Eyesight Owner’s Manual – 2022 Subaru WRX

SEOCONTENT-START

Foreword Congratulations on choosing a SUBARU vehicle equipped with EyeSightTM. EyeSight incorporates the latest driver assistance features available from SUBARU, including such features as Adaptive Cruise Control, a Lead Vehicle Start Alert and a Lane Departure and Lane Sway Warning, all of which are designed to assist the driver in making decisions and increase driver comfort and convenience. Initially, the operation and use of the various EyeSight features may be unfamiliar to you. That is why we urge you to read this manual carefully before using EyeSight. We also recommend that you first take the time to test EyeSight in order to experience its features for yourself so that you can become familiar with their operation. Please keep in mind that it is the responsibility of drivers to operate their vehicles safely at all times. Drivers should always remain alert and should never become complacent while operating their vehicles because of the presence of EyeSight. EyeSight is never a substitute for active driver involvement and it may not operate optimally under all driving conditions. This booklet is a supplement to the Owner’s Manual for your SUBARU vehicle and contains a detailed description of EyeSight. It should be read in conjunction with your Owner’s Manual so that you will gain a thorough understanding of the proper operation of your vehicle. The information, specifications and illustrations found in this booklet are those in effect at the time of printing. SUBARU CORPORATION reserves the right to change specifications and designs at any time without prior notice and without incurring any obligation to make the same or similar changes on vehicles previously sold. Please keep this booklet together with your Owner’s Manual and leave it in the vehicle at the time of resale. The next owner will need the information it contains. SUBARU CORPORATION, TOKYO, JAPAN “SUBARU” and the six-star cluster design are registered trademarks of SUBARU CORPORATION. © Copyright 2022 SUBARU CORPORATION EyeSight About EyeSight ………………………………………………………… 4 Pre-Collision Braking System……………………………………. 29 Advanced Adaptive Cruise Control ……………………………. 63 Lane Departure Prevention Function ……………………….. 107 Pre-Collision Throttle Management………………………….. 117 Lane Departure Warning………………………………………… 125 Lane Sway Warning………………………………………………. 130 Lead Vehicle Start Alert …………………………………………. 134 EyeSight Assist Monitor …………………………………………. 136 Conventional Cruise Control …………………………………… 138 List of alert/notification sounds………………………………… 150 EyeSight malfunction and temporary stop ………………… 152 Open Source Software information ………………………….. 156 Changing settings …………………………………………………. 157 Message screen list ………………………………………………. 165 Troubleshooting ……………………………………………………. 170 4 About EyeSight EyeSight is a driving support system that uses a range of functions to assist the driver in making decisions in order to provide for more safe and comfortable driving and to reduce driver fatigue. Making use of images created by the stereo camera, EyeSight detects the vehicle in front, obstacles, traffic lanes and other items. For models with BSD/RCTA, EyeSight also uses radar sensors to detect vehicles close to the rear of your vehicle. WARNING Drivers are responsible for driving safely. Always comply with all traffic rules and regulations regardless of the fact that your vehicle is equipped with EyeSight. Always maintain a safe following distance between your vehicle and the vehicle in front of you, pay attention to your surroundings and driving conditions, and take necessary actions in order to maintain a safe following distance. Never attempt to drive relying on EyeSight alone. EyeSight is intended to assist the driver in making decisions in order to reduce the risk of accidents or damage and lessen the burden on the driver. When an EyeSight warning is activated, pay attention to what is in front of you and to your surroundings, and take necessary actions. This system is not designed to support driving in poor visibility or in extreme weather conditions, or to protect against careless driving when the driver is not paying complete attention to the road ahead. It also cannot prevent collisions from occurring in all driving conditions. When an alert/notification, Pre-Collision Braking System, Automatic Emergency Steering or other system activates, the driver should check the area around the vehicle and then take appropriate action. There are limits to the EyeSight recognition performance and control performance. Be sure to read the instructions for each function before using the system, and always use it properly. Improper use may lead to failure of control performance, which could cause an accident. About EyeSight 5 Continued on next page  Refer to the following pages for each function: • For Pre-Collision Braking System, refer to page 29. • For Adaptive Cruise Control, refer to page 63. • For Lane Centering Function, refer to page 92. • For Lane Departure Prevention Function, refer to page 107. • For Pre-Collision Throttle Management, refer to page 117. • For Lane Departure Warning, refer to page 125. • For Lane Sway Warning, refer to page 130. • For Lead Vehicle Start Alert, refer to page 134. • For Conventional Cruise Control, refer to page 138. In left-hand drive vehicles, EyeSight is configured for driving on the right-hand side of the road. However, it can be reconfigured by changing the Driving Lane Customize setting for driving on the left-hand side.*  Page 157 If the setting for the traffic lane (driving side of the road) does not match the traffic lane, full EyeSight performance may not be available. *: Characteristics and settings that are affected by specific differences between right-hand drive and left-hand drive vehicles cannot be changed. About EyeSight 6  Continued from previous page • The system may not operate correctly under the conditions listed below. When these conditions occur, turn off Pre-Collision Braking System. Also, do not use Adaptive Cruise Control, Lane Centering Function, Lane Departure Prevention Function or Conventional Cruise Control. – The tire pressure is not correct.*1 – The temporary spare tire is installed.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including a genuine SUBARU suspension that has been modified). – An object that obstructs the stereo camera’s view is installed on the vehicle. – The headlights are dirty or they have snow and ice or dirt on them. (Objects are not correctly illuminated and are difficult to detect.) – The optical axes are not aligned correctly. (Objects are not correctly illuminated and are difficult to detect.) – The lights including headlights and fog lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – The combination meter is not operating properly; such as when the lights do not illuminate, the beeps do not sound, the display is different from when it is normal, etc.*3 About EyeSight 7 • The system will not operate correctly in the following conditions. Do not use Adaptive Cruise Control, Lane Centering Function, Lane Departure Prevention Function or Conventional Cruise Control. – The wheels are out of balance (e.g., the balance weight is removed or misaligned).* 1 – The wheels are out of alignment.*1 – A trailer or another vehicle, etc. is being towed. • The system may not operate properly under the following conditions. Do not use Lane Centering Function or Lane Departure Prevention Function. – There is an abnormal vibration in the steering wheel or the steering wheel is heavier than usual. – The steering wheel has been replaced with parts other than genuine SUBARU parts. *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the combination meter, refer to the Owner’s Manual for your vehicle. About EyeSight 8 CAUTION • The characteristics of the stereo camera are similar to those of human eyes. For this reason, conditions that make it difficult for the driver to see in the forward direction have the same effect on the stereo camera. They also make it difficult for the system to detect vehicles, obstacles, and traffic lanes. • Detection by the EyeSight system is limited to objects that are within the range of the stereo camera’s field of view. Also, after an object enters the range of the camera’s field of view, it may take some time for the system to detect it as a target obstacle and to warn the driver. Example of the range of the stereo camera’s field of view • Under the conditions listed below, it will become more difficult for the system to detect the vehicle in front, motorcycles, cyclists, pedestrians and obstacles on the road, and lane markers. Also, EyeSight may temporarily stop operating. However, the temporary stop will be canceled once these conditions have improved and the vehicle is driven for a short period of time. – Bad weather (for example heavy rain, a blizzard or thick fog). In particular, the system is more likely to temporarily stop operating when there is an oil film adhering to the windshield, a glass coating has been applied, or poorly performing wipers are used. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The windshield washer is in use. – Raindrops, water drops, or dirt on the windshield are not wiped off sufficiently. H00075 Low objects surrounding the vehicle cannot be detected. About EyeSight 9 Continued on next page  – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). – Through the entrance or exit of a tunnel – The rear aspect of the vehicle in front is low, small or irregular (for example a low bed trailer, etc.). – The obstacle is a fence, a wall or a shutter, etc. with a uniform pattern (a striped pattern, brick, etc.) or with no pattern in front. – The obstacle is a wall or door made of glass or a mirror in front. – Driving at night or in a tunnel when there is a vehicle in front that does not have its taillights on – Driving through a banner or flag, low branches on a tree or thick/tall vegetation – On steep uphill or downhill grades – It is completely dark and no objects are detected. – The area around the vehicle has a uniform color (such as when completely covered in snow, etc.). – Accurate detection is not possible due to reflections in the windshield. • Under the conditions listed below, EyeSight may temporarily stop operating. If this occurs, EyeSight will resume operating when the conditions improve. – The temperature inside the vehicle is high, such as after the vehicle was left in bright sunshine, or the temperature inside the vehicle is low, such as after the vehicle was left in an extremely cold environment. – Immediately after the engine starts About EyeSight 10  Continued from previous page • Under the conditions listed below, it is difficult to recognize vehicles in front, motorcycles, cyclists, pedestrians, obstacles on the road, traffic lanes, etc. Also, the EyeSight system may temporarily stop operating. If the EyeSight system repeatedly stops operating several times, contact a SUBARU dealer and have the system inspected. – There is dirt or dust around the stereo camera lenses. – The stereo camera has become misaligned due to a strong impact. – The vehicle has not been driven for a long time (1 year or more, for example). • When there is a malfunction in the EyeSight system, turn off Pre-Collision Braking System and Lane Departure Prevention Function, and stop using Adaptive Cruise Control, Lane Centering Function and Conventional Cruise Control. Contact a SUBARU dealer and have the system inspected.  Page 157 • When the Vehicle Dynamics Control warning light is illuminated, Pre-Collision Braking System may not operate properly. If the warning light is illuminated, turn off Pre-Collision Braking System. Also, do not use Adaptive Cruise Control or Conventional Cruise Control. About EyeSight 11 NOTE • EyeSight records and stores the following data when Pre-Collision Braking System activates, when the “Obstacle Detected” warning activates, and when SRS airbags have been deployed. It does not record conversations or other audio data. – Stereo camera image data – Distance from the vehicle in front – Vehicle speed – Steering wheel turning angle – Lateral movement with regards to the direction of travel – Accelerator pedal operation status – Brake pedal operation status – Select lever position – Odometer reading – Data related to ABS, Vehicle Dynamics Control and Traction Control Function – Time of occurrence • SUBARU and third parties contracted by SUBARU may acquire and use the recorded data for the purpose of vehicle research and development. SUBARU and third parties contracted by SUBARU will not disclose or provide the acquired data to any other third party except under the following conditions. – The vehicle owner has given his/her consent. – The disclosure/provision is based on a court order or other legally enforceable request. – Data that has been modified so that the user and vehicle cannot be identified is provided to a research institution for statistical processing or similar purposes. About EyeSight 12 The stereo camera is located on the windshield. Handling of the Stereo Camera CAUTION • The stereo camera monitors and detects smears or blurs on the front of the camera. However, detection is not 100% accurate. Under certain conditions, the function may fail to detect smears or blurs on the front of the stereo camera accurately. In addition, this function may not detect that there is snow or ice on the windshield close to the stereo camera. In such conditions, be sure to keep the windshield clean at all times (indicated by ). Otherwise the system may not operate correctly. When this function detects that the front of the stereo camera is smeared or blurred, no EyeSight functions can be activated except for Conventional Cruise Control. • If the area around the camera lenses is dirty, do not try to clean the windshield yourself. Contact a SUBARU dealer to have the vehicle inspected. A S01107 Stereo camera About EyeSight 13 Continued on next page  • The stereo camera lenses are precision components. Always observe the following precautions especially when handling the area around the camera lenses. – Never touch the lenses of the stereo camera. Also, do not try to clean the lenses. If you do accidentally touch the lenses, be sure to contact a SUBARU dealer. – When you are cleaning the inside of the windshield around the camera cover, do not spray cleaner directly onto the windshield. Instead, spray cleaner onto a cloth and then wipe the windshield. – When having the inside of windshield cleaned at a service station, etc., be sure to request that the attendant covers the camera covers before washing the vehicle. – Do not subject the stereo camera to a strong impact. – Do not remove or disassemble the stereo camera. – Do not change the positions where the stereo camera is installed or modify any of the surrounding structures. • If the camera system becomes hot, the cooling fans may start operating. Do not block the ventilation holes in the camera cover. Also, do not insert anything into the ventilation holes. Doing so could damage the camera system. • Do not touch the camera cover, because it may be hot due to heat generated by the camera system. • If the camera cover is hit, pressed strongly or otherwise subjected to impacts, EyeSight functions may not operate correctly. H00064 Camera cover Ventilation holes Inside mirror About EyeSight 14  Continued from previous page • Do not install any accessories other than the ones designated by SUBARU on the prohibited areas (1) and (2), shown in gray in the illustration below, including the windshield (inside and outside), inside mirror, camera cover and top of the instrument panel. – Even if some accessories are installed on the outside of the prohibited areas, abnormal operation of EyeSight may occur due to the reflection of the light or any objects. In this situation, move the accessories. For details, contact a SUBARU dealer. – Do not place any stickers or accessories on the windshield (outside or inside). If you have to do so (for example, legally required or electronic toll tag), avoid the prohibited area (1) gray zone shown in the illustration. Otherwise, it may adversely affect the field of view of the stereo camera and can cause improper operation of the system. For details, contact a SUBARU dealer. – Do not place any objects in the prohibited area (2) gray zone. The stereo camera may not be able to detect objects accurately and the EyeSight system may not function properly due to reflections in the windshield. For details, contact a SUBARU dealer. – Do not polish the top of the instrument panel with chemicals or other substances. The stereo camera may not be able to detect objects accurately and the EyeSight system may not function properly due to reflections in the windshield. H00432 (1) (2) About EyeSight 15 Refer to the vehicle Owner’s Manual for details. • Do not install any wiper blades other than genuine SUBARU wiper blades. Doing so may affect the stereo camera’s field of view and could prevent the EyeSight system from functioning properly. • Replace damaged wiper blades or worn wiper blade rubbers as soon as possible. Using damaged wiper blades or worn wiper blade rubbers may cause streaking on the windshield. The stereo camera may not be able to detect objects accurately and the EyeSight system may not function properly due to streaks or droplets remaining on the windshield. • Do not install any accessories on the front side such as on the hood or the grille. It may affect the camera view and the system may not operate correctly. • Make sure that the cargo loaded on the roof does not interfere in the stereo camera’s field of view. Obstructing the stereo camera’s view may impair the system operation. For details, contact a SUBARU dealer. • Keep the windshield (outside and inside) clean at all times. When the windshield has become fogged, or it has a dirt or an oil film on it, the stereo camera may not detect objects accurately and the EyeSight system may not operate correctly. Never mount any device or accessories to the center air vent, as any airflow change may impact EyeSight performance. • Do not use any glass coating agents or similar substances on the windshield. Doing so may interfere with the proper operation of the system. • Do not install any film or an additional layer of glass on the windshield. The system may not operate correctly. • If there are scratches or cracks on the windshield, contact a SUBARU dealer. • To have the windshield replaced or repaired, contact a SUBARU dealer. Do not install a windshield other than a genuine SUBARU windshield. The stereo camera may not be able to detect objects accurately and the EyeSight system may not operate properly. Handling of Radar Sensors (if equipped) S01098 About EyeSight 16 EyeSight includes the following functions. ■Pre-Collision Braking System This function uses a following distance warning feature to warn the driver to take evasive action when there is the possibility of a collision with an obstacle in front (a vehicle, pedestrian, cyclist, etc.). If the driver does not take evasive action, the brakes are applied automatically to help reduce vehicle collision damage or, if possible, help prevent a collision.  Page 29 Automatic Emergency Steering (if equipped) This function warns the driver if there is a possibility of a collision with a vehicle, pedestrian or cyclist in front of the vehicle. If the driver does not take evasive action, the system will operate the steering wheel to try to avoid a collision.  Page 49 ■Advanced Adaptive Cruise Control Adaptive Cruise Control This function maintains the set vehicle speed and when there is a vehicle in front in the same traffic lane, it follows the speed of the vehicle in front up to the maximum of the set vehicle speed.  Page 63 Lane Centering Function This function helps suppress lane drifting by detecting lane markings (e.g., white lines) and the lead vehicle on expressways, freeways and interstate highways, and by assisting steering operation. Lane Centering Function will work only when Adaptive Cruise Control is activated.  Page 92 ■Lane Departure Prevention Function When driving on expressways, freeways, or interstate highways, the system recognizes the lane markings. If the vehicle appears likely to depart from the lane, the system assists with steering operation in the direction that prevents the lane departure, preventing the vehicle from leaving the lane.  Page 107 EyeSight Functions About EyeSight 17 ■Pre-Collision Throttle Management This function reduces accidental forward movement caused by the select lever being placed in the wrong position or the accelerator pedal being accidentally depressed, or depressed too strongly.  Page 117 ■Lane Departure Warning This function warns the driver when the vehicle is about to drift off the road.  Page 125 ■Lane Sway Warning This function warns the driver when it detects vehicle drifting caused by driver fatigue, failure to concentrate on the road, inattention, strong crosswinds or other factors.  Page 130 ■Lead Vehicle Start Alert This function notifies the driver when the vehicle stopped in front starts moving but the driver’s vehicle remains stationary.  Page 134 ■Conventional Cruise Control In this mode, the system maintains a constant vehicle speed. It does not follow the vehicle in front. This function can be used even when the stereo camera has temporarily stopped operating ( page 154). This function is used by switching from Adaptive Cruise Control to Conventional Cruise Control.  Page 138 NOTE EyeSight does not operate when the engine is not running. About EyeSight 18 Instrument panel display layout (1) Vehicle Dynamics Control OFF indicator light (2) Pre-Collision Braking System OFF indicator light (3) Combination meter display (4) Vehicle Dynamics Control warning light (5) Auto Vehicle Hold indicator light (6) Lane Departure Warning OFF indicator light (7) Electronic parking brake indicator light (8) Brake system warning light H00267 (1) (2) (3) (4) (5) (6) (7) (8) About EyeSight 19 (1) Lead vehicle indicator (2) Following distance setting indicator (3) EyeSight display area (4) Adaptive Cruise Control indicator (5) Conventional Cruise Control indicator (6) READY indicator (7) Select lever/gear position indicator (8) BSD/RCTA OFF indicator (if equipped) (9) Automatic Emergency Steering OFF indicator (if equipped) (10) Traction mode indicator light (11) Set vehicle speed (12) HOLD indicator (13) Current vehicle speed (14) Lane indicator (15) EyeSight temporary stop indicator (white) (16) EyeSight warning indicator (yellow) (17) Your vehicle indicator (18) Lane Centering indicator (white) (For US models) (19) Lane Centering indicator (green) (For US models) (20) Lane Centering indicator (white) (For Canada models) (21) Lane Centering indicator (green) (For Canada models) (22) Warning screen area Display units can be changed in the Screen Settings. For details, refer to the Owner’s Manual for your vehicle. MPG H00268 (1) (2) (3) (4) (5) (6) (15) (16) (20) (21) (18) (19) (11) (12) (13) (14) (17) (22) (7) (8) (9) (10) About EyeSight 20 Adaptive Cruise Control indicator • This indicator illuminates when the (CRUISE) switch is pressed.  Page 72 • When Adaptive Cruise Control is activated, this indicator changes from white to green. When the driver accelerates the vehicle by depressing the accelerator pedal while Adaptive Cruise Control is operating, the indicator changes from green to white.  Page 73 Conventional Cruise Control indicator • This indicator illuminates when the / (Following distance setting) switch is pressed and held after pressing the (CRUISE) switch.  Page 140 • This indicator changes from white to green when Conventional Cruise Control is activated.  Page 141 READY indicator illuminates when cruise control* can be activated.  Pages 72 and 140 *: Adaptive Cruise Control and Conventional Cruise Control HOLD indicator illuminates when the stay-stopped function is operated while Adaptive Cruise Control is on.  Page 81 Lead vehicle indicator When Adaptive Cruise Control is activated or when the stay-stopped function is engaged, this indicator illuminates when a vehicle in front has been detected.  Page 74 Following distance setting indicator Indicates the following distance setting that was set with the / (Following distance setting) switch.  Page 80 About EyeSight 21 Set vehicle speed • Displays the set vehicle speed. • This indicator changes from white to green when Adaptive Cruise Control or Conventional Cruise Control is activated.  Pages 73 and 141 Select lever/gear position indicator This indicator illuminates and shows which position the select lever or the gear is in. EyeSight warning indicator (yellow) • This indicator illuminates or blinks when a malfunction occurs in the EyeSight system. • When it is illuminated or blinking, none of the EyeSight functions can be used (including Adaptive Cruise Control and Pre-Collision Braking System, etc.).  Page 152 EyeSight temporary stop indicator (white) • This indicator illuminates when the EyeSight system is temporarily stopped. • When the ignition switch is turned to the ON position, this indicator will illuminate if the (CRUISE) switch is set to ON within approximately 10 seconds of the engine starting. It turns off when approximately 10 seconds have elapsed since the engine started. • When it is illuminated, none of the EyeSight functions can be used except for Conventional Cruise Control.  