Toyota Prius: Front Camera

Toyota Prius (XW60) 2023-2025 Service Manual / ADAS/AD / Advanced Driver Assistance System / Front Camera

Removal
Installation
Before Starting Target Adjustment
Target Adjustment(one Time Recognition)
Before Starting Driving Adjustment
Driving Adjustment
Camera Axis Adjustment Value Write

Removal

REMOVAL

CAUTION / NOTICE / HINT

The necessary procedures (adjustment, calibration, initialization or registration) that must be performed after parts are removed and installed, or replaced during forward recognition camera removal/installation are shown below.

Necessary Procedures After Parts Removed/Installed/Replaced

Replaced Part or Performed Procedure	Necessary Procedures	Effect/Inoperative Function When Necessary Procedures are not Performed
Forward recognition camera	Update ECU security key	Toyota Prius Vehicle Control History (RoB) is stored
Software version confirmation	Front Camera System Automatic High Beam System Traffic Jam Assist System
Adjust forward recognition camera	Front Camera System Automatic High Beam System Traffic Jam Assist System	One Time Recognition: Driving Adjustment: Camera Axis Adjustment Value Write:

Replaced Part or Performed Procedure

Necessary Procedures

Effect/Inoperative Function When Necessary Procedures are not Performed

Link

Forward recognition camera

Update ECU security key

Toyota Prius Vehicle Control History (RoB) is stored

Software version confirmation

Front Camera System
Automatic High Beam System
Traffic Jam Assist System

Adjust forward recognition camera

Front Camera System
Automatic High Beam System
Traffic Jam Assist System

One Time Recognition:

Driving Adjustment:

Camera Axis Adjustment Value Write:

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera, replace it with a new one.
Do not touch the camera lens or the front windshield glass in front of the camera.
If the forward recognition camera has been struck or dropped, replace it with a new one.
When replacing the windshield glass of a Toyota Prius 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. Also, the front camera system, automatic high beam system or traffic jam assist system may not operate properly due to a difference in the transmissivity or black ceramic border.

CAUTION / NOTICE / HINT

COMPONENTS (REMOVAL)

Procedure		Part Name Code
1	NO. 2 FORWARD RECOGNITION COVER	86466E	-	-
2	NO. 1 FORWARD RECOGNITION COVER	86466D	-	-
3	FORWARD RECOGNITION CAMERA	8646C	-	-
4	FORWARD RECOGNITION HOOD	86461	-	-

PROCEDURE

1. REMOVE NO. 2 FORWARD RECOGNITION COVER

NOTICE:

If these claws are disengaged separately, they may break. Insert a molding remover between them and pull it down to disengage the claws simultaneously.

Remove in this Direction (1)

Remove in this Direction (2)

2. REMOVE NO. 1 FORWARD RECOGNITION COVER

NOTICE:

To avoid damaging the guides, always slide the No. 1 forward recognition cover parallel to the windshield glass.

Remove in this Direction

3. REMOVE FORWARD RECOGNITION CAMERA

NOTICE:

If the forward recognition camera has been struck or dropped, replace it with a new one.
Do not pull the harness forcibly when disconnecting the connector.
Do not touch the camera lens.
If the forward recognition camera bracket is deformed or damaged, replace it together with the windshield glass.

HINT:

The illustrations are representative examples, and details may differ.

	Remove in this Direction (1)		Remove in this Direction (2)
	Remove in this Direction (3)		Push

4. REMOVE FORWARD RECOGNITION HOOD

HINT:

Perform this procedure only when replacement of the forward recognition hood is necessary.

NOTICE:

If the inner surface of the windshield glass in the area in front of the forward recognition camera is dirty, remove the forward recognition hood, clean the glass, then reinstall the forward recognition hood and forward recognition camera.

	Do not touch		Remove in this Direction
	Push	-	-

(1) Perform the following procedure to remove the forward recognition hood.

1. Disengage the 2 claws as shown in the illustration.

2. As shown in the illustration, slide the 2 claws of the 2 guides parallel to the surface of the glass to remove the forward recognition hood.

NOTICE:

Do not touch the areas shown in the illustration as application of load may cause bending.

Installation

INSTALLATION

CAUTION / NOTICE / HINT

NOTICE:

After replacing the forward recognition camera, make sure to perform update ECU security key.

