be adjusted using diagnostic mode.
2. If the following operations are performed, it is necessary to perform adjustments and checks using diagnostic mode.

   Part Name	Operation	Adjustment Item	Proceed to
   Steering sensor	Replacement Removal and installation of the Steering sensor Removal and installation of the connector of the steering sensor	Steering angle neutral point (Initialize parking assist monitor system)	Refer to INITIALIZATION [12/2019 - 10/2022]
   		Steering angle setting	Procedure 3
   Suspension, tires, etc.	Replacement (The vehicle height changes due to suspension or tire replacement)	Rear television camera assembly optical axis (Back camera position setting)	Procedure 2
   Rear television camera assembly	Replacement	Parking assist monitor system initialization	Procedure 1
   	Removal and installation of the rear television camera assembly etc. (Installation angle of the rear television camera assembly changes due to removal and installation)	Rear television camera assembly optical axis (Back camera position setting)	Procedure 2

   HINT: 

   The adjustment values stored while performing parking assist monitor system calibration are stored in the rear television camera assembly.

HINT: 

• Be sure to check for DTCs before performing this procedure.

  Refer to DTC CHECK / CLEAR [12/2019 - 10/2022] 

• Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

1. Preparation for adjustment
   1. Park the vehicle with the steering wheel centered.
   2. Set a target bar behind the vehicle for optical axis adjustment of the rear television camera assembly (back camera position setting).

      HINT: 

      Create a target bar for adjustment only when adjusting the optical axis of the rear television camera assembly.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      *a	Vehicle Center
      *b	Vehicle
      *c	Front
      *d	Front Wheel Axis
      *e	Vehicle End
      *f	Target Bar for Back Camera Adjustment
      *g	2000 mm (6.56 ft.)
      *h	A
      *i	B

      Dimension

      A	B
      800 mm (2.624 ft.)	4758 mm (15.606 ft.)

      HINT: 

      • Set a piece of tape on the ground as the target bar for adjustment. Its width and length should be 20 to 30 mm (0.787 to 1.180 in.) and 1995 to 2005 mm (6.544 to 6.576 ft.), respectively. Check the color on the radio and display receiver assembly and choose a tape color which can be easily seen.
      • Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
      • Check that the back door is fully closed.
2. Start diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   NOTE:

   The following must be carried out with the engine running*1, hybrid system operating*2. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

   1. *1: for Gasoline Model
   2. *2: for HV Model
   1. Select "Function Check/Setting" on the "Service Menu" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   2. Select "Camera Setting" on the "Function Check/Setting I" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      NOTE:

      If the "Camera Setting" selection screen is not displayed, turn the ignition switch off and enter the diagnosis screen after turning the ignition switch to ON once again.

   3. Select "Next" on the "Signal Check (*)" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      HINT: 

      • When "CHK" (red) is displayed for any items on the "Signal Check (*)" screen, selecting "Next" will not change the screen to the "Steering Angle Setting D (*)" screen.
      • When "CHK" (red) is displayed for any items on the "Signal Check (*)" screen, perform inspections using the "Signal Check (*)" screen.

        Refer to DIAGNOSIS SYSTEM [12/2019 - 10/2022] 

3. Steering Angle Setting
   1. Check that the steering wheel is centered (approximately +/- 5 degrees or less) and then select "Steering Center Memorize".

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   2. After the centered steering position is memorized, turn the steering wheel to the left full lock position and then to the right full lock position.

      HINT: 

      It is also possible to turn the steering wheel to the right full lock position first.

   3. Select "Max Steering Angle Memorize" to store the steering angle adjustment value and change the screen to the "Back Camera Position Setting D (*)" screen.

      HINT: 

      • "Next" cannot be selected until the steering center and maximum steering wheel angle have been stored.
      • When "Max Steering Angle Memorize" is selected, a beep will sound to confirm that the steering angle adjustment values have been stored.
      • The adjustment values will not be stored unless "Max Steering Angle Memorize" is selected after turning the steering wheel from lock to lock.
      • When "Back" is selected, the screen changes to the "Signal Check (*)" screen without storing any values.
      • If the Steering Angle Settings have not been adjusted, the adjustment values may not be stored when "Max Steering Angle Memorize" is selected.
      • If the steering sensor is malfunctioning, the adjustment values may not be stored when "Max Steering Angle Memorize" is selected, even if no DTCs are detected.
      • If the adjustment values are not stored when "Max Steering Angle Memorize" is selected after performing the steering angle setting procedure, replace the steering sensor.

        Refer to REMOVAL [12/2019 - 10/2022]

4. Back Camera Position Setting

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   *a	Target Bar for Back Camera Position Setting

   HINT: 

   • When the back door is open, "You can not calibrate the camera when the door is open. Please close the door" message will be displayed and it will not be possible to perform back camera position setting.
   • Even when the back door is closed and "You can not calibrate the camera when the door is open. Please close the door." is displayed, refer to Problem Symptoms Table and check the cause of the malfunction.