Page 154 Lane Departure Warning OFF indicator light • This indicator light illuminates when Lane Departure Warning and Lane Sway Warning are off. • It also illuminates when the ignition switch is turned to the ON position. Approximately 10 seconds after the engine starts, the Lane Departure Warning OFF indicator light will turn off or remain illuminated depending on the current status (ON or OFF).  Pages 129 and 133 About EyeSight 22 Pre-Collision Braking System OFF indicator light • This indicator light illuminates when Pre-Collision Braking System and Pre-Collision Throttle Management are off. • It also illuminates when the ignition switch is turned to the ON position, and then turns off approximately 10 seconds after the engine starts.  Pages 62 and 124 Lane indicator • This indicator illuminates in gray when Lane Departure Prevention Function is turned on. • If your vehicle is about to drift out of the lane while Lane Centering Function is active, the line the vehicle is about to cross will blink in yellow. • Both right and left lines or only one line illuminates in white under the following conditions. – Lane Departure Prevention Function goes into the standby status. – Lane Centering Function is operating by detecting the lane markings. • Both right and left lines or only one line illuminates in yellow when Lane Departure Prevention Function is operating.  Pages 102, 105 and 113 Brake system warning light If the brake system warning light illuminates when the electronic parking brake is released while driving, turn Pre-Collision Braking System off. At this time, do not use Adaptive Cruise Control or Conventional Cruise Control. If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place. Contact a SUBARU dealer to have the system inspected.  Refer to the vehicle Owner’s Manual for details. Electronic parking brake indicator light This indicator light illuminates when the electronic parking brake is applied.  Refer to the vehicle Owner’s Manual for details. About EyeSight 23 Your vehicle indicator When the brake pedal is depressed or the brake control function is activated, the brake lights on the vehicle indicator illuminate in red. Lane Centering indicator • This indicator illuminates when Lane Centering Function is turned on by pressing the (Lane Centering) switch (only when Adaptive Cruise Control is on). • This indicator turns off when Adaptive Cruise Control is off. • While Lane Centering Function is operating, the indicator changes from white to green.  Page 101 BSD/RCTA OFF indicator (if equipped) This indicator illuminates when BSD/RCTA is deactivated.  Refer to the vehicle Owner’s Manual for details. Traction mode indicator light This indicator light illuminates when the Vehicle Dynamics Control OFF switch is pressed to select the traction mode.  Refer to the vehicle Owner’s Manual for details. Vehicle Dynamics Control OFF indicator light • This indicator light illuminates when the ignition switch is turned to the ON position, and it turns off after approximately 2 seconds. • This indicator light illuminates when the Vehicle Dynamics Control OFF switch is pressed to select the Vehicle Dynamics Control OFF mode or the traction mode.  Refer to the vehicle Owner’s Manual for details. Vehicle Dynamics Control warning light This warning light illuminates when the ignition switch is turned to the ON position, and turns off approximately 2 seconds after the engine is started. It will illuminate if there is a malfunction in the Vehicle Dynamics Control electrical control system.  Refer to the vehicle Owner’s Manual for details. // About EyeSight 24 Auto Vehicle Hold indicator light • This indicator light illuminates when the Auto Vehicle Hold is activated. • This indicator light blinks while the vehicle is stopped by the Auto Vehicle Hold function.  Refer to the vehicle Owner’s Manual for details. Automatic Emergency Steering OFF indicator (if equipped) • This indicator illuminates when the ignition switch is turned to the ON position, and then turns off approximately 10 seconds after the engine starts. • It illuminates if BSD/RCTA or Pre-Collision Braking System cannot be used due to a malfunction. • It illuminates if BSD/RCTA or Pre-Collision Braking System is turned off.  Page 60 About EyeSight 25 Switch layout (1) / (Following distance setting) switches (2) (CRUISE) switch (3) RES/+ switch (4) SET/- switch (5) (Lane Centering) switch (6) switch (6) (1) (2) (3) (4) (5) H00066 About EyeSight 26 ■ (CRUISE) switch • Press this switch to turn cruise control* on/off. • When the (CRUISE) switch is pressed, (Adaptive Cruise Control indicator) appears on the EyeSight display area of the combination meter display, and then (Conventional Cruise Control indicator) appears by pressing and holding the / (Following distance setting) switch for approximately 2 seconds. When (Adaptive Cruise Control indicator) or (Conventional Cruise Control indicator) is shown on the EyeSight display area, this indicates that the main cruise control is on.  Pages 72 and 139 • Press this switch to cancel the cruise control.  Pages 85 and 145 *: Adaptive Cruise Control and Conventional Cruise Control ■RES/SET switch ●SET/- • Press this switch to set cruise control*. • Press this switch to reduce the set vehicle speed (when cruise control* is currently set).  Pages 73 and 78 (for Adaptive Cruise Control)  Pages 141 and 144 (for Conventional Cruise Control) *: Adaptive Cruise Control and Conventional Cruise Control ●RES/+ • Press this switch to set cruise control*. • After cruise control* is canceled, press this switch to resume the cruise control function at the vehicle speed that was previously set. • Press this switch to increase set vehicle speed (when cruise control* is currently set).  Pages 73, 77 and 88 (for Adaptive Cruise Control)  Pages 141, 143 and 148 (for Conventional Cruise Control) *: Adaptive Cruise Control and Conventional Cruise Control About EyeSight 27 ■ / (Following distance setting) switches • Press either of these switches to select the set following distance in 4 stages (only when Adaptive Cruise Control is on).  Page 80 • When the main cruise control is on, switching between Adaptive Cruise Control and Conventional Cruise Control is possible by pressing the / (Following distance setting) switch*. *: To switch to Conventional Cruise Control, press and hold the switch for approximately 2 seconds or longer. ■ (Lane Centering) switch Press this switch to turn Lane Centering Function on/off (only when Adaptive Cruise Control is on).  Page 101 • When Lane Centering Function status is standby, / (Lane Centering indicator) (white) illuminates. • When Lane Centering Function status is active, / (Lane Centering indicator) (green) illuminates. ■ switch Pull this switch to display the message that appeared in the warning screen area again.  Page 165 ■Vehicle Dynamics Control OFF switch During engine operation, operate the Vehicle Dynamics Control OFF switch to change the mode of the Vehicle Dynamics Control system.  Refer to the vehicle Owner’s Manual for details. H00346 About EyeSight 28 ■Changing settings The EyeSight settings can be changed by operating the center information display.  Page 157 The following systems can also be turned on/off by operating the center information display. • Auto Vehicle Hold (AVH) • BSD/RCTA (if equipped)  Refer to the vehicle Owner’s Manual for details. ■Warning screens The following warning screens will be displayed on the center information display. Center information display Item Displayed screen Pre-Collision Braking System warning (first braking and secondary braking) Automatic Emergency Steering warning “Obstacle Detected” warning Lane Centering Function warning (nooperation of the steering wheel) Lane Centering Function cancellation (nooperation of the steering wheel) H00330 S03540 S03541 Pre-Collision Braking System 29 Pre-Collision Braking System When there is a risk of a collision with an obstacle in front (a vehicle, pedestrian, cyclist, etc.), the EyeSight system helps to prevent or minimize a collision by warning the driver. If the driver still does not take evasive action to avoid a collision, the brakes can be automatically applied just before the collision in order to reduce impact damage, or if possible, prevent the collision. If the driver takes evasive action to avoid a collision, Pre-Collision Braking Assist will operate in order to help the driver to prevent or minimize the collision. This system can be effective not only with direct rear-end collisions, but also with offset rear-end collisions. In addition to rear-end collisions, this system can be effective for avoiding collisions with crossing pedestrians and cyclists and with oncoming vehicles and pedestrians when turning. This function can be activated when the select lever is in the “D”, “M” or “N” position. Continued on next page  WARNING Pre-Collision Braking System operation • Never use Pre-Collision Braking System and Pre-Collision Braking Assist to stop your car or avoid a collision under ordinary conditions. These functions cannot prevent collisions under all conditions. If the driver relies only on Pre- Collision Braking System for Brake operation, collisions may occur. • When a warning is activated, pay attention to the front of the vehicle and its surroundings, and operate the brake pedal and/or take other actions if necessary. • The EyeSight Pre-Collision Braking System is primarily designed to prevent rear-end collisions with other vehicles when possible or to minimize damage and injuries in the event of a collision. In addition to other vehicles, things such as motorbikes, cyclists and pedestrians can also be treated as obstacles. However, there may be cases when detection is not possible depending on a variety of conditions*. For example, when a vehicle is viewed from the side, oncoming vehicle, vehicles approaching in reverse, small animals or children, or walls or doors are not likely to be detected. • Pre-Collision Braking System will operate at the point when it determines that a collision cannot be avoided and is designed to apply strong braking force just before a collision. The result of this varies depending on a variety of conditions*. Because of this, performance of this function will not always be the same. Pre-Collision Braking System 30  Continued from previous page • When Pre-Collision Braking System is activated, it will continue to operate even if the accelerator pedal is partially depressed. However, it will be canceled if the accelerator pedal is suddenly or fully depressed. • If the driver depresses the brake pedal or turns the steering wheel, the system may determine that this constitutes evasive action by the driver, and the automatic braking control may not activate in order to allow the driver full control. • If the speed difference with the obstacle is greater than approximately 37 mph (60 km/h), collisions cannot be avoided due to performance limitations of EyeSight. However, even if the speed difference is approximately 37 mph (60 km/h) or less, if an obstacle cuts in front of you or moves outside the camera’s field of view, the vehicle might not be able to stop or the system might not activate when the visibility, road slipperiness, etc. do not meet the following conditions.* *: Conditions in which Pre-Collision Braking System cannot detect obstacles: – Distance to obstacle in front of you, speed difference, proximity conditions, lateral displacement (the amount of offset) – Vehicle conditions (amount of load, number of occupants, etc.) – Road conditions (grade, slipperiness, shape, bumps, etc.) – Visibility ahead is poor (rain, snow, fog or smoke, etc.). – The detected object is something other than a vehicle, motorcycle, cyclist or pedestrian. • A domestic animal or other animal (a dog or deer, etc.) • A guardrail, telephone pole, tree, fence or wall, etc. – Even if the obstacle is a motorcycle, cyclist or pedestrian, depending on the brightness of the surroundings, its relative movement, its aspect, and the direction it is facing, there may be cases when the system cannot detect it. – The system determines that operation by the driver (based on accelerator pedal operation, braking, steering wheel angle, etc.) is intended as evasive action. Pre-Collision Braking System 31 Continued on next page  – Vehicle maintenance status (brake systems, tire wear, tire pressure, whether a temporary spare tire is being used, etc.) – A trailer or another vehicle, etc. is being towed. – The brakes are cold due to the outside temperature being low or just after starting the engine. – The brakes are overheated on downhill grades (braking performance is reduced). – In rain or after washing the vehicle (the brakes are wet and braking performance is reduced.) – Recognition conditions of the stereo camera In particular, the function may be unable to stop the vehicle or may not activate in the following cases. • The object moves outside the camera’s field of view. • Bad weather (for example heavy rain, a blizzard or thick fog) • Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. • At night or in a tunnel without the headlights on • At night or in a tunnel when there is a vehicle in front that does not have its taillights on • Approaching a motorcycle, cyclist or pedestrian at night • A vehicle, motorcycle, cyclist or pedestrian is outside the area illuminated by the headlights. • Strong light is coming from the front (for example, sunlight at dawn, sunset or headlight beams, etc.). • The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. • Fluid has not been fully wiped off the windshield during or after washer use. Pre-Collision Braking System 32  Continued from previous page • The target cannot be correctly recognized because the stereo camera’s view is obstructed by water droplets from rain or the window washer, or by the wiper blades. • The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). • The vehicle is tilted at an extreme angle due to loaded cargo or other factors. • It is pitch black and there are no objects in the surrounding area. • The surrounding area is mostly the same color (for example in a snowy location). • The rear aspect of the vehicle in front is low, small or irregular (the system may recognize another part of the vehicle as its rear and will determine operation from that). – There is an empty truck or trailer with no rear and/or side panels on the cargo bed. – Vehicles that have cargo protruding from their back ends – Non-standard shaped vehicles (vehicle transporters or vehicles with a sidecar fitted, etc.) – The height of the vehicle is low, etc. S01956 Pre-Collision Braking System 33 Continued on next page  • There is a wall, etc. in front of a stopped vehicle. • There is another object near the vehicle. • A vehicle, etc. has its side facing you. • With vehicles that are backing up or with oncoming vehicles, etc. • The size and height of an obstacle is smaller than the limitations of the stereo camera’s recognition capability. – With small animals or children, etc. – With pedestrians who are sitting or lying down • The detected object is a fence or wall, etc. with a uniform pattern (a striped pattern or brick pattern, etc.). • There is a wall or door made of glass or a mirror in front. • The vehicle in front suddenly swerves, accelerates, or decelerates. • A vehicle, motorcycle, cyclist or pedestrian suddenly cuts in from the side or suddenly runs in front of you. • Your vehicle is immediately behind an obstacle after changing lanes. • There is a vehicle, motorcycle, cyclist or pedestrian in a location close to your vehicle’s bumper. • The speed difference between your vehicle and an obstacle is 4 mph (5 km/h) or less (As braking is performed once the obstacle is in close proximity to your vehicle, depending on the shape and size of the obstacle, there may be some cases when the obstacle is outside the range of the camera’s field of view.). • On sharp curves, steep uphill grades or steep downhill grades • On a bumpy or unpaved road • The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. • Do not test Pre-Collision Braking System on its own. It may operate improperly and cause an accident. S00653 Pre-Collision Braking System 34  Continued from previous page • The system may not operate correctly under the conditions listed below. When these conditions occur, turn off Pre-Collision Braking System.  Page 61 – The tire pressure is not correct.*1 – The temporary spare tire is installed.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including a genuine SUBARU suspension that has been modified). – An object that obstructs the stereo camera’s view is installed on the vehicle. – The headlights are dirty or they have snow and ice or dirt on them. (Objects are not correctly illuminated and are difficult to detect.) – The optical axes are not aligned correctly. (Objects are not correctly illuminated and are difficult to detect.) – The lights including headlights and fog lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – The combination meter is not operating properly; such as when the lights do not illuminate, the beeps do not sound, the display is different from when it is normal, etc.*3 *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the combination meter, refer to the Owner’s Manual for your vehicle. Pre-Collision Braking System 35 Continued on next page  Activation of Pre-Collision Braking System when turning • Operation of the EyeSight Pre- Collision Braking System when making a turn is intended to avoid collisions or reduce the severity of collisions with oncoming vehicles in the neighboring oncoming lane, particularly when you are crossing the oncoming lane to make a turn at an intersection, etc. In addition to oncoming vehicles, pedestrians can also be detected, but your vehicle may not stop or the system may not activate under certain conditions*. • If your vehicle is moving faster than approximately 16 mph (25 km/h) when you turn, the system will not activate. Also, even if your vehicle is moving approximately 16 mph (25 km/h) or slower, if the obstacle suddenly cuts in front of you or is outside the stereo camera’s field of view, your vehicle may not stop or the system may not activate depending on differing conditions* such as visibility or the slipperiness of the road. *: Conditions – Speed difference with the oncoming vehicle, distance to the oncoming vehicle, the angle of approach, changes in the actions of the oncoming vehicle and the position of the other vehicle relative to the side of your vehicle. – Vehicle conditions (amount of load, number of occupants, etc.) – Road conditions (grade, slipperiness, shape, bumps, etc.) – Visibility ahead is poor (rain, snow, fog or smoke, etc.). – The obstacle is something other than an oncoming vehicle or pedestrian. • A parked vehicle or a vehicle that is traveling in the same direction as your vehicle • An animal, etc. • A guardrail, telephone pole, tree, fence or wall, etc. – Even if an oncoming vehicle has been detected, you are not signaling to move in the direction that your vehicle is actually traveling. – Even if the obstacle is an oncoming vehicle, it is traveling close to objects on the side of the road. – Even if the obstacle is an oncoming vehicle, it is stopped or traveling in your lane. H00076 Pre-Collision Braking System 36  Continued from previous page – Even if the obstacle is an oncoming vehicle, the system cannot recognize it as a target obstacle because, for example, the front of the vehicle cannot be seen or the vehicle is difficult to see because it is driving without its headlights on at night. – Even if the obstacle is an oncoming vehicle, your vehicle moved into the oncoming vehicle’s path before the system could recognize it as a target obstacle. – Even if the obstacle is an oncoming vehicle, your vehicle is in the oncoming lane. – Even if the obstacle is a pedestrian, depending on the brightness of the surroundings, its relative movement, its aspect, and the direction it is facing, there may be cases when the system cannot detect it. • In particular, there is a high possibility that your vehicle cannot stop or that the system will not activate in the following cases: – Visibility is poor due to water, snow, dust, etc. kicked up by another vehicle, or due to water vapor, sand, smoke, etc. in the air. – Approaching a pedestrian at night. – The oncoming vehicle or pedestrian is outside the area illuminated by the headlights. – The front aspect of the oncoming vehicle is small, low or irregular. – The vehicle, etc. has its side facing you. – The vehicle, etc. is backing up. – The oncoming vehicle suddenly swerves, accelerates or decelerates. – The oncoming vehicle or pedestrian suddenly cuts in from the side or suddenly runs in front of you. – The oncoming vehicle or pedestrian is close to your vehicle’s bumper. – You turn the steering wheel suddenly away or back to your direction of travel. H00077 Pre-Collision Braking System 37 Continued on next page  CAUTION • In the following situations, turn off Pre-Collision Braking System. Otherwise Pre-Collision Braking System may activate unexpectedly.  Page 61 – The vehicle is being towed. – The vehicle is being loaded onto a carrier. – A chassis dynamometer, free-rollers or similar equipment is being used. – A mechanic lifts up the vehicle, starts the engine and spins the wheels freely. – Passing hanging banners, flags or branches – Thick/tall vegetation is touching the vehicle. – Driving on a race track – In a drive-through car wash • Pre-Collision Braking System may activate in the following situations. Therefore concentrate on safe driving. – Passing through an automatic gate (opening and shutting) – Driving close to the vehicle in front, pedestrian or cyclist – Driving in a location where the grade of the road changes rapidly S00656 S01869 Pre-Collision Braking System 38  Continued from previous page – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – Passing through clouds of steam or smoke, etc. – In adverse weather, such as heavy snow or snowstorms – The exhaust gas emitted by the vehicle in front is clearly visible in cold weather, etc. – There is an obstacle on a curve or intersection. – You are passing close to the side of a vehicle, an obstacle or vegetation. – Stopping very close to a wall or a vehicle in front S00652 S01870 Pre-Collision Braking System 39 Continued on next page  – Passing through water spray from road sprinklers or snow clearing sprinklers on the road • If there is cargo or installed accessories, etc. that are protruding beyond the edge of the front bumper, the vehicle’s length will increase and the system may not be able to prevent a collision. • If you operate the brake pedal during automatic braking, the pedal may move on its own during automatic braking. However, this is normal. By depressing the brake pedal further, you can apply more braking force. Apply more braking force as necessary. • Pre-Collision Braking System may activate in the following situations even when there is no oncoming vehicle or pedestrian approaching. – An oncoming vehicle decelerates or stops before an intersection just before you make a turn and enter the oncoming lane. S02636 H00307 Pre-Collision Braking System 40  Continued from previous page – An oncoming vehicle passes by just before you make a turn and enter the oncoming lane. – Just before you make a turn and enter the oncoming lane, you pass by an oncoming vehicle also making a turn. – You suddenly approach close to an oncoming vehicle while trying to change lanes or avoid an obstacle. – When you are turning, a pedestrian crosses in front of your vehicle or just before crossing slows down or stops. H00308 H00309 H00310 Pre-Collision Braking System 41 – A vehicle, motorcycle, cyclist or pedestrian slows down or stops just before crossing in front of you. – A vehicle, motorcycle, cyclist or pedestrian changes direction to either join your lane or pass by you in the opposite direction just before crossing in front of you. NOTE Some unusual noises may be audible during automatic braking. This is caused by the braking control and is normal. H00372 H00373 Pre-Collision Braking System 42 ■Detection of pedestrians The EyeSight system can also detect pedestrians. The EyeSight system detects pedestrians from their size, shape and movement. The system detects a pedestrian when the contour of the head and shoulders are clear. WARNING The EyeSight system’s Pre-Collision Braking function also identifies pedestrians as obstacles. However, depending on the conditions, there may be cases when the system cannot detect a pedestrian. In the following conditions, the possibility that the system may not be able to detect a pedestrian as an object is particularly high. • Pedestrians are walking in a group. • A pedestrian is next to a wall or other obstacle. • A pedestrian is using an umbrella. • A pedestrian is wearing clothes that are a similar color to the surrounding environment. • A pedestrian is carrying bulky luggage or tall object, or is pushing an object such as a cart. • A pedestrian is bending over, crouching down, lying down or making a sudden movement such as standing up. • A pedestrian is in a dark location. • A pedestrian suddenly crosses in front of you from the side or suddenly runs in front of you. S02796 Approx. 