CAUTION / NOTICE / HINT

COMPONENTS (INSTALLATION)

Procedure		Part Name Code
1	FORWARD RECOGNITION HOOD	86461		-	-
2	FORWARD RECOGNITION CAMERA	8646C		-	-
3	NO. 1 FORWARD RECOGNITION COVER	86466D	-	-	-
4	NO. 2 FORWARD RECOGNITION COVER	86466E	-	-	-
5	UPDATE ECU SECURITY KEY	-	-	-
6	SOFTWARE VERSION CONFIRMATION	-	-	-
7	ADJUST FORWARD RECOGNITION CAMERA	8646C	-	-

PROCEDURE

1. INSTALL FORWARD RECOGNITION HOOD

HINT:

Perform this procedure only when replacement of the forward recognition hood is necessary.

NOTICE:

Do not touch the areas shown in the illustration as application of load may cause bending.

Do not touch

2. INSTALL FORWARD RECOGNITION CAMERA

NOTICE:

When replacing the forward recognition camera, replace it with a new one.
If the forward recognition camera has been struck or dropped, replace it with a new one.
If the forward recognition camera is not properly installed, forward recognition camera optical axis learning cannot be performed properly. Make sure the forward recognition camera is installed securely.
Do not touch the camera lens. If the camera lens has been touched, do not use the forward recognition camera.
Replace the forward recognition camera if there is any foreign matter on the camera lens.
If the forward recognition camera bracket is deformed or damaged, replace it together with the windshield glass.
When replacing the windshield glass of a Toyota Prius 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. Also, the front camera system or automatic high beam system may not operate properly due to a difference in the transmissivity or black ceramic border.
If the inner surface of the windshield glass in the area in front of the forward recognition camera is dirty, remove the forward recognition hood, clean the glass, then reinstall the forward recognition hood and forward recognition camera.
Forward recognition hood removal:

Click here

Forward recognition hood installation:

Click here

3. INSTALL NO. 1 FORWARD RECOGNITION COVER

4. INSTALL NO. 2 FORWARD RECOGNITION COVER

5. UPDATE ECU SECURITY KEY

Click here

6. SOFTWARE VERSION CONFIRMATION

Click here

7. ADJUST FORWARD RECOGNITION CAMERA

NOTICE:

When replacing only the forward recognition camera, Camera Axis Adjustment Value Write can be performed.
If the forward recognition camera and millimeter wave radar sensor assembly are replaced at the same time, Camera Axis Adjustment Value Write cannot be used.
If Camera Axis Adjustment Value Write can be performed, the adjustment procedure can be omitted.

(a) If the forward recognition camera is replaced with a new one, perform forward recognition camera adjustment.

HINT:

Forward recognition camera learning can be performed by using either Target Adjustment (One Time Recognition), Camera Axis Adjustment Value Write or Driving Adjustment.

Target Adjustment (One Time Recognition):
Click here
Driving Adjustment:
Click here
Camera Axis Adjustment Value Write:
Click here

(b) If the windshield glass has been replaced or removed and installed, perform forward recognition camera adjustment.

HINT:

Forward recognition camera learning can be performed by using either Target Adjustment (One Time Recognition) or Driving Adjustment.

Target Adjustment (One Time Recognition):
Click here
Driving Adjustment:
Click here

Before Starting Target Adjustment

BEFORE STARTING TARGET ADJUSTMENT

CAUTION / NOTICE / HINT

NOTICE:

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. Also, the front camera system or automatic high beam system may not operate properly due to a difference in the transmissivity or black ceramic border.

NOTICE:

When replacing the windshield glass of a Toyota Prius 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. Also, the front camera system, automatic high beam system or traffic jam assist system may not operate properly due to a difference in the transmissivity or black ceramic border.

HINT:

Purpose of Forward Recognition Camera Optical Axis Learning
1. If the installation position or orientation of the forward recognition camera is changed due to it being replaced with a new one or the windshield glass sub-assembly being replaced or removed and installed, it is necessary to perform forward recognition camera optical axis learning for the forward recognition camera to learn the driving direction of the Toyota Prius vehicle and its horizontal axis in order for each driving support system to operate correctly.

Characteristics of Forward Recognition Camera

As the forward recognition camera recognizes targets using image processing based on differences in contrast, when performing forward recognition camera optical axis learning, if there are overhead lights, windows, reflective objects, or high contrast objects behind the target, the contrast between background objects may be detected as high and may be misrecognized as a target.

By blocking objects behind the target which may be misrecognized as a target, the forward recognition camera can more easily recognize the target and complete forward recognition camera optical axis learning.