     Refer to PROBLEM SYMPTOMS TABLE [12/2019 - 10/2022] 

   1. Perform vertical and horizontal position adjustment.
      • Move circle A left, right, up and down by selecting buttons C, D, E and F so that the left end of the target bar for back camera position setting is positioned within the center of circle A (center of the inner red circle).
   2. Perform roll angle adjustment.
      • Rotate bar B by selecting buttons G or H so that bar B becomes parallel to the target bar for back camera position setting.
   3. Select "Next" on the "Back Camera Position Setting D (*)" screen.
5. Back Verify Mode

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   1. Check that A and the target adjustment bar are overlapping.
      • If the lines are not aligned, perform the "Steering Center Memorize" and "Max Steering Angle Memorize" operations.
      • If A and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the back camera position setting operation.
   2. Select "OK" to return to the "Function Check/Setting I" screen and complete the adjustment.

      HINT: 

      • The update is not completed until "OK" is selected.
      • When "OK" is selected, a beep will sound to confirm that the adjustment values have been stored.
      • The adjustment values are not stored until the beep has sounded.
6. Finish diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

7. Confirm steering angle adjustment.

   HINT: 

   If the steering angle has been adjusted, confirm the steering angle adjustment on the parking assist monitor screen after finishing diagnostic mode.

   1. Check that the estimated course lines on the parking assist screen move until the steering wheel is fully turned to either the left or right.

      HINT: 

      If the estimated course line stops moving before the steering wheel is fully turned to either the left or right, the steering angle adjustment values have not been stored correctly. In this case, perform "Steering Center Memorize" and "Max Steering Angle Memorize" again.

HINT: 

• Be sure to check for DTCs before performing this procedure.

  Refer to DTC CHECK / CLEAR [12/2019 - 10/2022] 

• Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

1. Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   *a	Vehicle Center
   *b	Vehicle
   *c	Front
   *d	Front Wheel Axis
   *e	Vehicle End
   *f	Target Bar for Back Camera Adjustment
   *g	2000 mm (6.56 ft.)
   *h	A
   *i	B

   Dimension

   A	B
   800 mm (2.624 ft.)	4758 mm (15.606 ft.)

   Preparation for adjustment

   1. Park the vehicle with the steering wheel centered.
   2. Set a target bar behind the vehicle for optical axis adjustment of the rear television camera assembly (back camera position setting).

      HINT: 

      Create a target bar for adjustment only when adjusting the optical axis of the rear television camera assembly.

      HINT: 

      • Set a piece of tape on the ground as the target bar for adjustment. Its width and length should be 20 to 30 mm (0.787 to 1.180 in.) and 1995 to 2005 mm (6.544 to 6.576 ft.), respectively. Check the color on the radio and display receiver assembly and choose a tape color which can be easily seen.
      • Before parking the vehicle, be sure to move the vehicle forward and in reverse to check that the tires are facing straight ahead with the steering wheel centered.
      • Check that the back door is fully closed.
2. Start diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   NOTE:

   The following must be carried out with the engine running*1, hybrid system operating*2. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

   1. *1: for Gasoline Model
   2. *2: for HV Model
   1. Select "Function Check/Setting" on the "Service Menu" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   2. Select "Camera Setting" on the "Function Check/Setting I" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      NOTE:

      If the "Camera Setting" selection screen is not displayed, turn the ignition switch off and enter the diagnosis screen after turning the ignition switch to ON once again.

   3. Select "Back Camera Setting" on the "Mode Setting (*)" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      HINT: 

      To select a grayed out item, select and hold the item for 2 seconds or more.

   4. Select "Next" on the "Signal Check (*)" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      HINT: 

      • When "CHK" (red) is displayed for any items on the "Signal Check (*)" screen, selecting "Next" will not change the screen to the "Back Camera Position Setting D (*)" screen.
      • When "CHK" (red) is displayed for any items on the "Signal Check (*)" screen, perform inspections using the "Signal Check (*)" screen.

        Refer to DIAGNOSIS SYSTEM [12/2019 - 10/2022] 

3. Back Camera Position Setting

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   *a	Target Bar for Back Camera Position Setting

   HINT: 

   • When the back door is open, "You can not calibrate the camera when the door is open. Please close the door." message will be displayed and it will not be possible to perform back camera position setting.
   • Even when the back door is closed and "You can not calibrate the camera when the door is open. Please close the door." is displayed, refer to Problem Symptoms Table and check the cause of the malfunction.

