2016 SUBARU FORESTER ESP

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. FUJI HEAVY INDUSTRIES LTD. 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.
FUJI HEAVY INDUSTRIES LTD., TOKYO, JAPAN
is a registered trademark of FUJI HEAVY INDUSTRIES LTD.
© Copyright 2015 FUJI HEAVY INDUSTRIES LTD.

2
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. EyeSight makes use of original stereo cameras designed by SUBARU. Two
CCD (Charge Coupled Device) cameras are used to process stereo images and identify the
vehicle in front, obstacles, traffic lanes and other items.
EyeSight
WARNING
Drivers are responsible for driving safely. 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 condi-
tions, operate the brake pedal and take other action as necessary 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 chance of accidents or damage and lessen the burden on the
driver.
When a warning is activated, pay attention to what is in front of you and
to your surroundings, operate the brake pedal and take other action as
necessary.
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.
There are limits to the EyeSight recognition performance and control per-
formance. Be sure to read the instructions concerning Adaptive Cruise
Control, the Pre-Collision Braking System, Pre-Collision Throttle
Management and Conventional Cruise Control before using them and be
sure to use them correctly. We are not liable for accidents or other prob-
lems resulting from failure to follow the instructions in this manual.
The EyeSight system in your vehicle is designed for use in countries in
which traffic operates on the right-hand side of the road. EyeSight for
LHD vehicles such as yours is not designed for use in countries in which
vehicles are driven on the left-hand side of the road.
xThe system may not operate correctly under the conditions listed below. When
these conditions occur, turn off the Pre-Collision Braking System. Also, do not
use Adaptive Cruise Control and Conventional Cruise Control.
- The tire pressure is not correct.*
- The temporary spare tire is installed on any wheel.*
- Tires that are worn or have large variations in wear conditions are installed.*
- Tires other than those of the designated size are installed.*
- An emergency repair is performed using the flat tire repair kit.
- The suspension has been modified.
- Tire chains are installed.
- The headlights are dirty or the optical axes are not aligned correctly. (Objects
are not correctly illuminated and are difficult to detect.)
- Vehicle operation has become compromised due to an accident or malfunc-
tion.
- The brake warning light is illuminated.
- The vehicle is tilted due to a heavy cargo load.
- The maximum number of occupants and/or the gross vehicle weight rating is
exceeded.
*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.
xThe system may not operate correctly when towing a trailer or another vehicle.
Do not use Adaptive Cruise Control in these situations.

About EyeSight
17
●Your own vehicle indicator
When the brake pedal is depressed or the brake control function is active, the brake light on
the indicator illuminates in red.
●Lead vehicle indicator
While the Adaptive Cruise Control is set to on, this indicator is displayed when a vehicle is
detected in front.
* Refer to page 30.
●Lead vehicle distance indicator
While the Adaptive Cruise Control is set to on, the distance to the vehicle in front is visually
displayed when following the vehicle in front.
NOTE
For Canada models, if an EyeSight warning or malfunction is detected, a
corresponding message will be displayed on the multi function display.
However for USA models, only a malfunction message will be displayed.
* Refer to page 81.

About EyeSight
19
●CANCEL switch
Cancels cruise control*.
*Adaptive Cruise Control and Conventional Cruise Control
* Refer to pages 37 and 71.
● (Following distance setting) switch
xCan be used to switch the set following distance in 3 stages: Far, Medium and Close (only
when Adaptive Cruise Control is set).
* Refer to page 36.
xWhen the (CRUISE) switch is on, press and hold this switch for approximately 2
seconds or longer to select Adaptive Cruise Control or Conventional Cruise Control.
●SI-DRIVE* switch
Selects the tracking characteristics linked with the SI-DRIVE (only when adaptive cruise
control is set).
*SI-DRIVE refers to SUBARU Intelligent Drive.
▼Turbo model
- S/I switch
xSwitches between I (Intelligent mode) and S (Sports mode) every time it’s pressed.
xWhile S# (Sports Sharp mode) is selected, press the switch to change to S (Sports
mode).
- S#/I switch
xPress the switch to change to S# (Sports Sharp mode).
xWhile S# (Sports Sharp mode) is selected, press the switch will change to I (Intelligent
mode).
▼Except for turbo model
- S switch
xPress this switch to change to S (Sports mode).
- I switch
xPress this switch to change to I (Intelligent mode).
●SI-DRIVE cooperative control
The characteristics of adaptive cruise control will vary depending on the SI-DRIVE mode
selection.
I (Intelligent mode) selected Tracks the vehicle in front speed with smooth motions.
S (Sports mode) selectedVehicle in front tracking performance is given priority,
resulting in tracking with frequent changes in speed.
S# (Sports Sharp mode)
selected The same vehicle in front tracking as S (Sports mode) is
performed. The S# (Sports Sharp) response is provided
when the driver operates the accelerator pedal.