3 1/3 ft- 6 2/3 ft (1-2 m) Pre-Collision Braking System 43 ■Detection of cyclists The EyeSight system can also detect cyclists. The EyeSight system detects cyclists from their size, shape and movement. The system can recognize a cyclist when the outline of a rider and bicycle is clear and it detects human-like movement. WARNING The EyeSight system’s Pre-Collision Braking System may not recognize objects as potential obstacles under certain conditions. In the following conditions, the possibility that the system may not be able to detect a cyclist as an object is particularly high. • A cyclist is moving in a group with other pedestrians or cyclists. • A cyclist is next to a wall or other obstacle. • A cyclist’s clothing and/or bicycle are similar in color to the surrounding environment. • A large item is being carried on the bicycle. • A cyclist is standing while pedaling or leaning over the handlebars. • A cyclist is in a dark location. • A cyclist suddenly cuts in from the side or suddenly appears in front of you. • A cyclist crosses in front of you at a high speed. S04049 Approx. 3 1/3 ft- 8 1/3 ft (1-2.5 m) Pre-Collision Braking System 44 When there is an obstacle in front of you during driving, the system activates in the following sequence in order to warn the driver and to activate braking control and the brake lights. Following Distance Warning: When the system determines that there is a risk of collision, an alert sounds repeated short beeps and the indicators on the combination meter display illuminate to warn the driver. When the driver depresses the brake pedal to decelerate and achieves a suitable following distance, the warning is canceled. The Following Distance Warning operates when Adaptive Cruise Control is not activated. First Braking and Warning: When the system determines that there is a high risk of collision with an obstacle in front, an alert sounds repeated short beeps and the indicators on the combination meter display and the center information display illuminate to warn the driver. Braking control may be activated and in some situations, engine output may also be controlled. If the system determines that the amount of evasive action (braking, steering, etc.) taken by the driver has reduced the risk of collision, braking activation is canceled. Secondary Braking and Warning: If the system then determines that the risk of collision is extremely high, the alert changes to a continuous beeping sound and stronger braking control is activated. Despite any evasive action taken by the driver, if the system subsequently determines that a collision is unavoidable, braking and engine output are controlled by the system. When the vehicle is stopped by secondary braking, the driver should depress the brake pedal in order to ensure that the vehicle stays stopped. Pre-Collision Braking System operation Pre-Collision Braking System 45 Continued on next page  Operating system Strength of Automatic Braking Indication on the combination meter display Alert type Following distance warning Weak Repeated short beeps First braking Moderate Repeated short beeps Secondary braking Strong Continuous beep NOTE • In the following cases, the brake control after the vehicle has come to a stop through Pre-Collision Braking System will be released. – Depress the brake pedal. – Depress the accelerator pedal (except when the select lever is in the “N” position). – Shift the select lever into the “P” position. – The vehicle has been stopped for 2 minutes. – The electronic parking brake was engaged. S03910 Following distance warning First braking & warning Secondary braking & warning Possible collision area Highly possible collision area Extremely highly possible collision area Obstacle H00331 Pre-Collision Braking System 46  Continued from previous page • After stopping with secondary braking, in the following cases, the electronic parking brake will be applied. (For details about how to release the electronic parking brake, refer to the Owner’s Manual for your vehicle.) – Approximately 2 minutes have elapsed since stopping and the brake pedal is not depressed. – Any door (except the trunk) is opened. – The Vehicle Dynamics Control OFF mode is selected.  Refer to the vehicle Owner’s Manual for details. – The EyeSight system has a malfunction. – The EyeSight system has stopped temporarily. • Neither first braking nor secondary braking will operate in the following cases. – The vehicle speed is approximately 1 mph (1 km/h) or less (When the select lever is in the “N” position and your vehicle speed is approximately 2 mph (4 km/h) or less) or 100 mph (160 km/h) or more. – The vehicle speed is 60 mph (100 km/h) or more, and the obstacle is a pedestrian or a cyclist. – Vehicle Dynamics Control is active. • If the system detects the brake lights of the vehicle in front, your vehicle will start decelerating earlier than if it does not. • There are some cases where the first braking is applied for a longer period of time. One of the reasons for this is due to a large speed difference with an obstacle in front. In those cases, stronger or weaker braking control may be activated. Pre-Collision Braking System 47 ■Pre-Collision Braking System operation indicator After the Pre-Collision Braking System operation, a message appears and stays in the warning screen area of the combination meter display for a certain period of time. The screen displays the message “Apply Brake To Hold Position” to urge the driver to depress the brake pedal. At this time the alert (beep) sounds. This screen will be displayed for approximately 2 minutes until the driver depresses the brake pedal. A message appears and stays in the warning screen area of the combination meter display to indicate that Pre-Collision Braking System has activated. S02962 S03130 Pre-Collision Braking System 48 When Pre-Collision Braking System is activated (when the system determines that there is a high risk of collision with an obstacle in front), if the driver depresses the brake pedal, the system determines that this is emergency braking and activates braking assist automatically. Pre-Collision Braking Assist operation CAUTION If the driver depresses the brake pedal while following distance warning is activated, the Pre-Collision Braking Assist will not work. The vehicle decelerates with the normal braking force operated by the driver. NOTE • Pre-Collision Braking Assist function does not operate when the vehicle speed is approximately 7 mph (10 km/h) or less or 100 mph (160 km/h) or more. • For information about the brake assist function, refer to the Owner’s Manual for your vehicle. Pre-Collision Braking System 49 If there is an obstacle ahead while driving, the Pre-Collision Braking System activates primary vehicle braking and then secondary braking to help avoid a collision. After secondary braking activates, the system determines whether the road you are driving on has lane markings and also determines whether there is sufficient space for avoiding a collision in your lane. At the same time, the system checks whether there is a vehicle approaching from the rear, using the BSD/RTCA to determine if the lane is clear to activate Automatic Emergency Steering. If there is an extremely high possibility of a collision with the obstacle using only secondary braking, Automatic Emergency Steering is activated, and the system controls the steering wheel to help avoid the collision while staying in the lane. After a collision with the object is avoided, the system continues to control the brake and steering wheel so that your vehicle does not leave its lane until the vehicle comes to a complete stop. Continued on next page  Automatic Emergency Steering operation (if equipped) WARNING • EyeSight Automatic Emergency Steering is intended to avoid collisions or reduce the severity of collisions with vehicles, cyclists and pedestrians. However, under some conditions the obstacle cannot be detected and the system may not activate. • When Automatic Emergency Steering or other system activates, the driver should check the area around the vehicle and then take appropriate action, such as operating the steering wheel or depressing the brakes. H00078 Secondary braking First braking Controls the vehicle to stay in the lane Operates the steering wheel to avoid the collision Confirms the space for avoiding a collision Pre-Collision Braking System 50  Continued from previous page • Automatic Emergency Steering is set to activate when the system determines a collision cannot be avoided with Pre-Collision Braking System only and other conditions such as driving conditions and object recognition are met; its effectiveness changes based on a variety of conditions. Therefore, this function will not always exhibit the same performance. • Automatic Emergency Steering does not activate when Pre-Collision Braking System is turned off. The function also does not activate when the deceleration from Pre-Collision Braking System is not sufficient. • If the driver is operating the steering wheel, and the system determines that the operation is evasive action, then operation of the steering wheel by the system may not activate. • Automatic Emergency Steering will not activate if the system determines that the driver is not gripping the steering wheel. • This function will not activate if your vehicle’s speed is more than approximately 50 mph (80 km/h). Also, even if your vehicle’s speed is approximately 50 mph (80 km/h) or slower, if another vehicle suddenly cuts in front of you, a collision may not be avoidable or the function may not activate depending on differing conditions* such as visibility or the slipperiness of the road. *: Conditions – Vehicle conditions (amount of load, number of occupants, etc.) – Road conditions (grade, slipperiness, shape, bumps, etc.) – Visibility ahead is poor (rain, snow, fog or smoke, etc.). – Even if the obstacle is a cyclist or pedestrian, depending on the brightness of the surroundings, its relative movement, its aspect, and the direction it is facing, there may be cases when the system cannot detect it. – Even if the object is recognized as a vehicle or pedestrian, the system determines that it may cross in front of you or move sideways, based on its aspect or the direction it is facing. – Even if the object is recognized as a vehicle (including cyclists) or pedestrian, the object is determined to be moving across your path such as crossing the street or cutting in front of you. – In a collision with a vehicle, cyclist or pedestrian that is near the center of the path in front of your vehicle. Pre-Collision Braking System 51 Continued on next page  – The system determines that operation by the driver (based on accelerator pedal operation, braking, steering wheel angle, etc.) is intended as evasive action. – Vehicle maintenance status (brake systems, tire wear, tire pressure, whether a temporary spare tire is being used, etc.) – A trailer or another vehicle, etc. is being towed. – The brakes are cold due to the outside temperature being low or just after starting the engine. – The brakes are overheated on downhill grades (braking performance is reduced). – In rain or after washing the vehicle (the brakes are wet and braking performance is reduced) – The obstacle is not recognized as a vehicle, cyclist or pedestrian. – Lane markings cannot be detected. – Steering wheel operation by the driver cannot be detected. – You are driving on a road that is not straight. – You are driving on a road with a steep grade. – Recognition conditions of the stereo camera In particular, the function may be unable to stop the vehicle or may not activate in the following cases. • Roads with lane restrictions or tentative lanes due to construction work, etc. • Roads with curves • Old lane markings remain. • Snow, puddles or snow melting agents remain on the road surface. • Cracks or constructed traces remain on the road surface. • Frozen roads, snow-covered roads or other slippery road surfaces The tires may spin, causing loss of control of the vehicle. • Entering a sharp curve into an interchange or junction, or a service area, parking area, toll booth or other facilities • A vehicle, cyclist or pedestrian is approaching the area near to the object. • An oncoming vehicle or a vehicle that will overtake you is approaching. • The target vehicle, cyclist or pedestrian is moving across your path. Pre-Collision Braking System 52  Continued from previous page • The boundaries of your lane are difficult to determine with the stereo camera. (For example, there are no lane markings (white lines, etc.), or the lane markings are difficult to see because they are faint, thin or similar in color to the road.) • A vehicle is approaching from the front in the neighboring lane. • There is not enough space to avoid a collision within your lane. • The area around your rear bumper is dirty, or it has frost, mud, etc. on it. • Your rear bumper is scratched, dented, misaligned, etc. • You are driving on a snowy road, or the road has puddles or is wet, and your vehicle or nearby vehicles are kicking up water, snow, etc. from the road. • Never attempt to test the operation of Automatic Emergency Steering. – Your vehicle may not stop, or the system may not activate, which can lead to an unintended collision. • The system may not operate correctly under the conditions listed below. When these conditions occur, turn off Automatic Emergency Steering.  Page 61 – The tire pressure is not correct.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – The wheels are out of balance (e.g., the balance weight is removed or misaligned).* 1 – The wheels are out of alignment.*1 – There is an abnormal vibration in the steering wheel or the steering wheel is heavier than usual. – The steering wheel has been replaced with parts other than genuine SUBARU parts. – A trailer or another vehicle, etc. is being towed. – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including a genuine SUBARU suspension that has been modified). Pre-Collision Braking System 53 Continued on next page  – An object that obstructs the stereo camera’s view is installed on the vehicle. – The temporary spare tire is installed. – The headlights are dirty or they have snow and ice or dirt on them. (Objects are not correctly illuminated and are difficult to detect.) – The optical axes are not aligned correctly. (Objects are not correctly illuminated and are difficult to detect.) – The lights including headlights and fog lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The power steering warning light is illuminated. – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – The combination meter is not operating properly; such as when the lights do not illuminate, the beeps do not sound, the display is different from when it is normal, etc.*3 *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the combination meter, refer to the Owner’s Manual for your vehicle. Pre-Collision Braking System 54  Continued from previous page • The stereo camera may have difficulty detecting the lane markings under the following conditions and the system may not operate properly. – At night or in a tunnel without the headlights on – In bad weather (for example, rain, snow or thick fog) – The road surface is wet and shining by reflected sunlight. – There are other traffic markings in your lane (arrows, words, etc.). – The distance between your vehicle and the vehicle in front is short, making it difficult to detect lane markings. – A vehicle intruded from an adjacent lane or the vehicle in front changed lanes. – The shape of a curve in the road suddenly changes. – Shadows of guardrails or similar objects are overlapped on the lane markings. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The width of a lane is either too narrow or too wide. – The width of a lane has changed. – The stereo camera may have difficulty detecting the lane due to the performance of the camera. • There are no lane markings or they are very worn. • The lane markings are painted in yellow. • The lane markings are similar in color to the road surface. • The lane markings are drawn in double. • The width of lane markings is narrow. • Lines that are not lane markings are painted on roads. • The lane markings are touching the walls and poles. S03022 Pre-Collision Braking System 55 – The shape of lane markings suddenly changes (entrance/exit of a curve, crank and winding road, etc.). – Going into lanes that lead to interchanges, junctions, service areas or parking areas – There is a curb or a side wall on the road shoulder. – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. S02855 S03482 Main road Exit lane Pre-Collision Braking System 56 CAUTION • Automatic Emergency Steering may activate unexpectedly in the following situations. Therefore be sure to turn off Automatic Emergency Steering.  Page 61 – The vehicle is being towed. – The vehicle is being loaded onto a carrier. – A chassis dynamometer, free-rollers or similar equipment is being used. – A mechanic lifts up the vehicle, starts the engine and spins the wheels freely. – Passing hanging banners, flags or branches – Thick/tall vegetation is touching the vehicle. – Driving on a race track – In a drive-through car wash • Automatic Emergency Steering may activate in the following situations. Therefore concentrate on safe driving. – You are approaching a vehicle, pedestrian or cyclist in front of you. – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. S00656 Pre-Collision Braking System 57 Continued on next page  – Passing through clouds of steam or smoke, etc. – In adverse weather, such as heavy snow or snowstorms – The exhaust gas emitted by the vehicle in front is clearly visible in cold weather, etc. – There is an obstacle on a curve or intersection. – You are passing close to the side of a vehicle, pedestrian, cyclist, obstacle or vegetation. – The system cannot recognize an object that suddenly appears or suddenly cuts in front of your vehicle from the side. – The obstacle begins to move suddenly. – There are no lane markings for your lane, but a difference in color between your lane and the neighboring lane, shoulder, etc. could be mistaken for lane markings. S00652 S01870 Pre-Collision Braking System 58  Continued from previous page – There is dirt, cracks, curbs, etc. that could be mistaken for lane markings in your lane. – The road is narrow and markings in the oncoming lane could be mistaken for lane markings for your lane. – Passing through water spray from road sprinklers or snow clearing sprinklers on the road • To cancel Automatic Emergency Steering, turn the steering wheel or depress the accelerator pedal. • If there is cargo or installed accessories, etc. that are protruding beyond the edge of the front bumper, the vehicle’s length will increase and the system may not be able to prevent a collision. S02636 Pre-Collision Braking System 59 When Automatic Emergency Steering activates, an interruption screen appears on the combination meter display for a certain period of time to notify you of the activation.  Page 47 NOTE Automatic Emergency Steering will not activate in the following situations. • Pre-Collision Braking System is off. • BSD/RCTA is off. • The obstacle is an oncoming vehicle. • A cyclist, pedestrian or vehicle is crossing in front of your vehicle. • There is not enough space to avoid a collision, or another object has been detected in the area around the space for avoiding a collision. • Objects are approaching from the front or rear of your vehicle. • The lane or lane markings cannot be detected. • Pre-Collision Braking System is active due to guardrails or other structures. • The system determines steering control cannot avoid a collision. • The EyeSight system has a malfunction. • The EyeSight system has stopped temporarily. Pre-Collision Braking System 60 If Automatic Emergency Steering temporarily stops, the Automatic Emergency Steering OFF indicator illuminates. When the cause has been resolved, operation returns to normal. This indicator will also appear in extremely hot or cold environments, and if there is an abnormality in the battery voltage. If the Automatic Emergency Steering OFF indicator stays illuminated for a long time, the EyeSight system may have a malfunction. Contact a SUBARU dealer to have the system inspected as soon as possible. ■Automatic Emergency Steering OFF indicator This indicator illuminates when the ignition switch is turned to the ON position, and it turns off approximately 10 seconds after the engine is started. This indicator illuminates when Automatic Emergency Steering is turned off.  Page 61 Automatic Emergency Steering malfunction and temporary stop (if equipped) NOTE You cannot use Automatic Emergency Steering when BSD/RCTA is turned off. In this case, the Automatic Emergency Steering OFF indicator illuminates. S04099 Pre-Collision Braking System 61 Operate the center information display to turn on/off Pre-Collision Braking System (including Pre-Collision Braking Assist and Automatic Emergency Steering (if equipped)). This function is turned on by selecting “Setting ON” on the “Pre-Collision Braking” screen of the EyeSight settings. This function is turned off by selecting “Setting OFF” on the “Pre-Collision Braking” screen of the EyeSight settings.  Page 157 If Pre-Collision Braking System is turned off, the Pre-Collision Braking System OFF indicator light illuminates on the instrument panel. Turning on/off Pre-Collision Braking System NOTE • The on/off setting for Pre-Collision Braking System operates in cooperation with Automatic Emergency Steering (if equipped) and Pre-Collision Throttle Management. • Even when Pre-Collision Braking System is turned off, if the engine is turned off and then restarted, Pre-Collision Braking System will be turned on. The system default setting when the vehicle is restarted is on. Pre-Collision Braking System 62 ■Pre-Collision Braking System OFF indicator light This indicator light illuminates when the ignition switch is turned to the ON position, and remains illuminated for approximately 10 seconds after the engine starts. It turns on when Pre-Collision Braking System, Automatic Emergency Steering (if equipped) and Pre- Collision Throttle Management are turned off. It also illuminates under the following conditions. • The Vehicle Dynamics Control OFF mode is selected.  Refer to the vehicle Owner’s Manual for details. • The EyeSight system has a malfunction.  Page 152 • The EyeSight system has stopped temporarily.  Page 154 NOTE • If the Pre-Collision Braking System OFF indicator light illuminates, the Automatic Emergency Steering OFF indicator (if equipped) also illuminates.  Page 60 • When the Pre-Collision Braking System OFF indicator light is turned on, Pre- Collision Braking System (including the Pre-Collision Braking Assist function), Automatic Emergency Steering (if equipped) and Pre-Collision Throttle Management do not operate. • For models with Automatic Emergency Steering, you cannot use Automatic Emergency Steering when BSD/RCTA is turned off. In this case, the Automatic Emergency Steering OFF indicator illuminates. S04150 Advanced Adaptive Cruise Control 63 Advanced Adaptive Cruise Control Advanced Adaptive Cruise Control is a driving support system that is intended to assist drivers when driving on an expressway (including during congestion and when driving at high speed). Adaptive Cruise Control ( page 63) and Lane Centering Function ( page 92), which operates linked with Adaptive Cruise Control, are used to assist with driving by automatically controlling the accelerator, brake, and steering. Adaptive Cruise Control is a driving support system intended to allow more comfortable driving on expressways, freeways and interstate highways. The stereo camera detects vehicles in front that are driving in the same traffic lane, and your vehicle follows the vehicle in front (up to the maximum speed of the set vehicle speed). While following, your vehicle will automatically maintain a following distance that corresponds to the speed of the vehicle in front. When the vehicle in front comes to a complete stop, your vehicle will be also stopped and the electronic parking brake will be automatically applied. The vehicle is capable of being controlled at a speed between 0 mph (0 km/h) and approximately 90 mph (145 km/h). Please remember that you should not exceed posted speed limits. Continued on next page  Adaptive Cruise Control WARNING • This system does not provide the driver with an automatic driving function that handles all traffic conditions. • Do not rely excessively on Adaptive Cruise Control. This system is not intended to assist in driving when the driver is not paying full attention to what is ahead of him/her due to distractions or a lack of concentration while driving, or under conditions of poor visibility. It is not intended to prevent rear-end collisions. Strive for safe driving at all times. Always maintain a safe following distance behind the vehicle in front of you, pay attention to your surroundings and the driving conditions, and operate the brake pedal and take other actions as necessary. • When using Adaptive Cruise Control, always set the speed according to the speed limit, traffic flow, road conditions, and other conditions. • Before using the system, perform a daily inspection and verify that there are no malfunctions of the tires or brakes.  