*a	Target	-	-
	Target Recognition Area	-	-

Forward recognition camera optical axis learning may fail if it is performed under any of the following conditions.

Light Shining from Behind Target (Backlit)
As the target will appear dark to the camera if the target is backlit, the contrast of the black and white parts of the target will decrease and the target may not be recognized.
Target Partially Illuminated by Light from Windows
If the surface of the target is unevenly illuminated, the contrast of the black and white parts of the target will decrease and the target may not be recognized.
Entire Target not Illuminated
If the target is placed in an area that is dark, the contrast between the target and the background will decrease and the target may not be recognized.
Shadow of Target is Cast onto Wall
Make sure that the shadow of the target is not cast onto a wall as this may cause a target recognition error.

Reflective Object on Target Surface

If an object, such as clear adhesive tape, is attached to the target surface or if the target is laminated, the target surface will reflect light. As the reflected light will appear white to the camera, the target may not be recognized.

*a	Actual Target	*b	Target as Seen by Forward Recognition Camera
	Reflective Object or Surface	-	-

Border of Black and White Parts of Target are Blurry or Distorted
If the borders of the black and white parts of the target appear blurry to the camera, the detected contrast will be low and the target may not be recognized.
Target is Moving
If the target is moving, due to being blown by the wind, etc., it may not be recognized.
Target and Toyota Prius Vehicle are not Level
If the target and vehicle are not level when learning is performed, an incorrect center of the direction of travel of the vehicle may be learned or the forward recognition camera may not be able to detect the target.

Target Adjustment(one Time Recognition)

TARGET ADJUSTMENT(ONE TIME RECOGNITION)

CAUTION / NOTICE / HINT

NOTICE:

Make sure to read "Before Starting Target Adjustment" before proceeding with work.

Click here

PROCEDURE

1. SECURE APPROPRIATE AREA FOR PERFORMING LEARNING

(a) Park the Toyota Prius vehicle on a level surface.

HINT:

Make sure that the target recognition area of the forward recognition camera is free of objects which may be misrecognized as a target, such as overhead lights, windows, reflective objects, etc.
If there are any objects which may be misrecognized as a target behind the area where a target will be placed, prepare an appropriate object to block the background.

*a	2 m (6.56 ft.)
*b	1 m (3.28 ft.)

(b) Check the levelness of the ground.

(1) Check the levelness of the ground at the 2 points shown in the illustration.

Levelness Check Point

(2) Place the level on each levelness check point and check that the air bubble of the level is centered.

Click here

(d) Clean the windshield glass.

2. CREATE TARGET

(a) When using a target SST or previously created target:

(1) Prepare SST.

SST: 09870-60000

SST: 09870-60060

SST: 09870-61100

SST: 09870-62200

09870-60010

09870-60020

(b) When not using a target SST or previously created target:

NOTICE:

Do not laminate the target or attach reflective materials, such as clear adhesive tape, to its surface. If there are reflective areas on the surface of the target, they will appear white to the forward recognition camera and the target may not be recognized.

*a	Actual Target	*b	Target as Seen by forward recognition camera
	Reflective Object or Surface	-	-

(1) Print 3 copies of the illustration.

(2) Check that the dimensions are within the values shown in the illustration.

*a	12 mm (0.472 in.)	*b	60 mm (2.36 in.)
*c	120 mm (4.72 in.)	*d	Blurry
*e	Distorted	-	-

NOTICE:

Make sure that the black areas of the target sheet are not glossy.
Make sure that the borders of the black and white areas on the target sheet are straight, and are not warped or blurry.

HINT:

If the dimensions of the created target sheet are not within /- 5 mm (0.197 in.) of the specified values, adjust the printer settings and reprint the target sheet so that the dimensions are as specified.

(3) Prepare a piece of cardboard and draw lines on it as shown in the illustration.

*a	Cardboard	*b	130 mm (5.12 in.) or more
*c	730 mm (2.39 ft.) or more	*d	297 mm (11.69 in.)
*e	65 mm (2.56 in.) or more	*f	90°

(4) Place the 3 target sheets on the cardboard with the black area of each at the top right and align the borders of the black and white areas with the lines as shown in the illustration.

Border of Black and White Area

Line

(5) Securely attach the target sheets to the cardboard using double-sided tape.

Border of Black and White Area

297 mm (11.69 in.) /- 3 mm (0.12 in.)

NOTICE:

Do not attach reflective materials, such as clear adhesive tape, to the target sheet surface as this may affect target recognition.

