Crown

The 170-series, launched in September 1999, features shorter front overhang therefore maximizes interior and trunk space. There are two different 170-series 4-door Saloon; the Royal, and Athlete. The Majesta is a separate vehicle which is larger and longer than the Crown. The 4-door Hardtop was discontinued. The 170-series Estate launched in December 1999 was the first new Crown Wagon after the 130-series. Engine is either 2.0, 2.5, or 3.0. The Athlete V has 2.5-liter 1JZ-GTE turbo. The Royal was also offered with a 3.0-liter 2JZ-FSE mild hybrid.

An innovation was the electronically controlled (Toyota Electronic Modulated Suspension) air suspension combining nonlinear H-infinity control of damping force and roll-orientation control.