Refer to “Warranty and Maintenance Booklet”. Advanced Adaptive Cruise Control 64  Continued from previous page • The system may not operate correctly under the conditions listed below. When these conditions occur, do not use Adaptive Cruise Control. – The tire pressure is not correct.*1 – The temporary spare tire is installed.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including a genuine SUBARU suspension that has been modified). – An object that obstructs the stereo camera’s view is installed on the vehicle. – The headlights are dirty or they have snow and ice or dirt on them. (Objects are not correctly illuminated and are difficult to detect.) – The optical axes are not aligned correctly. (Objects are not correctly illuminated and are difficult to detect.) – The lights including headlights and fog lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – A trailer or another vehicle, etc. is being towed. – The combination meter is not operating properly; such as when the lights do not illuminate, the beeps do not sound, the display is different from when it is normal, etc.*3 *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the combination meter, refer to the Owner’s Manual for your vehicle. Advanced Adaptive Cruise Control 65 Continued on next page  • Adaptive Cruise Control is designed for use on expressways, freeways, toll roads, interstate highways and similar limited access roads. It is not intended to be used in city traffic. In the following conditions, do not use Adaptive Cruise Control. Doing so may result in an accident. – Ordinary roads (roads other than those mentioned above) Depending on the driving environment (complexity of roads and other factors), the system may not be able to perform as the traffic conditions require, and that may result in an accident. – Sharp curves or winding roads – Frozen roads, snow-covered roads or other slippery road surfaces The tires may spin, causing loss of control of the vehicle. – Traffic conditions when frequent acceleration and deceleration make it difficult to maintain the following distance It may not be possible for the system to perform as the traffic conditions require. – Steep downhill grades The set vehicle speed may be exceeded. – On a steep continuous downhill grade The brakes may overheat. – Roads and overpasses with repeated steep uphill and downhill grades Detection of the vehicle in front may be lost, or the road surface may be detected instead of the vehicle in front, making correct control impossible. – Entering a sharp curve/turn into an interchange or junction, or a service area, parking area, toll booth or other facilities Detection of the vehicle in front may not be possible. Advanced Adaptive Cruise Control 66  Continued from previous page – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt, water spray from road sprinklers or snow clearing sprinklers on the road, or dust stir up generated by the vehicle in front or oncoming traffic. Detection of the vehicle in front may be lost, or water or other substances may be incorrectly detected instead, making correct control impossible. – In adverse weather, such as heavy snow or snowstorms – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – Water droplets from rain or the window washer, or dirt has not been fully wiped off the windshield. It may not be possible to detect the vehicle in front, making correct control impossible. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). S00652 S02636 Advanced Adaptive Cruise Control 67 Continued on next page  • The stereo camera may have difficulty detecting the following objects or conditions. Operate the brake pedal and take other actions as necessary. – Vehicles at significantly different speeds (vehicles driving slowly, stopped or oncoming vehicles, etc.) – Vehicles cutting into your lane – Motorcycles, cyclists, pedestrians and animals, etc. – At night or in a tunnel without the headlights on – At night or in a tunnel when there is a vehicle in front that does not have its taillights on – Strong light is coming from the front (sunlight or headlight high beams, etc.). – Vehicles in front that have a rear aspect that is low, small or irregular (the system may recognize another part of the vehicle and will determine operation from that) • An empty truck or trailer that has no tailgate or longbed • Vehicles that have cargo protruding from their back ends • Non-standard shaped vehicles (vehicle transporters or vehicles with a sidecar fitted, etc.) • Vehicles that are low – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Objects that are located close to the bumper of your vehicle • When you do not want to use Adaptive Cruise Control, be sure to turn the (CRUISE) switch off. If the switch is left on, cruise control may be accidentally engaged, possibly resulting in an accident. Also, when parking, be sure to apply the electronic parking brake and shift the select lever to the “P” position. • Before using Adaptive Cruise Control, be sure to fully verify the safety of the vehicle occupants and the area around the vehicle. Never operate the cruise control from outside the vehicle. S01956 Advanced Adaptive Cruise Control 68  Continued from previous page Detection of the vehicle in front by the EyeSight stereo camera* • Under the following road conditions or conditions of your vehicle, detection of the vehicle in front may not be possible. Vehicles in neighboring traffic lanes or roadside objects may also be incorrectly detected. Under conditions such as these, do not use Adaptive Cruise Control. If cruise control is currently in use, operate the brake pedal and take other actions as necessary. – Following begins from a short following distance, such as when the vehicle in front is a vehicle that cut into your lane. – On curved roads, at the start and end of a curve and on roads with continuous curves (These conditions make it difficult for the system to detect vehicles because they are outside the detectable area.) – On an on-ramp or off-ramp to a freeway, highway, or other restricted access road (EyeSight Adaptive Cruise Control is not designed for use in this kind of driving environment.) – In an urban or suburban environment (Adaptive Cruise Control is not appropriate for use in these driving areas. Use Adaptive Cruise Control only on limited-access highways.) S01872 S01873 Advanced Adaptive Cruise Control 69 Continued on next page  – The vehicle in front is not directly ahead of your vehicle and is shifted to one side. – There is an obstacle on the side of the road. – The relative speed difference compared to the vehicle in front is large. – A vehicle cuts into your lane in front of you. – The distance between vehicles is extremely short. – Your vehicle is drifting within the lane. – On a bumpy or unpaved road surface – On a road with extremely narrow lanes, such as when traffic restrictions are in effect or in areas where construction work is taking place – Normal driving has become unstable due to an accident or malfunction. – Extremely heavy cargo is loaded in the rear seat or trunk of your vehicle. • There are limits to the situation judgment capabilities of the Adaptive Cruise Control system. Deceleration may not take place in time in the following situations. Apply the brake pedal to decelerate the vehicle if necessary. – The speed difference with the vehicle in front is too large or the vehicle in front decelerates unexpectedly. – The decelerating vehicle in front unexpectedly slows down or suddenly brakes. S01874 S01875 Advanced Adaptive Cruise Control 70  Continued from previous page • If the alert/notification sounds frequently, do not use Adaptive Cruise Control. • Even when the following distance is short, the “Obstacle Detected” warning may not activate in the following situations. – The difference in speed with the vehicle in front is small. The two vehicles are traveling at almost the same speed. – The vehicle in front is traveling faster than your vehicle. The following distance is gradually increasing. – Another vehicle cuts into your lane very close to your vehicle. – The vehicle in front decelerates suddenly. – There are repeated uphill and downhill grades. *: The recognition status of the lead vehicle using the stereo camera can be confirmed by the illumination status of the lead vehicle indicator.  Page 74 Advanced Adaptive Cruise Control 71 CAUTION • After Adaptive Cruise Control has started, it maintains control continuously according to the movement of the vehicle in front. When your vehicle comes to a stop if the vehicle in front has stopped, the stay-stopped function is engaged. However, if the EyeSight stereo camera has lost detection of the vehicle in front, the system may not stop your vehicle. Operate the brake pedal and maintain the correct following distance as necessary. Be aware that the EyeSight system has difficulty detecting objects or vehicles that have a relative speed in comparison to your vehicle. Therefore, if the EyeSight system loses detection just as you are approaching a line of stopped cars, for example, you will have to brake manually. • There is no possibility that the vehicle will automatically begin moving from a stay-stopped condition without operation from the driver. • If the conditions for automatically canceling cruise control ( page 86) are met while the vehicle is stay-stopped, Adaptive Cruise Control is canceled. For safety reasons, the electronic parking brake is automatically applied. • Braking may not be sufficient depending on the following conditions. Depress the brake pedal and decelerate as necessary. – Vehicle conditions (amount of load, number of occupants, etc.) – Road conditions (grade, slipperiness, shape, bumps, etc.) – Vehicle maintenance condition (brake systems, tire wear, air pressure, temporary spare tire is being used, etc.) – The brakes are cold. (For example, just after the engine is started or the outside temperature is low.) – For a short period of time when driving after the engine is started until the engine has warmed-up – The brakes are overheated on downhill grades (braking performance may be reduced). – In rain or after washing the vehicle (the brakes may become wet and braking performance may be reduced.) Advanced Adaptive Cruise Control 72 ■How to use Adaptive Cruise Control ●Setting Adaptive Cruise Control (1) Setting Adaptive Cruise Control to standby status Press the (CRUISE) switch. At this time, (Adaptive Cruise Control indicator) (white), your vehicle indicator and the following distance setting indicator are displayed on the EyeSight display area of the combination meter display. The set vehicle speed display will read “- – MPH (- – – km/h)”. To set the ready status: Adaptive Cruise Control can be activated when all of the following conditions are met and (READY indicator) is displayed on the EyeSight display area. – All doors (except the trunk) are closed. – The driver’s seatbelt is fastened. – The electronic parking brake is not engaged. The electronic parking brake indicator light is turned off. – The select lever is in the “D” or “M” position. – The brake pedal is not depressed while driving or the brake pedal is strongly depressed while stopping. – EyeSight operation is not temporarily stopped. (EyeSight temporary stop indicator: White) is turned off.  Page 154 H00067 H00270 Following distance setting indicator Adaptive Cruise Control indicator (white) H00271 READY indicator Advanced Adaptive Cruise Control 73 – The road is not a steep slope. – The steering wheel has not been turned significantly in either direction. – The vehicle speed is between 0 mph (0 km/h) and approximately 90 mph (145 km/h). – The engine is not running at a high rpm. – Vehicle Dynamics Control or Traction Control Function is not active. – Vehicle Dynamics Control is in the Vehicle Dynamics Control mode or traction mode. (2) Setting Adaptive Cruise Control Press the RES/SET switch to the “SET/-” side or the “RES/+” side. Adaptive Cruise Control is activated and control starts, using the vehicle speed at the time when the switch was pressed as the set vehicle speed. If no vehicle in front has been detected, the vehicle drives at the constant set vehicle speed. When Adaptive Cruise Control is activated, (READY indicator) turns off, the set vehicle speed is displayed, and (Adaptive Cruise Control indicator) changes from white to green. WARNING When using Adaptive Cruise Control, always set the speed according to the speed limit, traffic flow, road conditions, and other conditions. H00068 H00272 Green Advanced Adaptive Cruise Control 74 When a vehicle in front is detected, a notification sounds 1 short beep and the lead vehicle indicator will illuminate. The vehicle follows the lead vehicle in front and maintains the selected following distance. At this time, the cruise speed is adjusted to and will not exceed the set vehicle speed. If the vehicle in front is no longer detected, a notification sounds 1 short beep and the lead vehicle indicator turns off. While the driver accelerates the vehicle by depressing the accelerator pedal, (Adaptive Cruise Control indicator) will turn from green to white. When acceleration has stopped, (Adaptive Cruise Control indicator) will turn from white to green. NOTE • The set vehicle speed can be set between 20 mph (30 km/h) and 90 mph (145 km/h). • If the vehicle speed is approximately 20 mph (30 km/h) or less when the vehicle speed is set, the set vehicle speed is set to 20 mph (30 km/h). • When driving on a curve, the vehicle may not accelerate, or may decelerate, even if the set vehicle speed is higher than the current vehicle speed. • If (Adaptive Cruise Control indicator) does not illuminate even when the (CRUISE) switch is pressed, Adaptive Cruise Control will not operate. • If (Adaptive Cruise Control indicator) does not illuminate even when the (CRUISE) switch is pressed and this occurs frequently, there may be a malfunction in the system. Contact a SUBARU dealer and have the system inspected. NOTE The notification sound (lead vehicle acquisition sound) that occurs when a vehicle in front is detected or no longer detected while Adaptive Cruise Control is activated can be turned off by changing settings.  Page 157 H00273 Lead vehicle indicator Advanced Adaptive Cruise Control 75 Operation of Adaptive Cruise Control • When no vehicle in front is detected The vehicle drives constantly and correspondingly to the set vehicle speed between 20 mph (30 km/h) and 90 mph (145 km/h). • When a vehicle in front is detected The vehicle follows the lead vehicle in front, and will maintain the chosen following distance (there are four settings), up to the set vehicle speed between 20 mph (30 km/h) and 90 mph (145 km/h). • If your vehicle no longer detects the vehicle in front The vehicle gradually accelerates back to the set vehicle speed and will drive at that constant speed. If a vehicle in front is detected while accelerating to the set vehicle speed, vehicle following will be started again. CAUTION If you operate the brake pedal during automatic braking, the pedal may move on its own during automatic braking. However, this is normal. By depressing the brake pedal further, you can apply more braking force. Apply more braking force as necessary. S01881 S01882 S01883 Advanced Adaptive Cruise Control 76 NOTE • When the brakes are applied by Adaptive Cruise Control, the vehicle’s brake lights will illuminate. • Even if there is no lead vehicle present, on a downhill grade, the Adaptive Cruise Control’s automatic brake may operate in order to maintain the set vehicle speed. • Some noises may be audible during automatic braking. This is caused by the braking control and does not indicate a malfunction. • To temporarily accelerate quickly, use the accelerator pedal. After accelerating, the vehicle will gradually return to the set vehicle speed shown in the set vehicle speed display. • If the vehicle in front is no longer detected while your vehicle is still controlled by the automatic braking operation, the brake will be automatically released gradually. Depress the accelerator pedal if necessary. • If a far away object is recognized as a possible lead vehicle, acceleration will be reduced early. • The lead-vehicle following function has the following characteristics: – If the system detects that the lead vehicle has changed lanes, acceleration to the set vehicle speed will start early. – If the lead vehicle’s brake lights are detected, deceleration will start earlier than without detection. – If the vehicle moves to the fast lane while traveling more than approximately 37 mph (60 km/h), the system starts acceleration to the set vehicle speed more quickly because it is linked with the turn signal. – If you operate the turn signal lever at a speed of approximately 6 mph (10 km/h) or more, depending on the surrounding conditions, a vehicle in the lane on the side you indicated with the turn signal may be recognized as the lead vehicle, and your vehicle will maintain the following distance according to that vehicle’s speed. – If the setting of Driving Lane Customize is different from the actual driving direction, the vehicle may start to accelerate faster than usual when the driver signals a lane change to move from the passing lane to the driving lane.  Page 157 Advanced Adaptive Cruise Control 77 ●Increasing the set vehicle speed Using the RES/SET switch • Push to the “RES/+” side briefly. Every time the switch is pushed, the set vehicle speed will increase in increments of 1 mph (1 km/h). • Push to the “RES/+” side continuously. While the switch is being pushed, the set vehicle speed will increase in increments of 5 mph (5 km/h). When operating the switch, the set vehicle speed changes on the combination meter display. Using the accelerator pedal 1. Depress the accelerator pedal to increase vehicle speed. 2. When the desired speed is reached, press the RES/SET switch to the “SET/-” side. The speed at the time of pressing the switch will be set as the new set vehicle speed, and it appears on the EyeSight display area. H00069 H00070 Advanced Adaptive Cruise Control 78 ●Decreasing the set vehicle speed Using the RES/SET switch • Push to the “SET/-” side briefly. Every time the switch is pushed, the set vehicle speed will decrease in decrements of 1 mph (1 km/h). • Push to the “SET/-” side continuously. While the switch is being pushed, the set vehicle speed will decrease in decrements of 5 mph (5 km/h). When operating the switch, the set vehicle speed changes on the combination meter display. Using the brake pedal 1. Depress the brake pedal to decrease the vehicle speed. Adaptive Cruise Control will be canceled and (Adaptive Cruise Control indicator) changes from green to white. 2. When the desired speed is reached, press the RES/SET switch to the “SET/-” side. The speed at the time of pressing the switch will be set as the new set vehicle speed, and it appears on the EyeSight display area. CAUTION • When the vehicle is following the lead vehicle, the actual vehicle speed is controlled according to the lead vehicle. Therefore, if the RES/SET switch is pressed to the “RES/+” side and set to a speed higher than the speed of the lead vehicle, the vehicle will not accelerate; it will maintain a safe following distance as the first priority. However, because doing so changed the set vehicle speed, when the lead vehicle is no longer detected (for example, if you change to a freeway lane with no vehicles in front), the vehicle will accelerate to that new set vehicle speed. Change the set vehicle speed while briefly checking the value shown in the set vehicle speed display on the EyeSight display area. • When the accelerator pedal is depressed with Adaptive Cruise Control on, automatic braking control and warnings by Adaptive Cruise Control will not occur. However, if there is a high risk of collision with an obstacle in front of the vehicle at this time, the warning and braking control of Pre-Collision Braking System may activate. H00070 Advanced Adaptive Cruise Control 79 ●Accelerating temporarily Depress the accelerator pedal to accelerate temporarily. When the accelerator pedal is released, the vehicle returns to the set vehicle speed. When the driver accelerates the vehicle by depressing the accelerator pedal while Adaptive Cruise Control is operating, (Adaptive Cruise Control indicator) turns white. When the acceleration is completed, (Adaptive Cruise Control indicator) returns to green. ●Decelerating temporarily Depress the brake pedal to decelerate temporarily. When the brake pedal is depressed, Adaptive Cruise Control will be canceled. (Adaptive Cruise Control indicator) changes from green to white while the set vehicle speed remains displayed on the EyeSight display area. Release the brake pedal and press the RES/SET switch to the “RES/+” side to reset the set vehicle speed. CAUTION Ordinarily, while the vehicle is following the lead vehicle, acceleration and deceleration are performed automatically in accordance with the speed of the lead vehicle. However, when your vehicle approaches a lead vehicle, for example if it is necessary to accelerate for a lane change or other reason, and if the vehicle in front suddenly decelerates, or if another vehicle cuts into your path, operate the accelerator pedal or brake pedal to accelerate or decelerate as appropriate for the existing conditions. H00272 White Advanced Adaptive Cruise Control 80 ●Changing the following distance from the vehicle in front The following distance from the vehicle in front setting can be changed in 4 stages. : When the switch ( side) is pressed, the following distance will be longer. : When the switch ( side) is pressed, the following distance will be shorter. NOTE • The following distance changes corresponding with the vehicle speed. The faster the vehicle travels, the greater the following distance. Approximate guide to following distances • The following distance previously set is restored when you turn back on Adaptive Cruise Control by pressing the (CRUISE) switch. H00071 Following distance indicator When your vehicle speed is 25 mph (40 km/h) When your vehicle speed is 60 mph (100 km/h) Approx. 100 ft (30 m) Approx. 200 ft (60 m) Approx. 80 ft (25 m) Approx. 160 ft (50 m) Approx. 65 ft (20 m) Approx. 130 ft (40 m) Approx. 50 ft (15 m) Approx. 100 ft (30 m) Advanced Adaptive Cruise Control 81 ●Stay-stopped function If the vehicle in front comes to a stop while you are utilizing Adaptive Cruise Control, your vehicle will also come to a stop and will stay stopped. Once your vehicle has come to a complete stop with the vehicle in front, Adaptive Cruise Control is paused and the stay-stopped function is engaged. When (Adaptive Cruise Control indicator) changes from green to white, (HOLD indicator) and (READY indicator) will be displayed. Regardless of whether or not there is a vehicle in front, if the brake pedal is strongly depressed while the vehicle is stopped, (READY indicator) illuminates. Operating the RES/+ switch or SET/- switch at this time activates the stay-stopped function. When starting the stay-stopped function, (HOLD indicator) illuminates and (READY indicator) turns off. (READY indicator) will illuminate again by releasing the brake pedal. CAUTION Approximately 3 seconds are required from when the vehicle stops until the stay-stopped function activates. Because there is the possibility that the vehicle may start moving before the stay-stopped function activates, pay attention to the surroundings and depress the brake pedal as necessary. NOTE If you apply the brake pedal softly, the stay-stopped function may not start. In this case, (READY indicator) will not illuminate. S01887 H00274 READY indicator Adaptive Cruise Control indicator (white) HOLD indicator Advanced Adaptive Cruise Control 82 Resuming Adaptive Cruise Control in stay-stopped status Setting using the RES/SET switch Even when the vehicle in front remains stopped, Adaptive Cruise Control can be activated by operating the RES/+ switch or SET/- switch. (HOLD indicator) and (READY indicator) turn off, and (Adaptive Cruise Control indicator) changes from white to green. • Press the SET/- switch. The speed is automatically set to 20 mph (30 km/h). • Press the RES/+ switch. The vehicle speed that was set before the stay-stopped function activated is set again.  