(6) Remove SST (reflector) from SST (base stand).

SST: 09870-60000

09870-60010

09870-60020

(7) Align the center of the target sheet with SST (reflector) and attach the target to SST (reflector) with double-sided tape.

(8) Install SST (reflector) to SST (base stand).

(c) Hang a weight with a pointed tip from the top center of the target sheet and align it with the mark-off line of SST (base stand) as shown in the illustration.

HINT:

Make sure that the points (A), (B) and (C) of the target sheet are aligned with the string.
As SST may fall forward, make sure to place a weight on the base of SST.

*a	String
*b	Weight
*c	Mark-off Line

(d) Move SST (reflector) up or down so that the center of the 3 target sheets is at the height shown in the illustration, and secure SST (reflector) in place.

HINT:

If the center of the target sheet is not within /- 5 mm (0.197 in.) of the height specified, adjust the position of SST (reflector) so that the height is as specified.
To prevent the targets from tilting, the difference between the left target height and right target height should be within 5 mm (0.197 in.). If the difference is outside the permissible range, adjust it until it is within that range.

*a	1350 mm (53.15 in.)
*b	Center Target
*c	Left Target
*d	Right Target

(e) Prepare an object to block the area behind the target. (If there are any objects which may be misrecognized as a target behind the area where a target will be placed.)

(1) When blocking the background by holding cardboard behind the target:

*a	Cardboard	*b	1160 mm (3.80 ft.) or more
*c	560 mm (1.84 ft.) or more	*d	580 mm (1.90 ft.) or more
*e	280 mm (11.02 in.) or more	-	-

Prepare a piece of cardboard with the dimensions shown in the illustration.
HINT:
- Do not use cardboard that is bent or has a pattern or image on it.
- Do not use cardboard which has a reflective surface or reflective objects attached to it.
- Make sure to hold the cardboard in such a way that fingers are not within the target recognition area.

(2) When blocking the background using a light colored plain cloth:

*a	Light Colored Plain Cloth	*b	Whiteboard or Equivalent
*c	1160 mm (3.80 ft.) or more	*d	560 mm (1.84 ft.) or more
*e	580 mm (1.90 ft.) or more	*f	280 mm (11.02 in.) or more

Cover a whiteboard or equivalent with light colored plain cloth and secure it.
HINT:
- Make sure to stretch the cloth to remove wrinkles before securing it.
- Make sure that the target recognition area is free of clear adhesive tape, reflective surfaces and reflective objects.

3. DETERMINE TARGET PLACEMENT POSITION

(a) Hang a weight with a pointed tip from the center of the front emblem, and mark the front center point of the Toyota Prius vehicle (point A) on the ground (placement position).

*a	String	*b	Weight
*c	Center	-	-

HINT:

Lightly flick the string with your fingers several times to confirm that the string is perpendicular to the ground.

4. PERFORM FORWARD RECOGNITION CAMERA OPTICAL AXIS LEARNING

NOTICE:

Close all of the doors.
Make sure that no one is inside the Toyota Prius vehicle.
Do not lean on the vehicle.
Make sure that the headlights are turned off.
Make sure the vehicle is unloaded.

(a) Perform Recognition Camera/Target Position Memory.

(1) Connect the GTS to the DLC3.

(2) Turn the ignition switch to ON.

(3) Turn the GTS on.

(4) Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera/Target Position Memory.

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera/Target Position Memory

(5) Press "Next". *1

(6) Confirm the conditions displayed on the screen and then press "Next".

(7) According to the display on the GTS, enter the following values for each respective item.

Item	Value
Target Height	1350 mm (53.15 in.)
Target Distance	1843 mm (72.56 in.)
Distance between Targets	297 mm (11.69 in.)
Target Size	120 mm (4.72 in.)
Pitch Offset Angle	0 deg.

(8) If "Recognition Camera/Target Position Memory has failed." is displayed on the GTS screen, confirm the conditions displayed on the screen, then press "Yes" and repeat the procedure from *1.

(9) Press "Exit" to exit the Recognition Camera/Target Position Memory utility.

NOTICE:

Make sure to perform "Recognition Camera Axis Adjust" / "Front Recognition Camera Axis Misalignment Reading". Do not drive the Toyota Prius vehicle before performing "Recognition Camera Axis Adjust" / "Front Recognition Camera Axis Misalignment Reading".

(b) Perform Recognition Camera Axis Adjust (target positioning).

(1) Move the target to align the front mark-off line of SST with the placement point (point A) as shown in the illustration.