     Refer to PROBLEM SYMPTOMS TABLE [12/2019 - 10/2022] 

   1. Perform vertical and horizontal position adjustment.
      • Move circle A left, right, up and down by selecting buttons C, D, E and F so that the left end of the target bar for back camera position setting is positioned within the center of circle A (center of the inner red circle).
   2. Perform roll angle adjustment.
      • Rotate bar B by selecting buttons G or H so that bar B becomes parallel to the target bar for back camera position setting.
   3. Select "Next" on the "Back Camera Position Setting D (*)" screen.
4. Back Verify Mode

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   1. Check that A and the target adjustment bar are overlapping.
      • If the lines are not aligned, perform the "Steering Center Memorize" and "Max Steering Angle Memorize" operations.
      • If A and the target adjustment bar are not aligned even if the tires are aligned straight ahead, perform the back camera position setting operation.
   2. Select "OK" to return to the "Mode Setting (*)" screen and complete the adjustment.

      HINT: 

      • The update is not completed until "OK" is selected.
      • When "OK" is selected, a beep will sound to confirm that the adjustment values have been stored.
      • The adjustment values are not stored until the beep has sounded.
5. Finish diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

HINT: 

• If the vehicle width guide lines and estimated course lines are not aligned when the steering wheel is centered, or if the estimated course lines do not move before the steering wheel is fully turned to either the left or right, perform Steering Angle Setting.
• Be sure to check for DTCs before performing this procedure.

  Refer to DTC CHECK / CLEAR [12/2019 - 10/2022] 

• Illustrations may differ from the actual vehicle screen depending on the device settings and options. Therefore, some detailed areas may not be shown exactly the same as on the actual vehicle screen.

1. Center the steering wheel and stop the vehicle.
2. Start diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   NOTE:

   The following must be carried out with the engine running*1, hybrid system operating*2. Apply the parking brake, depress the brake pedal, check that the shift lever is in P, and ensure that the vehicle is not moving.

   1. *1: for Gasoline Model
   2. *2: for HV Model
   1. Select "Function Check/Setting" on the "Service Menu" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   2. Select "Camera Setting" on the "Function Check/Setting I" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      NOTE:

      If the "Camera Setting" selection screen is not displayed, turn the ignition switch off and enter the diagnosis screen after turning the ignition switch to ON once again.

   3. Select "Steering Angle Setting" on the "Mode Setting (*)" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      HINT: 

      To select a grayed out item, select and hold the item for 2 seconds or more.

   4. Select "Next" on the "Signal Check (*)" screen to display the "Steering Angle Setting D (*)" screen.

      Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

      HINT: 

      • When "CHK" (red) is displayed for any items on the "Signal Check (*)" screen, selecting "Next" will not change the screen to the "Steering Angle Setting D (*)" screen.
      • When "CHK" is displayed for any items on the "Signal Check (*)" screen, perform inspections using the "Signal Check (*)" screen.

        Refer to DIAGNOSIS SYSTEM [12/2019 - 10/2022] 

3. Steering Angle Setting

   Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002

   1. Check that the steering wheel is centered (approximately +/- 5 degrees or less) and then select "Steering Center Memorize".

      HINT: 

      When performing removal and installation, or replacement of the rear television camera assembly, it is not necessary to perform the steering angle setting.

   2. After the centered steering position is memorized, turn the steering wheel to the left full lock position and then to the right full lock position.

      HINT: 

      It is also possible to turn the steering wheel to the right full lock position first.

   3. Select "Max Steering Angle Memorize" to store the steering angle adjustment value and change the screen to the "Mode Setting (*)" screen.

      HINT: 

      • When "Max Steering Angle Memorize" is selected, a beep will sound to confirm that the steering angle adjustment values have been stored.
      • The adjustment values will not be stored unless "Max Steering Angle Memorize" is selected.
      • When "Back" is selected, the screen changes to "Signal Check (*)" screen without storing the set values.
      • If the Steering Angle Settings have not been adjusted, the adjustment values may not be stored when "Max Steering Angle Memorize" is selected.
      • If the steering sensor is malfunctioning, the adjustment values may not be stored when "Max Steering Angle Memorize" is selected, even if no DTCs are detected.
      • If the adjustment values are not stored when "Max Steering Angle Memorize" is selected after performing the steering angle setting procedure, replace the steering sensor.

        Refer to REMOVAL [12/2019 - 10/2022]

4. Finish diagnostic mode.

   w/ Navigation System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

   w/ Audio and Visual System:

   Refer to DTC CHECK / CLEAR [12/2019 - 10/2022]

5. Confirm steering angle adjustment.

   HINT: 

   If the steering angle has been adjusted, confirm the steering angle adjustment on the parking assist monitor screen after finishing diagnostic mode.

   1. Check that the estimated course lines on the parking assist screen move until the steering wheel is fully turned to either the left or right.

      HINT: 

      If the estimated course line stops moving before the steering wheel is fully turned to either the left or right, the steering angle adjustment values have not been stored correctly. In this case, perform "Steering Center Memorize" and "Max Steering Angle Memorize" again.