Page 88 Setting with the accelerator pedal Depressing the accelerator pedal while stay-stopped is engaged cancels stay-stopped status. At this time, Adaptive Cruise Control is resumed. The vehicle will attempt to travel at the previously set vehicle speed unless a lead vehicle is detected. If a lead vehicle is detected, Adaptive Cruise Control will maintain the previous following distance setting. NOTE When Adaptive Cruise Control is resumed from stay-stopped status and the vehicle in front accelerates, your vehicle will also accelerate and continue to follow the vehicle in front at the previously set following distance. However, if the lead vehicle does not start moving or pauses, stay-stopped status will be automatically restored after approximately 3 seconds. WARNING When the stay-stopped function is canceled, the vehicle will start. Make sure the surroundings are safe before canceling the stay-stopped function. NOTE If the accelerator pedal is only slightly depressed, the stay-stopped function may not be canceled, and Adaptive Cruise Control may not be resumed. Advanced Adaptive Cruise Control 83 Canceling the stay-stopped function If any of the following operations are performed while the vehicle is in the stay-stopped function ( page 81), the stay-stopped function will be canceled and Adaptive Cruise Control will be canceled at the same time. • The brake pedal is depressed. • The (CRUISE) switch is pressed. • The electronic parking brake switch is operated to manually apply the electronic parking brake. WARNING • When the stay-stopped function is canceled by pressing the (CRUISE) switch, the vehicle will start to creep. Depress the brake pedal as necessary. • Do not exit the vehicle while the stay-stopped function is engaged. • The stay-stopped function is not a replacement for engaging the electronic parking brake. When parking, always apply brakes manually to come to a full stop, then set the electronic parking brake. • When you exit the vehicle, apply the electronic parking brake, shift the select lever to the “P” position and turn the ignition switch to the OFF position. Advanced Adaptive Cruise Control 84 Setting Adaptive Cruise Control while the electronic parking brake is applied If the electronic parking brake is applied before setting Adaptive Cruise Control, release the electronic parking brake by depressing the accelerator pedal or by other specified means. For details of how to release the electronic parking brake, refer to the Owner’s Manual for your vehicle. CAUTION The stay-stopped function of cruise control will be canceled under the following conditions: • The vehicle is in stay-stopped mode for approximately 10 minutes or more. A notification will sound 5 intermittent beeps, 1 short beep and 1 long beep. • Any condition in which automatic cancellation is met. A notification sounds 1 short beep and 1 long beep.  Page 86 After the stay-stopped function has been canceled, the electronic parking brake will be automatically applied and the electronic parking brake indicator light will illuminate. However, if any canceling condition for the electronic parking brake (i.e. the interlock system with the accelerator pedal, switch operation of the electronic parking brake, etc.) is fulfilled, the electronic parking brake will not work. For details, refer to the Owner’s Manual for your vehicle. If the accelerator pedal is only slightly depressed while the stay-stopped function is activated, the stay-stopped function of cruise control may be canceled, and the electronic parking brake may not work. Advanced Adaptive Cruise Control 85 ●Canceling Adaptive Cruise Control Canceling by driver operation Any of the following operations will cancel Adaptive Cruise Control. • Depress the brake pedal. (Adaptive Cruise Control indicator) changes from green to white while the set vehicle speed remains displayed on the EyeSight display area. • Press the (CRUISE) switch. (Adaptive Cruise Control indicator) changes from green to white while the set vehicle speed remains displayed on the EyeSight display area. H00272 White H00067 Advanced Adaptive Cruise Control 86 Automatic cancellation by the system In the following cases, a notification will sound 1 short beep and 1 long beep and Adaptive Cruise Control is automatically canceled. (Adaptive Cruise Control indicator) changes from green to white. Also, the Adaptive Cruise Control cancellation message is displayed on the screen. If the stay-stopped function is engaged ( page 81), the electronic parking brake will be automatically engaged. • The grade of the road is very steep. • Vehicle Dynamics Control or Traction Control Function is activated. • The vehicle speed has exceeded approximately 100 mph (160 km/h) while cruise control is activated. • The steering wheel is turned significantly in either direction. • The select lever is moved to a position other than “D” or “M”. – Adaptive Cruise Control can be resumed after the select lever is returned to the “D” or “M” position. • Any door (except the trunk) is opened. • The driver’s seatbelt is unfastened. • The electronic parking brake is engaged manually. • The accelerator pedal was depressed continuously for a long time. • The engine speed increased to a high rpm. • The Vehicle Dynamics Control OFF mode is selected. – Adaptive Cruise Control can be resumed after Vehicle Dynamics Control has been switched to the Vehicle Dynamics Control mode or traction mode. • The EyeSight system has a malfunction. (EyeSight warning indicator: Yellow)  Page 152 • The EyeSight system has stopped temporarily. (EyeSight temporary stop indicator: White)  Page 154 • The Pre-Collision secondary braking is activated. H00275 White Advanced Adaptive Cruise Control 87 WARNING Do not use Adaptive Cruise Control on slippery roads. Doing so may result in an accident. CAUTION • When shifting the select lever to the “N” position, Adaptive Cruise Control will be automatically canceled. Do not shift the lever to the “N” position unless in an emergency. Otherwise the engine brake may not operate, which could cause an accident. • If Adaptive Cruise Control is canceled automatically by the system right after the vehicle stops (in approximately 1 second), the electronic parking brake will not operate.  Page 81 NOTE • If EyeSight is malfunctioning, (EyeSight warning indicator: Yellow) is displayed on the combination meter display. If this occurs, stop the vehicle in a safe location and then turn off the engine and restart it. If the indicator remains illuminated after restarting the engine, Adaptive Cruise Control cannot be used. This will not interfere with ordinary driving. However, contact a SUBARU dealer and have the system inspected.  Page 152 • If the EyeSight operation has temporarily stopped, (EyeSight temporary stop indicator: White) is displayed on the combination meter display.  Page 154 • When the operation of Adaptive Cruise Control has been automatically canceled, perform the Adaptive Cruise Control setting operation again after the condition that caused the cancellation has been corrected. If the Adaptive Cruise Control function cannot be activated even after the condition has been corrected, EyeSight may be malfunctioning. This will not interfere with ordinary driving. However, contact a SUBARU dealer and have the system inspected. Advanced Adaptive Cruise Control 88 ●Restoring the previously set vehicle speed The previously set vehicle speed is stored in memory. To restore that vehicle speed, press the RES/SET switch to the “RES/+” side. (Adaptive Cruise Control indicator) changes from white to green. NOTE • The vehicle speed stored in memory is erased in the following circumstances: – The cruise control is turned off by pressing the (CRUISE) switch. – The cruise control mode was switched from Adaptive Cruise Control to Conventional Cruise Control. • If there is no vehicle speed stored in the memory (previous vehicle speed), the current vehicle speed is set when the RES/SET switch is pressed to the “RES/+” side.  Page 73 H00069 H00272 Green Advanced Adaptive Cruise Control 89 ●Turning off Adaptive Cruise Control When Adaptive Cruise Control is not active, press the (CRUISE) switch. (Adaptive Cruise Control indicator) turns off on the EyeSight display area. H00067 Advanced Adaptive Cruise Control 90 ■Other functions ●“Obstacle Detected” warning The “Obstacle Detected” warning is activated while Adaptive Cruise Control is following a lead vehicle. This function warns the driver when it determines that the current level of deceleration by automatic braking control is insufficient. • When the system determines that the vehicle speed needs to be reduced manually by the driver, an alert will sound repeated short beeps and an interruption screen will be displayed. • When this function activates, depress the brake pedal to decelerate and maintain an optimal following distance. WARNING • If the alert/notification sounds frequently, do not use Adaptive Cruise Control. • The “Obstacle Detected” warning will not activate in the following situations. – The accelerator pedal is depressed. – The brake pedal is depressed. • Even when the following distance is short, the “Obstacle Detected” warning may not activate in the following situations. – The difference in speed with the vehicle in front is small. The two vehicles are traveling at almost the same speed. – The vehicle in front is traveling faster than your vehicle. The following distance is gradually increasing. – Another vehicle cuts into your lane very close to your vehicle. – The vehicle in front decelerates suddenly. – There are repeated uphill and downhill grades. • The “Obstacle Detected” warning may not activate in time in the case of a vehicle that is stopped at the end of a line at a toll gate, at a stop light or intersection or in traffic congestion, or a vehicle that is moving much slower than your vehicle. EyeSight requires a speed differential in order to recognize a potential obstacle and react to it. H00331 Advanced Adaptive Cruise Control 91 NOTE Vehicles in front in the same traffic lane are detected by the stereo camera within a distance of approximately 426 ft (130 m) in the forward direction. However the detection distance may be reduced depending on the traffic environment, driving conditions, and conditions of the vehicle in front. Advanced Adaptive Cruise Control 92 The stereo camera detects lane markings (including Botts’ dots) of the lane and the lead vehicle and the system assists the steering operation by working with the electric power steering to help keep your vehicle in its lane when driving on expressways, freeways and interstate highways. This function can be used when Adaptive Cruise Control is activated.  Page 72 When driving at speeds of 0 mph (0 km/h) to approximately 90 mph (145 km/h), the system detects the lane markings and/or the lead vehicle and assists the driver with steering control in order to help keep the vehicle close to the center of the lane and follow the lead vehicle. Lane Centering Function WARNING Lane Centering Function is not an automatic driving system. Do not overestimate the capabilities of Lane Centering Function. It is not a system to assist inattentive driving or meant to permit driving without holding the steering wheel. Make sure to grip the steering wheel while driving. To drive safely, check the distance from the vehicle in front or from a vehicle driving in parallel with your vehicle, the surrounding conditions and the surrounding environment while driving. H00079 Lane markings Lead vehicle S03661 Advanced Adaptive Cruise Control 93 Continued on next page  If you feel that the level of control and timing by the system are different from your own driving style, the system may not support safe driving. Do not use Lane Centering Function. Lane Centering Function does not always operate under all situations. If you rely only on Lane Centering Function to stay in a lane, it may cause an accident such as a collision with an obstacle beside your lane or with a vehicle driving in an adjacent lane. • Check that there are no problems with the tires and brakes during a daily inspection before using the system.  Refer to “Warranty and Maintenance Booklet”. • The system may not operate properly under the following conditions. Do not use Lane Centering Function. – The air pressure of tires is not to specification.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – The wheels are out of balance (e.g., the balance weight is removed or misaligned).* 1 – The wheels are out of alignment.*1 – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including genuine SUBARU parts). – An object that obstructs the stereo camera’s view is installed on the vehicle. – There is an abnormal vibration in the steering wheel or the steering wheel is heavier than usual. – The steering wheel has been replaced with parts other than genuine SUBARU parts. Advanced Adaptive Cruise Control 94  Continued from previous page – The headlights are dirty or they have snow, ice or dirt on them. (Objects are not adequately illuminated and are difficult to detect.) – The headlights are not aligned correctly. (Objects are not adequately illuminated and are difficult to detect.) – The headlights, fog lights and other lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – A trailer or another vehicle, etc. is being towed. – The combination meter is not operating properly. For example, an indicator light or a warning light on the combination meter does not properly turn on or off, a beep does not sound, or the indication on the combination meter display is different from when it is normal.*3 *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the functions and operations of the combination meter, refer to the Owner’s Manual for your vehicle. Advanced Adaptive Cruise Control 95 Continued on next page  • Lane Centering Function is designed for use on expressways, freeways, toll roads, interstate highways and similar limited access roads. It is not intended to be used in city traffic. In the following conditions, do not use Lane Centering Function. Doing so may result in an accident. – Ordinary roads (roads other than those mentioned above) Depending on the driving environment (complexity of roads and other factors), the system may not be able to perform as the traffic conditions require, and that may result in an accident. – Roads with sharp curves – Roads with lane restrictions or tentative lanes due to construction work, etc. – Old lane markings remain. – Avoiding parked vehicles – Snow, puddles or snow melting agents remain on the road surface. – Cracks or constructed traces remain on the road surface. – Frozen roads, snow-covered roads or other slippery road surfaces The tires may spin, causing loss of control of the vehicle. – Entering a sharp curve into an interchange or junction, or a service area, parking area, toll booth or other facilities – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – Rain or dirt has not been fully wiped off of the windshield. There is a risk of that the stereo camera may not detect the lanes. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). S01893 Advanced Adaptive Cruise Control 96  Continued from previous page • The stereo camera may have difficulty detecting the lane markings under the following conditions and the system may not operate properly. – At night or in a tunnel without the headlights on – In bad weather (for example, rain, snow or thick fog) – The road surface is wet and shining by reflected sunlight. – There are other traffic markings on the lane you are driving in (arrows, words, etc.). – The distance between your vehicle and the vehicle in front is short, making it difficult to detect lane markings. – A vehicle intruded from an adjacent lane or the vehicle in front changed lanes. – The shape of a curve in the road suddenly changes. – Shadows of guardrails or similar objects are overlapped on the lane markings. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The width of a lane is either too narrow or too wide. – The width of a lane has changed. – The stereo camera may have difficulty detecting the lane due to the performance of the camera. • There are no lane markings or they are very worn. • The lane markings are painted in yellow. • The lane markings are similar in color to the road surface. • The lane markings are drawn in double. • The width of lane markings is narrow. • Lines that are not lane markings are painted on roads. • The lane markings are touching the walls and poles. S03022 Advanced Adaptive Cruise Control 97 Continued on next page  – The shape of lane markings suddenly changes (entrance/exit of a curve, crank and winding road, etc.). – Going into lanes that lead to interchanges, junctions, service areas or parking areas – There is a curb or a side wall on the road shoulder. – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. • Under the conditions below, the stereo cameras may have difficulty in detecting the vehicle in front, and Lane Centering Function may not operate as expected. In addition, depending on the behavior of the vehicle in front and the surrounding traffic conditions, there is the risk of an unexpected accident (for example, a collision with a vehicle in the neighboring lane or a guardrail). S02855 S03482 Main road Exit lane Advanced Adaptive Cruise Control 98  Continued from previous page – The vehicle in front changes lanes, turns left or right, or takes similar action. – The vehicle in front is drifting. – The vehicle in front is not driving in the center of the lane and is driving with wheels on or over either side of the lane markings or at the edge of the lane. – The behavior of the vehicle in front changes suddenly (such as at the start or end of a curve or on a road with continuous curves and corners). S03399 S03400 S03522 Advanced Adaptive Cruise Control 99 – The vehicle in front moves to avoid a vehicle stopped on the shoulder on the road or an obstacle in the road. – Your vehicle is passing a vehicle in your lane or that is close to the lane marking (motorcycle or other similar vehicle). – There is a motorcycle or similar vehicle traveling next to or passing the vehicle in front. – Another vehicle cuts between the vehicle in front and your vehicle. – The vehicle in front is operating a turn signal, hazard warning flashers, or similar light. – At night or in a tunnel without the headlights on – Driving at night or in a tunnel when there is a vehicle in front that does not have its taillights on • Lane Centering Function may be unable to continue operating when the vehicle in front has a unique shape or due to the surrounding environment. – The rear aspect of the vehicle in front is low, small or irregular (the system may recognize another part of the vehicle as its rear and will determine operation from that). • There is an empty truck or trailer with no rear and/or side panels on the cargo bed. • Vehicles that have cargo protruding from their back ends • Non-standard shaped vehicles (vehicle transporters or vehicles with a sidecar fitted, etc.) • The height of the vehicle is low, etc. – The vehicle in front is a compact car, motorcycle, or other narrow vehicle. – The relative speed difference compared to the vehicle in front is large. (The vehicle in front pulls away.) – Bad weather (for example heavy rain, a blizzard or thick fog) – There is sunlight, headlights, or other light reflecting from the rear of the vehicle in front. – Strong light is coming from the front (for example, sunlight at dawn, sunset or headlight beams, etc.). – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. Advanced Adaptive Cruise Control 100 CAUTION • The performance of Lane Centering Function may not be optimal under the following conditions. In addition, Lane Centering Function may not operate or the operation may be canceled. – Immediately after the weight of your vehicle changes radically – Immediately after the replacement of a tire or the adjustment of tire pressure – Immediately after the adjustment, repair or replacement of the camera or related components – Immediately after the repair or replacement of the suspension or steering system – A winter tire or a tire other than a genuine SUBARU tire is used. – The vehicle is in a crosswind. – The road grade abruptly changes (uphill or downhill). – The grade of the crossing direction in a road is large or changes abruptly. – Unevenness, winding and joint of a road surface – The acceleration/deceleration is high. – Immediately after starting the engine when the outside temperature is low. – The outside temperature is high. • When you do not use Lane Centering Function, make sure to turn off the (Lane Centering) switch. If the switch is left on, the function may operate unexpectedly, causing an accident. • If you turn on the (Lane Centering) switch, the operation power of electric power steering may change. Advanced Adaptive Cruise Control 101 ■How to use Lane Centering Function Press the (Lane Centering) switch when Adaptive Cruise Control is on.  Page 72 Lane Centering Function is turned on, and / (Lane Centering indicator) (white) is displayed on the EyeSight display area of the combination meter display. Lane Centering Function starts operating when all of the following conditions are met. • Adaptive Cruise Control is activated. • The vehicle speed is between 0 mph (0 km/h) and approximately 90 mph (145 km/h). • The system is detecting the lane markings or the lead vehicle. • The driver is operating the steering wheel. • On a straight road or gentle curve • On a road that has a lane width that is between approximately 10 ft (3 m) and 15 ft (4.5 m) • Driving near the center of a lane H00072 H00276 Lane Centering indicator (white) Advanced Adaptive Cruise Control 102 While the function is operating, / (Lane Centering indicator) on the combination meter display changes from white to green. At this time, if lane markings have been detected, the lane indicator illuminates in white. WARNING When Lane Centering Function is operating and the lane markings are not detected, steering operation will occur automatically to track the vehicle in front when the vehicle in front changes lanes or performs similar movement. Always be aware of surrounding vehicles and obstacles, and operate the steering wheel as necessary. Relying on Lane Centering Function for steering operation could lead to an accident, resulting in serious injury or death. CAUTION If you grip the steering wheel firmly, the system may determine that you are operating the steering wheel and reduce the level of assistance. H00277 Green Lane indicator (white) Advanced Adaptive Cruise Control 103 ●Canceling Lane Centering Function Canceling by driver operation Any of the following operations temporarily cancels Lane Centering Function. While temporarily canceling this function, / (Lane Centering indicator) on the EyeSight display area illuminates in white and the lane indicator turns off. • Depressing the brake pedal • Pressing the (CRUISE) switch to cancel Adaptive Cruise Control • Operating the turn signal lever Automatic cancellation by the system Under the following conditions, a notification will sound 1 short beep and 1 long beep and Lane Centering Function is temporarily canceled. While the function is temporarily canceled, / (Lane Centering indicator) on the EyeSight display area illuminates in white and the lane indicator turns off. Also, Lane Centering Function cancellation message is displayed on the combination meter display. • The system does not detect the lane markings and the lead vehicle. • Adaptive Cruise Control is automatically canceled. NOTE • Depending on the lane detection status, the lane indicator may illuminate (white) on one side (left or right) only. • The lane indicator does not illuminate if the function does not detect the lane markings and the vehicle is controlled by following the lead vehicle. • The on/off status of Lane Centering Function is restored when you restart the engine. H00278 White Advanced Adaptive Cruise Control 104 • The system judges that the driver operated the steering wheel in order to leave the lane. • The steering wheel is operated aggressively. • Entering a sharp curve • On a sharp curve • Due to another system operating • The system does not detect steering operation by the driver for a certain period of time. – When the system detects no steering operation, the interruption screen appears on the combination meter display. If this condition continues, an alert sounds and warning screens appear in stages. If the system still does not detect any steering operation, Lane Centering Function is temporarily canceled. The alert continues to sound and the warning screen continues to appear on the combination meter display until the system detects steering operation. • The EyeSight system has a malfunction. (EyeSight warning indicator: Yellow)  Page 152 • The EyeSight system has stopped temporarily. (EyeSight temporary stop indicator: White)  Page 154 NOTE In the following cases, Lane Centering Function may be temporarily canceled because the system cannot detect the steering wheel operation. • The driver is driving with hands placed lightly on the steering wheel. • Driver steering operation is insufficient. H00279 Advanced Adaptive Cruise Control 105 ●Turning off Lane Centering Function Press the (Lane Centering) switch. / (Lane Centering indicator) and lane indicator are turned off on the EyeSight display area. ●When Lane Centering Function is active and the vehicle is likely to depart the lane When Lane Centering Function is active and the vehicle is likely to depart the lane, an alert sounds and an interruption screen is displayed on the combination meter display. Also the lane indicator on which the vehicle is about to cross will blink in yellow. When this warning activates, operate the steering wheel so that the vehicle does not depart from the lane. *: The lane indicator on the side where the vehicle is likely to depart blinks in yellow. H00072 H00080 3 short beeps H00280 Green Yellow Advanced Adaptive Cruise Control 106 If Lane Centering Function is canceled while this warning is activated, the interruption screen will change. WARNING When Lane Centering Function is operating, and the lane markings are not detected, this warning and Lane Departure Warning ( page 125) do not operate. Pay attention to your surroundings and operate the steering wheel as necessary. Relying only on this warning to judge lane departure will lead to an unexpected accident. NOTE This function operates even when Lane Departure Warning is turned off.  