*a	Mark-off Line

HINT:

Set the target directly facing the camera, because setting the target at an angle may prevent correct optical axis learning.

Target

(2) Enter the following menus: Chassis / Front Recognition Camera / Utility / Recognition Camera Axis Adjust.

for Type A:

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera Axis Adjust

for Type B:

Chassis > Front Recognition Camera > Utility

Tester Display
Recognition Camera Axis Adjust

(3) Press "Next".

(4) Check that the values stored in the ECU are correct and then press "Next".

(5) If "Failed to read axis adjustment data" is displayed, perform Recognition Camera/Target Position Memory, and repeat the procedure from *1.

(6) Confirm the conditions displayed on the screen and then press "Next".

(7) Check that the target is placed at point A (placement position) and then press "Next".

HINT:

If there are any objects which may be misrecognized as a target behind the area where a target will be placed, block the area behind the target with an appropriate object before pressing "Next".

(8) Perform the adjustment according to the display on the GTS.

NOTICE:

If an error code is displayed, perform troubleshooting according to the following table, then perform the adjustment again.

Error No.	Error Description	Cause of Error	Action to be Taken
1	Target 1 (Center) malfunction	Center target cannot be recognized	Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the Toyota Prius vehicle)
			The values stored in recognition camera/target positions are correct
			The target height and placement points are appropriate
			There are no objects in the background that could be mistakenly detected as the target and the background is hidden
			There is an appropriate amount of light (brightness) There are no reflective objects such as cellophane tape on the target or object used to conceal the background The target is correctly orientated (black area positioned on top right) Not in a backlight condition The windshield glass is clean
			Check the camera installation condition (The camera is properly installed (completely installed) and has been installed after the cover is attached)
2	Target 2 (Left) malfunction	Left target cannot be recognized	Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the Toyota Prius vehicle)
			The values stored in recognition camera/target positions are correct
			The target height and placement points are appropriate
			There are no objects in the background that could be mistakenly detected as the target and the background is hidden
			There is an appropriate amount of light (brightness) There are no reflective objects such as cellophane tape on the target or object used to conceal the background The target is correctly orientated (black area positioned on top right) Not in a backlight condition The windshield glass is clean
			Check the camera installation condition (The camera is properly installed (completely installed) and has been installed after the cover is attached)
3	Target 3 (Right) malfunction	Right target cannot be recognized	Entering the adjustment area during beam axis adjustment is prohibited (Do not allow anything to pass between the target and the Toyota Prius vehicle)
			The values stored in recognition camera/target positions are correct
			The target height and placement points are appropriate
			There are no objects in the background that could be mistakenly detected as the target and the background is hidden
			There is an appropriate amount of light (brightness) There are no reflective objects such as cellophane tape on the target or object used to conceal the background The target is correctly orientated (black area positioned on top right) Not in a backlight condition The windshield glass is clean
			Check the camera installation condition (The camera is properly installed (completely installed) and has been installed after the cover is attached)
1 and 4 displayed simultaneously 2 and 4 displayed simultaneously 3 and 4 displayed simultaneously	Target stuck malfunction	SST (target) shaking during beam axis adjustment Toyota Prius Vehicle shaking during beam axis adjustment	SST (target) does not move due to the wind, etc.
			Adjust the vehicle so that it does not move Do not enter the vehicle while beam axis adjustment is in progress Do not lean on the Toyota Prius vehicle during beam axis adjustment
			There are no objects in the background that could be mistakenly detected as the target and the background is hidden
5	Target position and interval malfunction	Detected target position and interval is incorrect	The target height and placement points are appropriate
5	Target position and interval malfunction	Detected target position and interval is incorrect	There are no objects in the background that could be mistakenly detected as the target and the background is hidden
9	FOE and role angle malfunction	Calculated parameter values are incorrect	The target height and placement points are appropriate (The levelness of the placement area is within the specified value. (See page 1. SECURE APPROPRIATE AREA FOR PERFORMING LEARNING))
			The values stored in recognition camera/target positions are correct
			The camera is installed correctly (The camera is properly installed (completely installed) and has been installed after the cover is attached)

(9) Press "Exit" to exit the Recognition Camera Axis Adjust utility.

(10) Turn the ignition switch off.

(11) Disconnect the GTS from the DLC3.

(d) After optical axis adjustment completes, clear the following system Toyota Prius vehicle control history entries.

(1) Clear vehicle control history (Front Camera System).

Click here

Before Starting Driving Adjustment

BEFORE STARTING DRIVING ADJUSTMENT

CAUTION / NOTICE / HINT

NOTICE:

HINT:

Purpose of forward recognition camera optical axis learning:
- If the installation position or orientation of the forward recognition camera is changed due to it being replaced with a new one or the windshield glass sub-assembly being replaced or removed and installed, it is necessary to perform forward recognition camera optical axis learning for the forward recognition camera to learn the driving direction of the Toyota Prius vehicle and its horizontal axis in order for each driving support system to operate correctly.

Driving direction of vehicle and horizontal axis

*a	Driving Direction
*b	Horizontal Axis

Before adjustment

*A	When using a new forward recognition camera	*B	When reusing forward recognition camera
*a	Previously learned driving direction	-	-

After adjustment

*a

Newly learned driving direction

PROCEDURE

1. PERFORM DRIVING ADJUSTMENT

NOTICE:

When performing the driving adjustment, obey all applicable traffic laws.
Select a road where the driving adjustment can be carried out safely.

(a) Driving adjustment concept

Based on the observed movement in external imaging data (white lines, buildings, etc.) captured by the forward recognition camera while the Toyota Prius vehicle is being driven, the vehicle driving direction is calculated and stored within the camera, and in this way adjustment is performed.
The time required before adjustment is completed varies according to the vehicle speed and external conditions.

*a	Toyota Prius Vehicle driving direction
*b	Movement detected in external imaging data

(b) Driving conditions

Perform the adjustment outside during daytime, on a sunny or cloudy day.
If preceding Toyota Prius vehicles are present, they should be kept at a distance of at least 20 m (66 ft.)
Perform the adjustment mainly on a straight road without incline or decline, with a dry and smooth road surface.
Do not perform the adjustment when there is a possibility of the vehicle slipping sideways such as on icy roads.
Steer the Toyota Prius vehicle straight without drifting or wobbling, and avoid sudden acceleration or deceleration.
Drive at a vehicle speed of 30 km/h (19 mph) or more.

After driving the vehicle with all conditions met for approximately 5 to 15 minutes cumulatively, the adjustment will be completed.

HINT:

If the adjustment does not complete within a total cumulative time of 15 minutes when the Toyota Prius vehicle is driven with all conditions met, perform the adjustment on another route.
If the adjustment does not complete within a total cumulative time of 30 minutes when the vehicle is driven with all conditions met, perform the adjustment using target recognition.
If the vehicle is driven unsteadily or many lane changes are performed, the time taken for adjustment to complete may increase.
If adjustment difficult judgments continue for 15 minutes, change the route.

HINT:

When driving on a bumpy or unpaved road, making frequent accelerations and decelerations, etc., the camera condition may be unstable, which may cause adjustment to take a long time.

Road environments conducive to adjustment

*a

Roads with continuous white lines

*b

Roads with objects such as buildings or utility poles

Road environments which hinder adjustment

*a	Roads with scenery that does not change	*b	Backlit or high-glare environments
*c	When surrounded by moving Toyota Prius vehicles	-	-

(d) Axis adjustment difficult judgement.

The system monitors the progress of the adjustment, and if it is determined that the vehicle is traveling in a road environment where adjustment is difficult, the buzzer sounds twice to notify the user.
When it is determined that the Toyota Prius vehicle is driving in a road environment where adjustment is difficult, the buzzer sounds at 20-second intervals.
If it is determined that the vehicle is driving in a road environment where adjustment is not difficult, the buzzer does not sound.

HINT:

When performing adjustment with the GTS connected to the Toyota Prius vehicle, "Adjusting (Slow)" is displayed on the progress confirmation screen when it is determined that the vehicle is driving in a road environment where adjustment is difficult.

*a	During normal operation
*b	Driving in a road environment where adjustment is difficult

Driving Adjustment

DRIVING ADJUSTMENT

CAUTION / NOTICE / HINT

NOTICE:

Make sure to read "Before Starting Driving Adjustment" before proceeding with work.
Click here
Make sure to perform the transition to online axis alignment mode with the Toyota Prius vehicle stopped.
Transitioning to online axis alignment mode will erase the learning value, so make sure to complete the adjustment.
Turning the ignition switch off while in online axis alignment mode will cause the system to exit online axis alignment mode, so to continue with the adjustment, it is necessary to transition to online axis alignment mode again.
All of the driving support system functions will be inoperative while the adjustment is in progress.
When driving the Toyota Prius vehicle with the GTS connected, be careful with how the wires are routed.
If the adjustment does not complete within a total cumulative time of 15 minutes when the vehicle is driven with all conditions met, perform the adjustment on another route.
If the adjustment does not complete within a total cumulative time of 30 minutes when the Toyota Prius vehicle is driven with all conditions met, perform the adjustment using target recognition.
After adjustment is complete, to start the various systems it is necessary to turn the ignition switch off and then to ON again.
In situations such as when the online axis alignment terminates abnormally, to perform online axis alignment again, turn the ignition switch off and then back to ON and enter online axis alignment mode again.
For Toyota Prius vehicles with height adjustment function, perform the adjustment at the standard vehicle height.

PROCEDURE

1. PERFORM FORWARD RECOGNITION CAMERA OPTICAL AXIS LEARNING (When driving with GTS connected to vehicle)

NOTICE:

Perform this procedure with the Toyota Prius vehicle unloaded (without the emergency tire puncture repair kit or tools).
Only 1 person should be in the vehicle.

(a) Adjust the tire pressures to the standard values.

Click here

(b) Clean the windshield glass.

(c) If the windshield glass in front of the forward recognition camera is fogged up, remove the forward recognition camera and forward recognition hood, clear the condensation, and then reinstall the forward recognition camera and forward recognition hood.

Forward recognition hood removal:

Click here

Forward recognition hood installation:

Click here

(d) Check that RoB/DTCs other than "X2014 Front Recognition Camera Optical Axis Not Adjusted" are not output.

Click here

(e) Perform Transition to Online Axis Alignment Mode.

(1) With the ignition switch off, connect the GTS to the DLC3.

(2) Turn the ignition switch ON.

(3) Enter the following menus: Chassis / Front Recognition Camera / Utility / Transition to Online Axis Alignment Mode

for Type A:

Chassis > Front Recognition Camera > Utility

Tester Display
Transition to Online Axis Alignment Mode

for Type B:

Chassis > Front Recognition Camera > Utility

Tester Display
Transition to Online Axis Alignment Mode

(4) Confirm the conditions displayed on the screen and then press "Next".

(5) Select "Front recognition camera" and then press "Next".

(6) Check the GTS screen and confirm that it has transitioned to online axis alignment mode.

(7) Press "Next".

(f) Online axis adjustment (Optical Axis Learning)

(1) Drive the Toyota Prius vehicle to perform optical axis learning.

HINT:

If the alignment is performed with the GTS connected to the vehicle, the alignment progress can be monitored through 5 stages on the GTS screen.

(2) If the online axis alignment completes normally, the buzzer will sound 5 times.

NOTICE:

If the alignment terminates abnormally, the buzzer will sound for 3 seconds continuously.

If an error code is displayed, perform troubleshooting according to the following table, then perform the optical axis alignment again.

Error No.	Error Description	Cause of Error	Action to be Taken
31	Exceeded Toyota Prius vehicle speed precondition for start of online axis alignment	Excessive vehicle speed at the start of online axis alignment	Ensure that the vehicle is stopped (vehicle speed 0 km/h) when starting online axis alignment.
32	Camera dirty during online axis alignment	During online axis alignment, dirtiness of the camera interferes with the axis adjustment.	Check that front of camera is not covered. Check that front of camera is not dirty. Check that front of camera is not fogged. Check that weather is not bad (rain/fog). Check that camera view is not backlit or high-glare.
33	Recognition invalid during online axis alignment	DTC/RoB is stored during online axis alignment.	Check whether DTC/RoB is stored.
34	Online axis alignment FOE out-of-range	FOE result from online axis alignment is offset from standard value.	Check camera installation condition. (Check if camera is not seated correctly) Check whether tire inflation pressure is correct.
35	Online axis alignment FOE write error	FOE result from online axis alignment cannot be written to camera.	Inspect front camera.

(3) Press "Exit" to exit the Online axis adjustment mode.

(4) Turn the ignition switch off.

(5) Turn the ignition switch to ON and check that the warning light turns off.

(6) Turn the ignition switch off.

(7) Disconnect the GTS from the DLC3.

(g) Forward recognition camera optical axis learning is complete.

(h) After beam axis adjustment completes, clear the following system Toyota Prius vehicle control history entries.

(1) Clear vehicle control history (Front Camera System).