Page 129 H00281 White Lane Departure Prevention Function 107 Lane Departure Prevention Function The system detects lane markings in order to help prevent departure from the lane. If you drive on expressways, freeways or interstate highways at speeds above approximately 37 mph (60 km/h) and the vehicle is about to depart from the lane, the system assists the steering operation by turning it to the direction that will help prevent the lane departure. Continued on next page  WARNING Lane Departure Prevention Function is not an automatic driving system. Do not overestimate the capabilities of Lane Departure Prevention Function. It is not a system to assist inattentive driving or meant to permit driving without holding the steering wheel. Make sure to grip the steering wheel while driving. To drive safely, check the distance from the vehicle in front or from a vehicle driving in parallel with your vehicle, the surrounding conditions and the surrounding environment while driving. If you feel that the level of control and timing by the system are different from your own driving style, the system may not support safe driving. Do not use Lane Departure Prevention Function. Lane Departure Prevention Function does not always operate under all situations. If you rely only on Lane Departure Prevention Function to stay in a lane, it may cause an accident such as a collision with an obstacle beside your lane or with a vehicle driving in an adjacent lane. • Check that there are no problems with the tires and brakes during a daily inspection before using the system.  Refer to “Warranty and Maintenance Booklet”. H00081 There is a strong possibility of lane departure. There is a possibility of lane departure. Lane Departure Prevention Function 108  Continued from previous page • The system may not operate properly under the following conditions. Do not use Lane Departure Prevention Function. – The air pressure of tires is not to specification.*1 – Tires that are unevenly worn or tires with uneven wear patterns are installed.*1 – Tires that are the wrong size are installed.*1 – The wheels are out of balance (e.g., the balance weight is removed or misaligned).* 1 – The wheels are out of alignment.*1 – A flat tire has been fixed temporarily with a tire repair kit. – The suspension has been modified (including genuine SUBARU parts). – An object that obstructs the stereo camera’s view is installed on the vehicle. – There is an abnormal vibration in the steering wheel or the steering wheel is heavier than usual. – The steering wheel has been replaced with parts other than genuine SUBARU parts. – The headlights are dirty or they have snow, ice or dirt on them. (Objects are not adequately illuminated and are difficult to detect.) – The headlights are not aligned correctly. (Objects are not adequately illuminated and are difficult to detect.) – The headlights, fog lights and other lights have been modified. – Vehicle operation has become unstable due to an accident or malfunction. – The brake system warning light is illuminated in red.*2 – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – The maximum number of occupants is exceeded. – A trailer or another vehicle, etc. is being towed. – The combination meter is not operating properly. For example, an indicator light or a warning light on the combination meter does not properly turn on or off, a beep does not sound, or the indication on the combination meter display is different from when it is normal.*3 *1: The wheels and tires have functions that are critically important. Be sure to use the correct ones. For details, refer to the Owner’s Manual for your vehicle. *2: If the brake system warning light does not turn off, immediately pull the vehicle over in a safe place and contact a SUBARU dealer to have the system inspected. For details, refer to the Owner’s Manual for your vehicle. *3: For details about the functions and operations of the combination meter, refer to the Owner’s Manual for your vehicle. Lane Departure Prevention Function 109 Continued on next page  • Lane Departure Prevention Function is designed for use on expressways, freeways, toll roads, interstate highways and similar limited access roads. It is not intended to be used in city traffic. In the following conditions, do not use Lane Departure Prevention Function. Doing so may result in an accident. – Ordinary roads (roads other than those mentioned above) Depending on the driving environment (complexity of roads and other factors), the system may not be able to perform as the traffic conditions require, and that may result in an accident. – Roads with sharp curves – Roads with lane restrictions or tentative lanes due to construction work, etc. – Old lane markings remain. – Avoiding parked vehicles – Snow, puddles or snow melting agents remain on the road surface. – Cracks or constructed traces remain on the road surface. – Frozen roads, snow-covered roads or other slippery road surfaces The tires may spin, causing loss of control of the vehicle. – Entering a sharp curve into an interchange or junction, or a service area, parking area, toll booth or other facilities – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – Rain or dirt has not been fully wiped off of the windshield. There is a risk of that the stereo camera may not detect the lanes. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). S01893 Lane Departure Prevention Function 110  Continued from previous page • The stereo camera may have difficulty detecting the lane markings under the following conditions and the system may not operate properly. – At night or in a tunnel without the headlights on – In bad weather (for example, rain, snow or thick fog) – The road surface is wet and shining by reflected sunlight. – There are other traffic markings on the lane you are driving in (arrows, words, etc.). – The distance between your vehicle and the vehicle in front is short, making it difficult to detect lane markings. – A vehicle intruded from an adjacent lane or the vehicle in front changed lanes. – The shape of a curve in the road suddenly changes. – Shadows of guardrails or similar objects are overlapped on the lane markings. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The width of a lane is either too narrow or too wide. – The width of a lane has changed. – The stereo camera may have difficulty detecting the lane due to the performance of the camera. • There are no lane markings or they are very worn. • The lane markings are painted in yellow. • The lane markings are similar in color to the road surface. • The lane markings are drawn in double. • The width of lane markings is narrow. • Lines that are not lane markings are painted on roads. • The lane markings are touching the walls and poles. S03022 Lane Departure Prevention Function 111 – The shape of lane markings suddenly changes (entrance/exit of a curve, crank and winding road, etc.). – There is a curb or a side wall on the road shoulder. – Going into lanes that lead to interchanges, junctions, service areas or parking areas – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. S02855 S03482 Main road Exit lane Lane Departure Prevention Function 112 CAUTION • The performance of Lane Departure Prevention Function may not be optimal under the following conditions. In addition, Lane Departure Prevention Function may not operate or the operation may be canceled. – Immediately after the weight of your vehicle changes radically – Immediately after the replacement of a tire or the adjustment of tire pressure – Immediately after the adjustment, repair or replacement of the camera or related components – Immediately after the repair or replacement of the suspension or steering system – A winter tire or a tire other than a genuine SUBARU tire is used. – The vehicle is in a crosswind. – The road grade abruptly changes (uphill or downhill). – The grade of the crossing direction in a road is large or changes abruptly. – Unevenness, winding and joint of a road surface – The acceleration/deceleration is high. – Immediately after starting the engine when the outside temperature is low. – The outside temperature is high. • When you do not use Lane Departure Prevention Function, make sure to turn off Lane Departure Prevention Function. If the function is left on, the function may operate unexpectedly, causing an accident. • If you turn on Lane Departure Prevention Function, the operation power of electric power steering may change. Lane Departure Prevention Function 113 Operate the center information display to turn on Lane Departure Prevention Function. This function is turned on by selecting “All Functions” or “Lane Departure Prevention Function Only” on the “Lane Departure Prevention Function” screen of the EyeSight settings.  Page 157 When Lane Departure Prevention Function is turned on, lane indicator (gray) is displayed on the EyeSight display area of the combination meter display. Lane Departure Prevention Function goes into the standby status, and the lane indicator illuminates when all of the following conditions are met. • The vehicle speed is between approximately 37 mph (60 km/h) and 90 mph (145 km/h). • The system is detecting the lane markings. • Lane Centering Function is not operating. • The driver is operating the steering wheel. • On a road that has a lane width that is between approximately 10 ft (3 m) and 15 ft (4.5 m) • On a straight road or gentle curve • Driving near the center of a lane • Vehicle Dynamics Control is in the Vehicle Dynamics Control mode or traction mode. How to use Lane Departure Prevention Function H00282 Lane indicator (gray) H00283 White Lane Departure Prevention Function 114 When the vehicle is about to depart from the lane, Lane Departure Prevention Function starts to operate and the lane indicator changes from white to yellow on the side where Lane Departure Prevention Function activated. NOTE • If you just lightly put your hands on the steering wheel for a certain period of time or if you do not operate the steering wheel, the function will temporarily be canceled. Also, the Lane Departure Prevention Function cancellation message is displayed on the screen. • Lane Departure Prevention Function operates when the system determines that the vehicle will depart from the lane if you continue to drive in the same manner. Therefore, it operates at an earlier timing than Lane Departure Warning ( page 125). It may depend on the surrounding environment and road condition. • The lane indicator in the standby status and in operation may illuminate only on the left side or right side. • The on/off status of Lane Departure Prevention Function is restored when you restart the engine. • If / (Lane Centering indicator) (white) is illuminated while Adaptive Cruise Control is on, Lane Departure Prevention Function will not activate. H00283 Yellow Lane Departure Prevention Function 115 ■Canceling Lane Departure Prevention Function ●Canceling by driver operation Any of the following operations temporarily cancels Lane Departure Prevention Function. While temporarily canceling this function, the lane indicator turns to gray. • Depressing the brake pedal strongly • Operating the turn signal lever • The system determines that the driver operates the steering wheel to make a lane change. • Turning on the hazard warning flasher switch ●Automatic cancellation by the system Under the following conditions, a notification will sound 1 short beep and 1 long beep and Lane Departure Prevention Function is temporarily canceled. While the function is temporarily canceled, the lane indicator turns to gray. Also, the Lane Departure Prevention Function cancellation message is displayed on the combination meter display. • The system does not detect the lane markings. • The vehicle speed is less than approximately 37 mph (60 km/h) or is more than approximately 100 mph (160 km/h). • Vehicle Dynamics Control or Traction Control Function is activated. • Either the driver’s door, the front passenger’s door or the rear door is open. • The driver’s seatbelt is unfastened. • The electronic parking brake is applied. • The select lever is moved to a position other than “D” or “M”. – Lane Departure Prevention Function can be resumed after the select lever is returned to the “D” or “M” position. H00284 Lane Departure Prevention Function 116 • The system does not detect steering operation by the driver for a certain period of time. – When the system detects no steering operation, the interruption screen appears on the combination meter display. The interruption screen continues to appear until the system detects the steering operation. If the system still does not detect the steering operation, Lane Departure Prevention Function is temporarily canceled. • Entering a sharp curve • On a sharp curve • Due to the road conditions • Due to another system operating • The EyeSight system has a malfunction. (EyeSight warning indicator: Yellow)  Page 152 • The EyeSight system has stopped temporarily. (EyeSight temporary stop indicator: White)  Page 154 ■Turning off Lane Departure Prevention Function Operate the center information display to turn off Lane Departure Prevention Function. This function is turned off by selecting “Warning Buzzer Only” or “OFF” on the “Lane Departure Prevention Function” screen of the EyeSight settings.  Page 157 The lane indicator is turned off on the EyeSight display area. H00285 Pre-Collision Throttle Management 117 Pre-Collision Throttle Management When an obstacle is detected in front of the vehicle, and the vehicle is stopped or traveling very slowly, if the system determines that the accelerator pedal has been depressed by more than the necessary amount (due to driver error), it greatly restricts engine output and ensures that vehicle forward movement is slower than normal in order to give the driver additional time to brake or react. During system operation, an alert will sound repeated short beeps and an interruption screen will be displayed. This function only activates when the select lever is in the “D” or “M” position. Continued on next page  WARNING Do not rely excessively on Pre-Collision Throttle Management. Pre- Collision Throttle Management is not designed to help you avoid collisions in all situations. Always check the select lever and pedal positions as well as the surrounding environment before starting and operating the vehicle. Relying only on Pre-Collision Throttle Management could result in an accident. • Pre-Collision Throttle Management is not designed to maintain the vehicle in a stopped condition. • Pre-Collision Throttle Management will not reduce acceleration under all conditions. It is also not designed to prevent collisions. • Pre-Collision Throttle Management will operate when an obstacle is detected in front. However, this function will not reduce acceleration in cases where no obstacle is detected (for example when approaching a cliff, etc.). • Do not intentionally depress the accelerator pedal excessively when there are obstacles nearby. If the driver relies only on Pre-Collision Throttle Management to control acceleration, collisions may occur. S03913 Repeated short beeps H00331 Pre-Collision Throttle Management 118  Continued from previous page • If your vehicle is trapped on a railroad crossing and you are trying to escape by driving through the crossing gate, the stereo camera may recognize the crossing gate as an obstacle and Pre-Collision Throttle Management system may activate. In this case, remain calm and either continue to depress the accelerator pedal or turn off the Pre-Collision Throttle Management system.  Page 123 • Pre-Collision Throttle Management may not activate depending on the following conditions: – The distance between your vehicle and the obstacle, speed difference, and horizontal offset – Recognition status of the stereo camera In particular, the function may not activate in the following cases: • Bad weather (for example heavy rain, a blizzard or thick fog) • Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. • In a dark area (indoor parking area, etc.) • There is an obstacle outside the area illuminated by the headlights. • Strong light is coming from the front (for example sunlight at sunrise or sunset headlight beams, etc.). • The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. • Fluid has not been fully wiped off the windshield during or after use of the window washer. • Obstacles cannot be correctly recognized due to water droplets from rain or the washer, or the wiper blades obstructing the stereo camera’s field of view. • The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). • With low obstacles (low wall, crash barrier, low vehicle, etc.) • The size and height of an obstacle is smaller than the limitations of the stereo camera’s recognition capability. – With small animals or children – With pedestrians who are sitting or lying down Pre-Collision Throttle Management 119 • The rear portion nearest your vehicle is too small or too close (such as a trailer or oncoming vehicle). The system may not recognize the part of that vehicle which is closest to you. • There is a fence or wall, etc., with a uniform pattern (striped pattern, brick, etc.) or with no pattern in front. • There is a wall or door made of glass or a mirror in front. • An obstacle (another vehicle, motorcycle, cyclist, pedestrian, animal or child, etc.) cuts in from the side or jumps out suddenly. • Your vehicle is immediately behind an obstacle after changing lanes. • On sharp curves, steep uphill grades or steep downhill grades • The vehicle is tilted at an extreme angle due to loaded cargo or other factors. • The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. • The lead vehicle’s tail lights are not lit at night or in a tunnel. • It is pitch black and there are no objects in the surrounding area. • The surrounding area is mostly the same color (for example in a snowy location). – The system determines that steering operation by the driver is intended as evasive action. • For your safety, do not test Pre-Collision Throttle Management on its own. It may operate improperly and cause an accident. S01968 S00653 Pre-Collision Throttle Management 120 CAUTION • In the following situations, turn off Pre-Collision Throttle Management. Otherwise Pre-Collision Throttle Management may activate unexpectedly. – The vehicle is being towed. – The vehicle is being loaded onto a carrier. – A chassis dynamometer, free-rollers or similar equipment is being used. – A mechanic lifts up the vehicle, starts the engine and allows the wheels to spin freely. – Driving on a race track – Passing hanging banners, flags or branches – Thick/tall vegetation is touching the vehicle. • Pre-Collision Throttle Management may activate in the following situations. Therefore concentrate on safe driving. – Your vehicle is close to the vehicle in front. – Passing through an automatic gate – Your vehicle is in a location where the grade of the road changes rapidly. S01869 Pre-Collision Throttle Management 121 Continued on next page  – Passing through clouds of steam or smoke – The exhaust gas emitted by the vehicle in front is clearly visible in cold weather, etc. – Passing through water spray from road sprinklers or snow clearing sprinklers on the road S00652 S02636 Pre-Collision Throttle Management 122  Continued from previous page – In adverse weather, such as heavy snow or snowstorms – There is an obstacle on a curve or intersection. – You are passing close to the side of a vehicle, an obstacle or vegetation. – Stopping very close to a wall or a vehicle in front NOTE • When the accelerator pedal is depressed for approximately 3 seconds, Pre- Collision Throttle Management will be released gradually. • When Pre-Collision Braking System is turned off, Pre-Collision Throttle Management is also turned off.  Page 61 S01870 Pre-Collision Throttle Management 123 Operate the center information display to turn on/off Pre-Collision Throttle Management. This function is turned on by selecting “Setting ON” on the “Pre-Collision Braking” screen of the EyeSight settings. This function is turned off by selecting “Setting OFF” on the “Pre-Collision Braking” screen of the EyeSight settings.  Page 157 If Pre-Collision Throttle Management is turned off, the Pre-Collision Braking System OFF indicator light illuminates on the instrument panel. Turning on/off Pre-Collision Throttle Management NOTE • The on/off setting for Pre-Collision Throttle Management operates in cooperation with Pre-Collision Braking System and Automatic Emergency Steering (if equipped). • Even when Pre-Collision Throttle Management is turned off, if the engine is turned off and then restarted, Pre-Collision Throttle Management will be turned on. The system default setting when the vehicle is restarted is on. Pre-Collision Throttle Management 124 ■Pre-Collision Braking System OFF indicator light This indicator light illuminates when the ignition switch is turned to the ON position, and remains illuminated for approximately 10 seconds after the engine starts. It turns on when Pre-Collision Braking System, Automatic Emergency Steering (if equipped) and Pre- Collision Throttle Management are turned off. It also illuminates under the following conditions. • The Vehicle Dynamics Control OFF mode is selected.  Refer to the vehicle Owner’s Manual for details. • The EyeSight system has a malfunction.  Page 152 • The EyeSight system has stopped temporarily.  Page 154 NOTE • If the Pre-Collision Braking System OFF indicator light illuminates, the Automatic Emergency Steering OFF indicator (if equipped) also illuminates.  Page 60 • When the Pre-Collision Braking System OFF indicator light is turned on, Pre- Collision Braking System (including the Pre-Collision Braking Assist function), Automatic Emergency Steering (if equipped) and Pre-Collision Throttle Management do not operate. • For models with Automatic Emergency Steering, you cannot use Automatic Emergency Steering when BSD/RCTA is turned off. In this case, the Automatic Emergency Steering OFF indicator illuminates. S04150 Lane Departure Warning 125 Lane Departure Warning When vehicle speed is approximately 30 mph (50 km/h) or more, this function warns the driver if the system detects that the vehicle is likely to depart the traffic lane. When Lane Departure Warning activates, an alert sounds 3 short beeps and an interruption screen will be displayed. *: The illustration depicts a vehicle about to cross the left line. Continued on next page  WARNING • Lane Departure Warning will not operate in all conditions. It also will not automatically return the vehicle to the original lane. If the driver relies only on Lane Departure Warning to keep the vehicle in the lane, lane departure may occur, resulting in an accident. Lane Departure Warning activates when it detects lane markings. However, it is not a function which can detect the edge of a road (shoulders or side ditches, etc.) and warn the driver. S03914 3 short beeps H00332 Lane Departure Warning 126  Continued from previous page • The stereo camera may have difficulty detecting the lane markings under the following conditions and the system may not operate properly. – At night or in a tunnel without the headlights on – In bad weather (for example, rain, snow or thick fog) – The road surface is wet and shining by reflected sunlight. – There are other traffic markings on the lane you are driving in (arrows, words, etc.). – The distance between your vehicle and the vehicle in front is short, making it difficult to detect lane markings. – A vehicle intruded from an adjacent lane or the vehicle in front changed lanes. – The shape of a curve in the road suddenly changes. – Shadows of guardrails or similar objects are overlapped on the lane markings. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The width of a lane is either too narrow or too wide. – The width of a lane has changed. – The stereo camera may have difficulty detecting the lane due to the performance of the camera. • There are no lane markings or they are very worn. • The lane markings are painted in yellow. • The lane markings are similar in color to the road surface. • The lane markings are drawn in double. • The width of lane markings is narrow. • Lines that are not lane markings are painted on roads. • The lane markings are touching the walls and poles. S03022 Lane Departure Warning 127 – The shape of lane markings suddenly changes (entrance/exit of a curve, crank and winding road, etc.). – There is a curb or a side wall on the road shoulder. – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – Snow, puddles or snow melting agents remain on the road surface. – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – Rain or dirt has not been fully wiped off of the windshield. There is a risk of that the stereo camera may not detect the lanes or the oncoming vehicle. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). S02855 Lane Departure Warning 128 CAUTION In the following situations, Lane Departure Warning may not activate: • Vehicle speed is approximately 30 mph (50 km/h) or less. • The steering wheel is turned significantly to either side. • The road grade abruptly changes (uphill or downhill). • On a sharp curve • The brake pedal is depressed or immediately after it is depressed. • The turn signal is operating. • For approximately 3 seconds after the turn signal lever has returned to its original position • The vehicle has not returned to the inside of the lane after Lane Departure Warning has activated. NOTE • The following situations may cause incorrect lane detection and a faulty Lane Departure Warning to occur. – There are tire tracks on a wet road or snow-covered road. – There are boundaries between snow and asphalt, or marks from road repair, etc. – There are the shadows of guardrails. – Lane markings are drawn in double. – There are some lane markings left from roadwork or markings from the previous road. • Lane Departure Warning determines when to activate the warning from various factors, such as how fast the vehicle is approaching the lane markings. Therefore, the position at which the warning is activated may vary. • When the Lane Departure Warning OFF indicator light is illuminated, Lane Departure Warning is inactive.  Page 129 Lane Departure Warning 129 Operate the center information display to turn on/off Lane Departure Warning. This function is turned on by selecting “All Functions” or “Warning Buzzer Only” on the “Lane Departure Prevention Function” screen of the EyeSight settings. This function is turned off by selecting “Lane Departure Prevention Function Only” or “OFF” on the “Lane Departure Prevention Function” screen of the EyeSight settings.  Page 157 If Lane Departure Warning is turned off, the Lane Departure Warning OFF indicator light illuminates on the instrument panel. ■Lane Departure Warning OFF indicator light This indicator light illuminates when the ignition switch is turned to the ON position, and then approximately 10 seconds after the engine starts, it turns off or remains illuminated depending on the current status (ON or OFF). It turns on when Lane Departure Warning and Lane Sway Warning are turned off. It also illuminates under the following conditions. • The Vehicle Dynamics Control OFF mode is selected.  Refer to the vehicle Owner’s Manual for details. • The EyeSight system has a malfunction.  Page 152 • The EyeSight system has stopped temporarily.  Page 154 Turning on/off Lane Departure Warning NOTE • The on/off setting for Lane Departure Warning operates in cooperation with Lane Sway Warning. • The on/off status of Lane Departure Warning is restored when you restart the engine. S04151 130 Lane Sway Warning This function detects swaying or drifting within a lane, and warns the driver. When Lane Sway Warning activates, an alert sounds 3 short beeps and an interruption screen will be displayed. This function activates when the vehicle speed exceeds approximately 37 mph (60 km/h) and deactivates when the vehicle speed falls below approximately 25 mph (40 km/h). The function will reactivate when the vehicle speed is increased to exceed approximately 37 mph (60 km/h). *: The lines on the right and left blink alternately. WARNING • Lane Sway Warning will not operate in all conditions. It also will not automatically correct swaying. If the driver relies only on Lane Sway Warning to prevent the vehicle from swaying, an accident may occur. • The stereo camera may have difficulty detecting the lane markings under the following conditions and the system may not operate properly. – At night or in a tunnel without the headlights on – In bad weather (for example, rain, snow or thick fog) – The road surface is wet and shining by reflected sunlight. – There are other traffic markings on the lane you are driving in (arrows, words, etc.). – The distance between your vehicle and the vehicle in front is short, making it difficult to detect lane markings. – A vehicle intruded from an adjacent lane or the vehicle in front changed lanes. S03915 3 short beeps H00333 Lane Sway Warning 131 Continued on next page  – The shape of a curve in the road suddenly changes. – Shadows of guardrails or similar objects are overlapped on the lane markings. – Strong light is coming from the front (sunlight or headlight beams of oncoming traffic, etc.). – The width of a lane is either too narrow or too wide. – The width of a lane has changed. – The stereo camera may have difficulty detecting the lane due to the performance of the camera. • There are no lane markings or they are very worn. • The lane markings are painted in yellow. • The lane markings are similar in color to the road surface. • The lane markings are drawn in double. • The width of lane markings is narrow. • Lines that are not lane markings are painted on roads. • The lane markings are touching the walls and poles. – The shape of lane markings suddenly changes (entrance/exit of a curve, crank and winding road, etc.). – There is a curb or a side wall on the road shoulder. – The brightness changes such as at a tunnel entrance or exit or when you drive under an overpass. – Fluid has not been fully wiped off the windshield during or after washer use. S03022 S02855 Lane Sway Warning 132  Continued from previous page – The vehicle is tilted at an extreme angle due to loaded cargo or other factors. – Snow, puddles or snow melting agents remain on the road surface. – Visibility is poor due to sand, smoke or water vapor blowing in the wind, or the front vision is obscured due to water splashes, snow, dirt or dust stir up generated by the vehicle in front or oncoming traffic. – The windshield has become fogged, scratched or smeared, or snow, dirt, dust or frost has adhered to it, or it is otherwise affected. These will reduce the stereo camera’s field of view. Also, light is reflecting off the dirt, etc. – Rain or dirt has not been fully wiped off of the windshield. There is a risk of that the stereo camera may not detect the lanes or the oncoming vehicle. – The stereo camera’s field of view is obstructed (for example by a canoe on the roof of the vehicle). CAUTION Under the following conditions, Lane Sway Warning may not operate. • On a winding road • The road grade abruptly changes (uphill or downhill). • The vehicle speed changes greatly. • Immediately after a lane change NOTE • Swaying detection is based on several minutes of prior driving data. Swaying will not be detected immediately after the vehicle starts to sway. In addition, the warning may continue for some time even after swaying stops. • Lane Sway Warning is just a function that warns the driver. When the driver is tired, not concentrating on the road or not paying adequate attention to driving, be sure to take rest breaks as often as needed. • Under the following conditions, Lane Sway Warning will not operate. – Lane Centering Function is operating.  Page 92 – The Lane Departure Warning OFF indicator light is illuminated.  Page 129 Lane Sway Warning 133 Operate the center information display to turn on/off Lane Sway Warning. This function is turned on by selecting “All Functions” or “Warning Buzzer Only” on the “Lane Departure Prevention Function” screen of the EyeSight settings. This function is turned off by selecting “Lane Departure Prevention Function Only” or “OFF” on the “Lane Departure Prevention Function” screen of the EyeSight settings.  Page 157 If Lane Sway Warning is turned off, the Lane Departure Warning OFF indicator light illuminates on the instrument panel. ■Lane Departure Warning OFF indicator light This indicator light illuminates when the ignition switch is turned to the ON position, and then approximately 10 seconds after the engine starts, it turns off or remains illuminated depending on the current status (ON or OFF). It turns on when Lane Departure Warning and Lane Sway Warning are turned off. It also illuminates under the following conditions. • The Vehicle Dynamics Control OFF mode is selected.  Refer to the vehicle Owner’s Manual for details. • The EyeSight system has a malfunction.  Page 152 • The EyeSight system has stopped temporarily.  Page 154 Turning on/off Lane Sway Warning NOTE • The on/off setting for Lane Sway Warning operates in cooperation with Lane Departure Warning. • The on/off status of Lane Sway Warning is restored when you restart the engine. S04151 134 Lead Vehicle Start Alert When the vehicle stopped in front starts to move, Lead Vehicle Start Alert notifies the driver by indicator on the combination meter display and notification. When the vehicle in front remains stopped continuously (within a following distance of approximately 39 ft (12 m) and the driver’s vehicle remains stopped for several seconds or longer), the system continues to detect the vehicle in front and this alarm activates if the vehicle in front advances approximately 13 ft (4 m) or more while the driver’s vehicle remains stationary. This function only activates when the select lever is in the “D”, “M” or “N” position. When Lead Vehicle Start Alert activates, a notification sounds a two-tone beep and an interruption screen will be displayed. WARNING Even after alerts are given audibly and through the display of an indicator, be sure to carefully check the area surrounding the vehicle before pulling away. Relying solely on Lead Vehicle Start Alert may result in an accident. S03880 Lead vehicle Lead vehicle Two-tone beep 13 ft (4 m) or more H00334 Lead Vehicle Start Alert 135 NOTE • The Lead Vehicle Start Alert setting can be turned on or off.  Page 157 • Under the following conditions, Lead Vehicle Start Alert may activate even when the vehicle in front has not started to move, or may not activate even after the vehicle in front has started to move: – A motorcycle or similar object cuts in between your vehicle and the stopped vehicle in front. – Weather or road conditions may interfere with the detection of the vehicle in front. – The EyeSight stereo camera loses detection of the vehicle in front. • Under the following conditions, Lead Vehicle Start Alert will not activate. – The EyeSight system has a malfunction.  Page 152 – The EyeSight system has stopped temporarily.  Page 154 136 EyeSight Assist Monitor The operating status of the EyeSight system is projected on the lower part of the windshield. This allows the driver to remain aware of warnings and displayed information without taking their eyes off the surrounding driving environment. The LED indicators can be set to ON/OFF.  Page 157 For only the green indicator, the brightness can be adjusted when the illumination brightness control dial is turned.  Refer to the Owner’s Manual for your vehicle. H00073 EyeSight Assist Monitor LED indicator (windshield projection) EyeSight Assist Monitor 137 When the ignition switch is turned to the ON position, the LED indicators will illuminate in the order of Yellow → Red → Green. When EyeSight Assist Monitor customization is turned on, they will illuminate twice. To inform the driver of the operation condition of EyeSight while driving, the LED indicators are illuminated according to the operation condition of EyeSight and the light they emit is projected on the lower part of the windshield. EyeSight Assist Monitor Operation Display Condition Red indicators blink simultaneously (4 indicators) • The Following Distance Warning, Pre-Collision Braking System (first braking or secondary braking), Automatic Emergency Steering (if equipped), “Obstacle Detected” warning or Pre-Collision Throttle Management is operating. • Lane Centering Function was canceled when there was no operation of the steering wheel. Red indicator blinks (one side) Lane Centering Function is active and the vehicle appears likely to depart the lane. The side where the vehicle has left its lane blinks, and the side that has not left its lane illuminates. Yellow indicator blinks (one side) Lane Departure Warning is operating. The side where the vehicle has left its lane blinks, and the side that has not left its lane illuminates. Yellow indicators blink (alternately) Lane Sway Warning is operating. Yellow indicators blink simultaneously • Steering wheel operation is not detected for a certain period of time. • Lane Centering Function was canceled automatically by the system (blinking rapidly). • Lane Departure Prevention Function was canceled automatically by the system (blinking rapidly). Green indicator illuminates A vehicle is detected ahead while Adaptive Cruise Control is operating. S03882 yellow red green red yellow 138 Conventional Cruise Control Conventional Cruise Control is a driving support system intended to allow more comfortable driving on expressways, freeways and interstate highways. It can be used to travel at a constant speed by maintaining the vehicle speed set by the driver. Please remember that you should not exceed posted speed limits. WARNING • When Conventional Cruise Control is functioning, the system does not perform the following control to maintain a following distance, as when using Adaptive Cruise Control. Strive for safe driving and depress the brake pedal to decelerate the vehicle as necessary in order to ensure a safe following distance from the vehicle in front. • Under the following conditions, do not use Conventional Cruise Control. Doing so may result in an accident. – Roads with heavy traffic or roads with sharp curves Maintaining an appropriate speed for such road conditions may be difficult. – Frozen roads, snow-covered roads or slippery road surfaces The tires may spin, causing your vehicle to lose control. – Steep downhill grades The set vehicle speed may be exceeded. – On a steep continuous downhill grade The brakes may overheat. • When using Conventional Cruise Control, always set the speed according to the speed limit, traffic flow, road conditions, and other conditions. CAUTION When using Cruise Control, be sure to check the EyeSight display area to confirm which Cruise Control mode is selected: Adaptive Cruise Control or Conventional Cruise Control. • If Adaptive Cruise Control is selected, (Adaptive Cruise Control indicator) illuminates. • If Conventional Cruise Control is selected, (Conventional Cruise Control indicator) illuminates. Conventional Cruise Control 139 ■Setting Conventional Cruise Control (1) Setting Adaptive Cruise Control to standby status Press the (CRUISE) switch. At this time, (Adaptive Cruise Control indicator) (white) and the following distance setting indicator are displayed on the EyeSight display area of the combination meter display. The set vehicle speed display will read “- – MPH (- – – km/h)”. When the (CRUISE) switch is pressed, the initial cruise control mode is always Adaptive Cruise Control. NOTE • When the main cruise control is off and the (CRUISE) switch is pressed, Adaptive Cruise Control is activated. • When the main cruise control is on, switching between Adaptive Cruise Control and Conventional Cruise Control is possible by pressing the / (Following distance setting) switch*. *: To switch to Conventional Cruise Control, press and hold the switch for approximately 2 seconds or longer. • Conventional Cruise Control can be used even when EyeSight is temporarily stopped. How to use Conventional Cruise Control H00067 H00270 Adaptive Cruise Control indicator (white) Following distance setting indicator Conventional Cruise Control 140 (2) Switch to Conventional Cruise Control. Press and hold the / (Following distance setting) switch for approximately 2 seconds or longer to switch from Adaptive Cruise Control to Conventional Cruise Control. A notification sounds 1 short beep. At this time, the following distance setting indicator on the EyeSight display area of the combination meter display turns off and (Conventional Cruise Control indicator) (white) is displayed. To set the ready status: Conventional Cruise Control can be activated when all of the following conditions are met and (READY indicator) is displayed on the EyeSight display area. – All doors (except the trunk) are closed. – The driver’s seatbelt is fastened. – The electronic parking brake is not engaged. The electronic parking brake indicator light is turned off. – The select lever is in the “D” or “M” position. – The brake pedal is not depressed. – The road is not on a steep slope. – The steering wheel has not been turned significantly in either direction. H00071 H00286 Conventional Cruise Control indicator (white) H00287 READY indicator Conventional Cruise Control 141 – The vehicle speed is between approximately 20 mph (30 km/h) and 90 mph (145 km/h). – The engine is not running at a high rpm. – Vehicle Dynamics Control or Traction Control Function is not active. – Vehicle Dynamics Control is in the Vehicle Dynamics Control mode or traction mode. (3) Control the accelerator pedal to reach the desired speed. (4) When the vehicle reaches the desired speed, press the RES/SET switch to the “RES/+” side or the “SET/-” side. The vehicle speed at the time when the switch is pressed will become the set vehicle speed, and constant speed driving will initiate. When Conventional Cruise Control is activated, (READY indicator) turns off, the set vehicle speed is displayed and (Conventional Cruise Control indicator) changes from white to green. H00068 H00288 Green Conventional Cruise Control 142 WARNING • The “Obstacle Detected” warning will not activate while Conventional Cruise Control is functioning. • When using Conventional Cruise Control, always set the speed according to the speed limit, traffic flow, road conditions, and other conditions. CAUTION During Conventional Cruise Control use, accelerator and brake control to follow the vehicle in front is not performed. Operate the accelerator and brake pedals as necessary. NOTE • On a downhill grade, automatic braking may operate in order to maintain the set vehicle speed. • When driving on a curve, the vehicle may not accelerate, or may decelerate, even if the set vehicle speed is higher than the current vehicle speed. • To return to Adaptive Cruise Control use, cancel Conventional Cruise Control and then briefly press the / (Following distance setting) switch. A notification will sound (1 short beep) when switching to Adaptive Cruise Control. Conventional Cruise Control 143 ■Increasing the set vehicle speed ●Using the RES/SET switch • Push to the “RES/+” side briefly. Every time the switch is pushed, the set vehicle speed will increase in increments of 1 mph (1 km/h). • Push to the “RES/+” side continuously. While the switch is being pushed, the set vehicle speed will increase in increments of 5 mph (5 km/h). When operating the switch, the set vehicle speed changes on the combination meter display. ● Using the accelerator pedal 1. Depress the accelerator pedal to increase vehicle speed. 2. When the desired speed is reached, press the RES/SET switch to the “SET/-” side. The speed at the time of pressing the switch will be set as the new set vehicle speed, and it appears on the EyeSight display area. H00069 H00070 Conventional Cruise Control 144 ■Decreasing the set vehicle speed ●Using the RES/SET switch • Push to the “SET/-” side briefly. Every time the switch is pushed, the set vehicle speed will decrease in decrements of 1 mph (1 km/h). • Push to the “SET/-” side continuously. While the switch is being pushed, the set vehicle speed will decrease in decrements of 5 mph (5 km/h). When operating the switch, the set vehicle speed changes on the combination meter display. ●Using the brake pedal 1. Depress the brake pedal to decrease the vehicle speed. Conventional Cruise Control will be canceled and (Conventional Cruise Control indicator) changes from green to white. 2. When the desired speed is reached, press the RES/SET switch to the “SET/-” side. The speed at the time of pressing the switch will be set as the new set vehicle speed, and it appears on the EyeSight display area. ■Accelerating temporarily Depress the accelerator pedal to accelerate temporarily. When the accelerator pedal is released, the vehicle returns to the set vehicle speed. H00070 Conventional Cruise Control 145 ■Decelerating temporarily Depress the brake pedal to decelerate temporarily. When the brake pedal is depressed, Conventional Cruise Control will be canceled. While the set vehicle speed remains displayed on the EyeSight display area, (Conventional Cruise Control indicator) changes from green to white. Release the brake pedal and press the RES/SET switch to the “RES/+” side to reset the set vehicle speed. ■Canceling Conventional Cruise Control ●Canceling by driver operation Any of the following operations will cancel Conventional Cruise Control. • Depress the brake pedal. (Conventional Cruise Control indicator) changes from green to white while the set vehicle speed remains displayed on the EyeSight display area. • Press the (CRUISE) switch. (Conventional Cruise Control indicator) changes from green to white while the set vehicle speed remains displayed on the EyeSight display area. H00288 White H00288 White H00067 Conventional Cruise Control 146 ●Automatic cancellation by the system In the following cases, a notification sounds 1 short beep and 1 long beep and the cruise control function is automatically canceled. (Conventional Cruise Control indicator) changes from green to white. Also, the Conventional Cruise Control cancellation message is displayed on the screen. After the conditions listed below have been resolved, perform the cruise control set operation again to reactivate cruise control. • The select lever is moved to a position other than “D” or “M”. – Conventional Cruise Control can be resumed after the select lever is returned to the “D” or “M” position. • Vehicle speed drops to approximately 16 mph (25 km/h) or less (due to a steep uphill grade or some other reason). • Vehicle speed increases to approximately 100 mph (160 km/h) or more. • Vehicle Dynamics Control or Traction Control Function is activated. • Any door (except the trunk) is opened. • The driver’s seatbelt is unfastened. • The electronic parking brake is engaged. • The EyeSight system has a malfunction. (EyeSight warning indicator: Yellow)  Page 152 • The steering wheel is turned significantly in either direction. • The grade of the road is steep. • The Pre-Collision secondary braking is activated. • The accelerator pedal was depressed continuously for a long time. • The Vehicle Dynamics Control OFF mode is selected. – Conventional Cruise Control can be resumed after Vehicle Dynamics Control has been switched to the Vehicle Dynamics Control mode or traction mode. • The engine speed increased to a high rpm. H00289 White Conventional Cruise Control 147 WARNING Do not use Conventional Cruise Control on slippery roads. Doing so may result in an accident. CAUTION When shifting the select lever to the “N” position, Conventional Cruise Control will be automatically canceled. Do not shift the lever to the “N” position unless in an emergency. Otherwise the engine brake may not operate, which could cause an accident. NOTE • If EyeSight is malfunctioning, (EyeSight warning indicator: Yellow) is displayed on the combination meter display. If this occurs, stop the vehicle in a safe location and then turn off the engine and restart it. If the indicator remains illuminated after restarting the engine, Conventional Cruise Control cannot be used. This will not interfere with ordinary driving. However, contact a SUBARU dealer and have the system inspected.  Page 152 • When operation of Conventional Cruise Control has been automatically canceled, perform the set operation again after the condition that caused the cancellation has been resolved. If cruise control cannot be activated even after the condition has been corrected, EyeSight may be malfunctioning. This will not interfere with ordinary driving. However, contact a SUBARU dealer and have the system inspected. Conventional Cruise Control 148 ■Restoring the previously set vehicle speed The previously set vehicle speed is stored in memory. To restore that vehicle speed, press the RES/SET switch to the “RES/+” side. (Conventional Cruise Control indicator) changes from white to green. You can restore the set vehicle speed when the previously set vehicle speed has been stored and the current vehicle speed is approximately 20 mph (30 km/h) or more. NOTE • The vehicle speed stored in memory is erased in the following circumstances: – The cruise control is turned off by pressing the (CRUISE) switch. – The cruise control mode was switched from Conventional Cruise Control to Adaptive Cruise Control. • The vehicle drives constantly and correspondingly to the set vehicle speed between 20 mph (30 km/h) and 90 mph (145 km/h). • If there is no vehicle speed stored in the memory (previous vehicle speed), the current vehicle speed is set when the RES/SET switch is pressed to the “RES/+” side.  Page 141 H00069 H00288 Green Conventional Cruise Control 149 ■Turning off Conventional Cruise Control When Conventional Cruise Control is not active, press the (CRUISE) switch. (Conventional Cruise Control indicator) turns off on the EyeSight display area. H00067 150 List of alert/notification sounds Alert/notification sound Status Reference page Single continuous beep Pre-Collision Braking System: Secondary Braking is active.  Page 44 Automatic Emergency Steering is active.  Page 49 1 short beep and 1 long beep Adaptive Cruise Control or Conventional Cruise Control is canceled automatically.  