Click here

2. PERFORM FORWARD RECOGNITION CAMERA OPTICAL AXIS LEARNING (When driving with GTS not connected to Toyota Prius vehicle)

NOTICE:

Perform this procedure with the vehicle unloaded (without the emergency tire puncture repair kit or tools).
Only 1 person should be in the vehicle.

(a) Adjust the tire pressures to the standard values.

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(b) Clean the windshield glass.

Forward recognition hood removal:

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Forward recognition hood installation:

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(d) Check that RoB/DTCs other than "X2014 Front Recognition Camera Optical Axis Not Adjusted" are not output.

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(e) Perform Transition to Online Axis Alignment Mode.

(1) With the ignition switch off, connect the GTS to the DLC3.

(2) Turn the ignition switch ON.

(3) Enter the following menus: Chassis / Front Recognition Camera / Utility / Transition to Online Axis Alignment Mode

for Type A:

Chassis > Front Recognition Camera > Utility

Tester Display
Transition to Online Axis Alignment Mode

for Type B:

Chassis > Front Recognition Camera > Utility

Tester Display
Transition to Online Axis Alignment Mode

(4) Confirm the conditions displayed on the screen and then press "Next".

(5) Select "Front recognition camera" and then press "Next".

(6) Check the GTS screen and confirm that it has transitioned to online axis alignment mode.

(7) Press "Next".

(8) In accordance with the instructions on the screen press "Exit" and then disconnect the GTS from the DLC3.

(f) Online axis adjustment (Optical Axis Learning)

(1) Drive the Toyota Prius vehicle to perform optical axis learning.

(2) If the online axis alignment completes normally, the buzzer will sound 5 times.

NOTICE:

If the alignment terminates abnormally, the buzzer will sound for 3 seconds continuously.

When the system terminates abnormally, connect the GTS, check for errors in the following table and take action as necessary, then perform beam axis alignment again.

Click here

Error Description	Cause of Error	Action to be Taken
Exceeded Toyota Prius vehicle speed precondition for start of online axis alignment	Excessive vehicle speed at the start of online axis alignment	Ensure that the vehicle is stopped (vehicle speed 0 km/h) when starting online axis alignment.
Camera dirty during online axis alignment	During online axis alignment, dirtiness of the camera interferes with the axis adjustment.	Check that front of camera is not covered. Check that front of camera is not dirty. Check that front of camera is not fogged. Check that weather is not bad (rain/fog). Check that camera view is not backlit or high-glare.
Recognition invalid during online axis alignment	DTC/RoB is stored during online axis alignment.	Check whether DTC/RoB is stored.
Online axis alignment FOE out-of-range	FOE result from online axis alignment is offset from standard value.	Check camera installation condition. (Check if camera is not seated correctly) Check whether tire inflation pressure is correct.
Online axis alignment FOE write error	FOE result from online axis alignment cannot be written to camera.	Inspect front camera.

(3) Turn the ignition switch off.

(4) Turn the ignition switch to ON and check that the warning light turns off.

(5) Turn the ignition switch off.

(g) Forward recognition camera optical axis learning is complete.

(h) After beam axis adjustment completes, clear the following system Toyota Prius vehicle control history entries.

(1) Clear vehicle control history (Front Camera System).

Click here

Camera Axis Adjustment Value Write

CAMERA AXIS ADJUSTMENT VALUE WRITE

CAUTION / NOTICE / HINT

NOTICE:

When replacing the forward recognition camera or millimeter wave radar sensor assembly, always replace them with new ones. If they are replaced with used parts or parts from another Toyota Prius vehicle, then an incorrect FOE is written and the system using the forward recognition camera may not operate properly.
This function cannot be used if you replace both the forward recognition camera and the millimeter wave radar sensor assembly at the same time.
Replacing or removing and reinstalling the windshield glass assembly changes the installation conditions of the forward recognition camera, so be sure to adjust the forward recognition camera by using either Target Adjustment (One Time Recognition) or Driving Adjustment.

HINT:

Adjustment of the forward recognition camera by Target Adjustment (One Time Recognition) or Driving Adjustment can be omitted by writing the FOE values saved to the millimeter wave radar sensor assembly to the new forward recognition camera, by performing Camera Axis Adjustment Value Write.
If "Camera Axis Adjustment Value Write" cannot be performed, check that there are no DTCs or RoB codes.
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If "Camera Axis Adjustment Value Write" cannot be performed, perform either "Target Adjustment (One Time Recognition)" or "Driving Adjustment".
- Target Adjustment (One Time Recognition):
  Click here
- Driving Adjustment:
  Click here