Pages 86 and 146 The stay-stopped function is canceled and the electronic parking brake is automatically applied.  Page 86 Lane Centering Function or Lane Departure Prevention Function is canceled automatically.  Pages 103 and 115 1 short beep and 1 long beep (repeated) Lane Centering Function is automatically canceled because no steering operations are detected for a long period of time.  Page 104 Repeated short beeps Pre-Collision Braking System: First Braking is active.  Page 44 Pre-Collision Braking System: The following distance warning is active. The “Obstacle Detected” warning from Adaptive Cruise Control is active.  Page 90 Pre-Collision Throttle Management is active.  Page 117 2 short beeps The system does not detect steering operation by the driver for a certain period of time when Lane Centering Function is operating.  Page 104 List of alert/notification sounds 151 *: The notification that indicates when a lead vehicle is detected or when it is no longer detected (Lead Vehicle Acquisition Sound), as well as Lead Vehicle Start Alert can be turned on or off.  Page 157 3 short beeps Lane Centering Function is active and the vehicle appears likely to depart the lane.  Page 105 Lane Departure Warning is active.  Page 125 Lane Sway Warning is active.  Page 130 1 short beep Either of the following occurs while Adaptive Cruise Control is activated. – A vehicle in front is detected*. – A vehicle in front is no longer detected*.  Page 74 The cruise control mode (Adaptive Cruise Control Conventional Cruise Control) is changed.  Pages 140 and 142 EyeSight is malfunctioning.  Page 152 EyeSight operation is temporarily stopped.  Page 154 5 intermittent beeps, 1 short beep and 1 long beep The stay-stopped function of Adaptive Cruise Control continues for 10 minutes and the electronic parking brake is automatically applied.  Page 83 Two-tone beep Lead Vehicle Start Alert is active*.  Page 134 Alert/notification sound Status Reference page 152 EyeSight malfunction and temporary stop If a malfunction is detected in the EyeSight system, the indicators in the instrument panel and the combination meter display inform the driver of the malfunction. Check the displayed contents and take the appropriate action. ■Malfunction (including position/angle misalignment of stereo camera) The alert sounds 1 short beep and (EyeSight warning indicator: Yellow) blinks or illuminates. A message will also be displayed on the combination meter display. Displayed screen Cause Action An EyeSight malfunction or position/angle misalignment of the stereo camera has occurred. Inspection and adjustment is necessary. Contact your SUBARU dealer. CAUTION If both (EyeSight warning indicator: Yellow) and the CHECK ENGINE warning light/malfunction indicator light illuminate at the same time while driving, have your vehicle checked/repaired by a SUBARU dealer as soon as possible. EyeSight cannot be used if there is an abnormality with the engine, etc. H00429 EyeSight Off Check Manual S03005 EyeSight malfunction and temporary stop 153 NOTE • If (EyeSight warning indicator: Yellow) is illuminating or blinking, stop the vehicle in a safe location, turn off the engine and then restart it. • If the indicator continues illuminating or blinking even after the engine has been restarted, the EyeSight system has a malfunction. In this case, all EyeSight functions will be stopped. Normal driving will still be possible. However, contact a SUBARU dealer for an inspection. • If (EyeSight warning indicator: Yellow) illuminates or blinks, the Reverse Automatic Braking (RAB) system will not operate (models equipped with Reverse Automatic Braking (RAB)). EyeSight malfunction and temporary stop 154 ■Temporary stop The alert will sound 1 short beep, and (EyeSight temporary stop indicator: White) will illuminate. A message will also be displayed on the combination meter display. When the cause has been resolved, temporary stop will be canceled and the EyeSight system will automatically restart. Displayed screen Cause Action It is difficult for the stereo camera to detect objects in front. • The windshield is dirty or fogged up. • Poor weather conditions • Strong light from the front • Clean the windshield. • In poor weather conditions or if there is strong light from the front, the EyeSight system will restart once you have driven your vehicle for a period of time and the conditions affecting the system have improved. If the system does not restart, even after the conditions have improved and a period of time has elapsed, contact your SUBARU dealer for an inspection. • If the inside of the windshield in front of the stereo camera is dirty, contact a SUBARU dealer to have the vehicle inspected. H00430 EyeSight Disabled No Camera View S02996 EyeSight malfunction and temporary stop 155 In low or high temperatures The system will restart once the temperature is within the operational range of the EyeSight system. If the system does not restart, even when the temperature inside the vehicle is within the operational range, contact your SUBARU dealer for an inspection. • The EyeSight system is starting up. • The system has determined that the vehicle is extremely inclined. • The Pre-Collision secondary braking has operated 3 times after the engine was started. • The electric power steering system is in the overheating prevention status because the steering wheel has been operated while the vehicle is at a standstill or driving at an extremely slow speed. The system will restart once the cause has been resolved. At this time, it may take some time for the system to restart. If the system does not restart, even after the conditions have improved and a period of time has elapsed, contact your SUBARU dealer for an inspection. NOTE • When (EyeSight temporary stop indicator: White) is illuminated, no EyeSight functions can be used except for Conventional Cruise Control. • When (EyeSight temporary stop indicator: White) is illuminated, the Reverse Automatic Braking (RAB) system may not operate (models equipped with Reverse Automatic Braking (RAB)). Displayed screen Cause Action EyeSight Disabled Temp Range S02997 EyeSight Disabled Check Manual S02998 156 Open Source Software information EyeSight contains Open Source Software (OSS). The license information and/or the source code of such OSS can be found at the following URL. https://oss.veoneer.com/subaru Changing settings 157 Changing settings ■11.6-inch display models (if equipped) Change the EyeSight system setting as follows: 1. Touch (HOME). 2. → (Settings) 3. → “Car” 4. Select the preferred menu. The setting adjustments to the following items can be manually changed to meet your personal requirements. (1) HOME icon (2) Settings icon (3) Car settings icon S03581 (2) (1) (3) Changing settings 158 *: if equipped Item Setting EyeSight Pre-Collision Braking Setting ON/Setting OFF Lane Departure Prevention Function All Functions/ Lane Departure Prevention Function Only/ Warning Buzzer Only/ OFF Cruise Control Acceleration Characteristics* Lv.1 (Eco)/ Lv.2 (Comfort)/ Lv.3 (Standard)/ Lv.4 (Dynamic) Lead Vehicle Acquisition Sound ON/OFF Lead Vehicle Moving Monitor ON/OFF Select Drive on Left/Drive on Right Right Lane/ Left Lane EyeSight Assist Monitor Red Indicator ON/OFF Yellow Indicator ON/OFF Green Indicator ON/OFF DRIVE MODE SELECT (EyeSight)* ― Lv.1 (Eco)/ Lv.2 (Comfort)/ Lv.3 (Standard)/ Lv.4 (Dynamic) Warning Volume ― Min/Mid/Max Changing settings 159 Touch (Car settings icon) to display the items that are changeable while driving. Change the EyeSight system setting as follows: 1. Touch (Car settings icon). 2. Select the preferred menu. *: if equipped Item Setting Vehicle Control Cruise Control Acceleration Characteristics/DRIVE MODE SELECT (EyeSight)* Lv.1 (Eco)/ Lv.2 (Comfort)/ Lv.3 (Standard)/ Lv.4 (Dynamic) Driving Assistance Pre-Collision Braking Setting ON/Setting OFF Lane Departure Prevention Function All Functions/ Lane Departure Prevention Function Only/ Warning Buzzer Only/ OFF Others Warning Volume Min/Mid/Max Changing settings 160 ■Dual 7.0-inch display models (if equipped) Change the EyeSight system setting as follows: 1. Press (HOME). 2. Touch the preferred icon. The setting adjustments to the following items can be manually changed to meet your personal requirements. (1) HOME button RADIO MEDIA PHONE APPS S03531 (1) Changing settings 161 Item Setting Car Settings EyeSight Pre-Collision Braking Setting ON/Setting OFF Lane Departure Prevention Function All Functions/ Lane Departure Prevention Function Only/ Warning Buzzer Only/ OFF Cruise Control Acceleration Characteristics Lv.1 (Eco)/ Lv.2 (Comfort)/ Lv.3 (Standard)/ Lv.4 (Dynamic) Lead Vehicle Acquisition Sound ON/OFF Lead Vehicle Moving Monitor ON/OFF Select Drive on Left/Drive on Right Right Lane/ Left Lane EyeSight Assist Monitor Red Indicator ON/OFF Yellow Indicator ON/OFF Green Indicator ON/OFF Warning Volume Min/Mid/Max Changing settings 162 Touch (Vehicle Control), (Driving Assistance) or (Others) to display the items that are changeable while driving. Change the EyeSight system setting as follows: 1. Touch (Vehicle Control), (Driving Assistance) or (Others). 2. Select the preferred menu. Item Setting Vehicle Control Cruise Control Acceleration Characteristics Lv.1 (Eco)/ Lv.2 (Comfort)/ Lv.3 (Standard)/ Lv.4 (Dynamic) Driving Assistance Pre-Collision Braking Setting ON/Setting OFF Lane Departure Prevention Function All Functions/ Lane Departure Prevention Function Only/ Warning Buzzer Only/ OFF Others Warning Volume Min/Mid/Max Changing settings 163 ■Items that can be set ●Pre-Collision Braking Pre-Collision Braking System and Pre-Collision Throttle Management can be activated (ON) or deactivated (OFF). ●Lane Departure Prevention Function Lane Departure Prevention Function and/or the warning buzzer (Lane Departure Warning and Lane Sway Warning) can be activated (ON) or deactivated (OFF). • All Functions: Activates both Lane Departure Prevention Function and the warning buzzer. • Lane Departure Prevention Function Only: Activates Lane Departure Prevention Function only. • Warning Buzzer Only: Activates the warning buzzer only. • OFF: Deactivates both Lane Departure Prevention Function and the warning buzzer. ●Cruise Control Acceleration Characteristics/DRIVE MODE SELECT (EyeSight) (if equipped) The Cruise Control Acceleration Characteristics of Adaptive Cruise Control and Conventional Cruise Control system can be set to one of four levels. • Lv.1 (Eco): Mode that focuses on driving with smooth movement and optimum fuel economy. • Lv.2 (Comfort): Mode that focuses on driving with smooth movement. • Lv.3 (Standard): Mode that focuses on quick response acceleration. • Lv.4 (Dynamic): Mode used when powerful acceleration is required. ●Lead Vehicle Acquisition Sound The Lead Vehicle Acquisition Sound setting can be activated (ON) or deactivated (OFF). ●Lead Vehicle Moving Monitor The Lead Vehicle Start Alert function setting can be activated (ON) or deactivated (OFF). ●Select Drive on Left/Drive on Right (Driving Lane Customize) It is possible to switch between driving on the left-hand side of the road and driving on the right-hand side. The Adaptive Cruise Control ( page 63) function is adapted to the set traffic lane direction. WARNING If the Driving Lane Customize setting does not match the flow of traffic, full EyeSight performance may not be available. Changing settings 164 ●EyeSight Assist Monitor The on/off operation assigned to each EyeSight Assist Monitor LED indicator can be set for color. ●Warning Volume The volume can be set to Max/Mid/Min. Display Condition Red indicators blink simultaneously (4 indicators) • The Following Distance Warning, Pre-Collision Braking System (first braking or secondary braking), Automatic Emergency Steering (if equipped), “Obstacle Detected” warning or Pre-Collision Throttle Management is operating. • Lane Centering Function was canceled when there was no operation of the steering wheel. Red indicator blinks (one side) Lane Centering Function is active and the vehicle appears likely to depart the lane. The side where the vehicle has left its lane blinks, and the side that has not left its lane illuminates. Yellow indicator blinks (one side) Lane Departure Warning is operating. The side where the vehicle has left its lane blinks, and the side that has not left its lane illuminates. Yellow indicators blink (alternately) Lane Sway Warning is operating. Yellow indicators blink simultaneously • Steering wheel operation is not detected for a certain period of time. • Lane Centering Function was canceled automatically by the system (blinking rapidly). • Lane Departure Prevention Function was canceled automatically by the system (blinking rapidly). Green indicator illuminates A vehicle is detected ahead while Adaptive Cruise Control is operating. Message screen list 165 Message screen list If an EyeSight warning or malfunction is detected, a message will be displayed on the combination meter display. Depending on the message, an alert/notification will sound at the same time. If a message is displayed, refer to the message list and take the appropriate action. While the mark is illuminated, you can pull the switch to display the message again. Normal display Message display Normal display H00290 mark H00401 Message screen list 166 ■Message screen list (precautions and notices) Item Displayed screen mark Reference page Pre-Collision Braking System None  Page 44 Automatic Emergency Steering None  Page 49 The “Obstacle Detected” warning None  Page 90 Pre-Collision Throttle Management None  Page 117 Apply Brake None  Page 47 Lane Departure Warning None  Page 125 Lane Sway Warning None  Page 130 Lead Vehicle Start Alert None  Page 134 Steering operation is not detected by Lane Centering Function or Lane Departure Prevention Function None  Pages 104 and 116 Obstacle Detected S02999 Apply Brake To Hold Position S03000 Lane Departure S03002 Stay Alert S03003 Vehicle Ahead Has Moved S03004 Keep Hands On Steering Wheel S03314 Message screen list 167 The steering wheel has not been operated for a long time when Lane Centering Function is on. (The steering wheel illuminates in red.) None  Pages 104 and Lane Centering Func- 105 tion is active and the vehicle is likely to depart the lane. (The steering wheel illuminates in red.) Lane Centering Function is automatically canceled because the steering wheel has not been operated for a long time. (The steering wheel illuminates in red.) None  Pages 104 and Lane Centering Func- 105 tion is canceled because the vehicle is likely to depart the lane when Lane Centering Function is active. (The steering wheel illuminates in red.) Adaptive Cruise Control/ Conventional Cruise Control automatic cancellation (when the grade of the road is very steep) None  Pages 86 and 146 Item Displayed screen mark Reference page Keep Hands On Steering Wheel S03315 Keep Hands On Steering Wheel S03564 S03722 Message screen list 168 Pre-Collision Braking System operation None  Page 47 EyeSight system automatic cancellation None  Page 86 None  Page 103 None  Page 115 None  Page 146 Item Displayed screen mark Reference page Pre-Collision Braking System Activated S03532 203196 OFF S03391 S03313 203198 Message screen list 169 ■Message screen list (malfunction, temporary stop) Item Displayed screen mark Reference page EyeSight system malfunction Yes (yellow)  Page 152 EyeSight system temporary stop Yes (white) Yes  Page 154 (white) Yes (white) EyeSight Off Check Manual S03005 EyeSight Disabled No Camera View S02996 EyeSight Disabled Temp Range S02997 EyeSight Disabled Check Manual S02998 170 Troubleshooting Adaptive Cruise Control cannot be activated. Did you remember to press the (CRUISE) switch? If you have not pressed the (CRUISE) switch, (Adaptive Cruise Control indicator) will not be shown. Is EyeSight operation temporarily stopped? When EyeSight is temporarily stopped, (EyeSight temporary stop indicator: White) is displayed on the combination meter display. Set Adaptive Cruise Control again after the cause for the temporary stop has been corrected. Is (READY indicator) displayed? Adaptive Cruise Control cannot be activated when (READY indicator) is not displayed. Set Adaptive Cruise Control when (READY indicator) is displayed. (READY indicator) is not displayed. Are the requirements for setting cruise control met? For the conditions of (READY indicator) illumination, refer to the following pages.  Page 72 (Adaptive Cruise Control)  Page 139 (Conventional Cruise Control) Troubleshooting 171 A vehicle (in front of your vehicle) is not detected, detection is delayed or detection is lost quickly. Is the vehicle in front stopped, moving slowly relative to your vehicle or moving extremely slowly? Detection of stopped vehicles, vehicle moving slowly relative to your vehicle, and vehicles moving extremely slowly may be difficult. Is the windshield dirty or fogged? If the outside of the windshield in front of the stereo camera is dirty, clean the windshield. If the area around the camera lenses is dirty or if it is constantly fogged, contact a SUBARU dealer to have the vehicle inspected. Is the vehicle in front far away? The maximum detection distance of EyeSight’s stereo camera is approximately 426 ft (130 m). Detection is not possible if the vehicle is farther away. Is the vehicle on a curve? The detection range is limited in the horizontal directions when the stereo camera is properly aimed. Is the vehicle on a road with repeated uphill and downhill grades (such as an overpass), or on a banked road? The detection range is limited in the vertical directions. Did the vehicle detected in front change? Detection may be delayed after the vehicle in front has changed. Have water, snow or other substances been kicked up by the vehicle in front as it drives? When water or snow have been kicked up, it may not be possible to detect the vehicle in front. Adaptive Cruise Control is activated even though there is no vehicle in front detected. Is there a vehicle in the neighboring lane? Depending on the road conditions, vehicles in neighboring lanes may be detected as well as a vehicle directly in front. Are you driving on or near a curve? When driving on a curve, braking control may be activated in response to guardrails, the angle of the steering wheel, or roadside structures. Troubleshooting 172 Lead Vehicle Start Alert activates, even though there is no vehicle in front. Depending on surrounding objects, traffic environment and weather, Lead Vehicle Start Alert may issue a warning in response to objects other than a vehicle that appears in front of your vehicle. EyeSight does not restart after a temporary stop. Is the Vehicle Dynamics Control OFF mode selected? (Vehicle Dynamics Control OFF indicator light) within the combination meter illuminates, and (Traction mode indicator light) turns off. When the Vehicle Dynamics Control OFF mode is selected, all of the functions of EyeSight are not available. Are you driving in the rain with poorly performing wipers or is there a smear on the windshield? Replace the wipers with new ones, or clean the smear off the windshield. Are you driving in poor weather conditions with heavy rain, snow, fog, or dust? In these cases, EyeSight may temporarily stop operating while visibility is very poor. Is your vehicle subject to sunlight from the front (sunset or sunrise, etc.) or to bright headlights from oncoming vehicles at nighttime? In these cases, EyeSight may temporarily stop operating. Are you parking in an extremely hot or cold condition? In either of these cases, EyeSight may temporarily stop operating until the temperature increases or decreases to a temperature at which the camera is operable. Is the windshield dirty or fogged? If the outside of the windshield in front of the stereo camera is dirty, clean the windshield. If the area around the camera lenses is dirty or if it is constantly fogged, contact a SUBARU dealer to have the vehicle inspected. Troubleshooting 173 The timing of the “Obstacle Detected” warning is sometimes earlier or sometimes later than what seems to be normal operation. The “Obstacle Detected” warning sounds when the system determines that more braking is necessary, based on conditions such as the distance from the vehicle in front and the difference in speed compared to it. As a result, timing may vary depending on how the brakes are applied in relation to the vehicle in front, and your relative speed to that vehicle. When the vehicle in front has turned off the roadway or the distance from the vehicle in front has increased, acceleration is sometimes slower or faster. Depending on the timing of when the detection of the vehicle in front is lost, EyeSight’s ability to react may be slower, causing the start of acceleration to feel delayed and braking time to feel longer than what seems to be normal operation. What acceleration level did you select for cruise control*? Acceleration may vary because the cruise control characteristics vary depending on the selected mode. *: Adaptive Cruise Control and Conventional Cruise Control Cruise control is canceled automatically. Did you perform one of the following operations?  Page 85 (Adaptive Cruise Control)  Page 145 (Conventional Cruise Control) Has the EyeSight system temporarily stopped while the Adaptive Cruise Control function was in use? The (Lane Centering) switch was pressed however Lane Centering Function does not activate. Is Adaptive Cruise Control activated? Lane Centering Function activates only when Adaptive Cruise Control is activated. Troubleshooting 174 / (Lane Centering indicator) does not illuminate even though the (Lane Centering) switch is pressed. Is Adaptive Cruise Control turned off? / (Lane Centering indicator) does not illuminate when Adaptive Cruise Control is turned off. Lane Centering Function and Lane Departure Prevention Function were unexpectedly canceled. Did you take your hands off the steering wheel? Did you just lightly put your hands on the steering wheel while driving? If the system does not detect the steering operation of the driver, it will temporarily cancel Lane Centering Function and Lane Departure Prevention Function. Did you turn a tight corner? Lane Centering Function and Lane Departure Prevention Function do not operate while turning a tight corner. Did you perform one of the following operations?  Page 103 (Lane Centering Function)  Page 115 (Lane Departure Prevention Function) Lane Centering Function and Lane Departure Prevention Function do not operate even though there are lane markers. Is the width of the road too narrow or too wide? To operate Lane Centering Function and Lane Departure Prevention Function, the width of the road should be between approximately 10 ft (3 m) and 15 ft (4.5 m). A lead vehicle is driving ahead of my vehicle and the lead vehicle indicator is illuminated, however Lane Centering Function does not activate. Is the width of the lead vehicle too narrow? Lane Centering Function does not activate when the lead vehicle is a motorcycle or another 2-wheeled vehicle, super-compact car, or other narrow vehicle. Is there a speed difference between the lead vehicle and your vehicle? Or is the lead vehicle not directly in front of your vehicle? Lane Centering Function may not activate in conditions such as when there is a speed difference between the lead vehicle and your vehicle (the lead vehicle is pulling away), or when the lead vehicle is meandering or driving at the edge of the lane. Troubleshooting 175 When Lane Centering Function is active, the interruption screen “Keep Hands On Steering Wheel” appears on the combination meter display in spite of gripping the steering wheel. The system may not be detecting any steering operation even though you are gripping the steering wheel. Operate the steering wheel until the interruption screen disappears. If the system continues to not detect any operation, Lane Centering Function may be canceled. If the vehicle is likely to depart the lane when Lane Centering Function is active, “Keep Hands On Steering Wheel” will be displayed. If Lane Centering Function is canceled in this state, “OFF” will be displayed. ( page 105) A noise occurs when automatic braking control activates. This is the sound of the automatic braking control operating – there are some mechanical components to the system, and they do occasionally make audible sounds during automatic braking control. This does not indicate a malfunction. Braking control activates frequently when driving with Adaptive Cruise Control in heavy traffic. When Adaptive Cruise Control is activated, the EyeSight system performs control based on the movement of vehicles or objects in front. As a result, acceleration and deceleration may be more frequent while the system adjusts to vehicles or objects the camera system is detecting. If it is difficult to maintain a consistent following distance under certain conditions (such as in heavy traffic, poor weather or urban environments, etc.), do not use Adaptive Cruise Control. The electronic parking brake is applied automatically while the stay-stopped function is operating. The electronic parking brake will be applied in the following cases. • The stay-stopped function ( page 83) is continuously applied for approximately 10 minutes. • Automatic cancel conditions ( page 86) have been met. 176 MEMO

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