Adaptive Cruise Control
21
Adaptive Cruise Control
Adaptive Cruise Control is a driving support system intended to allow more comfortable
driving on expressways, freeways and interstate highways. The vehicle in front in the same
traffic lane is detected by means of the stereo cameras, and your vehicle tracks the vehicle
in front (up to the maximum speed of the set vehicle speed) while automatically maintaining
a following distance that corresponds to the speed of the vehicle in front. Please remember
that you should not exceed posted speed limits. The vehicle is not equipped with a function
that helps maintain the vehicle’s standstill position without a driver’s operation.
Continued on next page Ÿ
WARNING
xThis system does not provide the driver with an automatic driving function
that handles all traffic conditions.
xDo 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 pre-
vent rear-end collisions.
Strive for safe driving at all times. Always maintain a safe following dis-
tance behind the vehicle in front of you, pay attention to your surroundings
and the driving conditions, and operate the brake pedal and take other
action as necessary.
xSet the set vehicle speed within a range that is appropriate to the road con-
ditions and surrounding environment.
xThe 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.*
- The temporary spare tire is installed on any wheel.*
- Tires that are worn or have large variations in wear conditions are
installed.*
- Tires other than those of the designated size are installed.*
- An emergency repair is performed using the flat tire repair kit.
- The suspension has been modified.
- Tire chains are installed.
- The headlights are dirty or the optical axes are not aligned correctly.
(Objects are not correctly illuminated and are difficult to detect.)
- Vehicle operation has become compromised due to an accident or mal-
function.
- The brake warning light is illuminated.
- The vehicle is tilted due to a heavy cargo load.
- The maximum number of occupants and/or the gross vehicle weight rat-
ing has been exceeded.
- When towing a trailer or another vehicle, etc.
*The wheels and tires have functions that are critically important. Be sure
to use the correct parts. For details, refer to the Owner’s Manual for your
vehicle.
xAdaptive 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.
- Roads with 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.

Pre-Collision Braking System
49
When there is an obstacle in the forward direction during driving, the system activates in the
following sequence in order to warn the driver, activate braking control, and active the brake
lights.
(1) Following Distance Warning:
When the system determines that there is a risk of collision, a buzzer sounds repeated short
beeps and the indicators on the meter display and the multi function display illuminate to
warn the driver.
The Following Distance Warning operates when Adaptive Cruise Control is not set.
When the driver depresses the brake pedal to decelerate and achieves a suitable following
distance, the warning is canceled.
(2) First Braking and Warning:
When the system determines that there is a high risk of collision with an obstacle in front, a
buzzer sounds repeated short beeps and the indicators on the meter display and the multi
function display illuminate to warn the driver, and braking control is activated. 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.
(3) Second Braking and Warning:
If the system then determines that the risk of collision is extremely high, the buzzer changes
to a continuous beeping sound and stronger braking control is activated. If, despite any eva-
sive action taken by the driver, the system subsequently determines that a collision is
unavoidable, braking control is continued.
When the vehicle stops, a buzzer sounds three short beeps and a single long beep. The
automatic braking function is cancelled approximately 2 seconds after the vehicle stops and
the vehicle starts creeping forward gradually.
Pre-Collision Braking System operation
& warningSecond braking
& warning First braking
Possible collision area Highly possible
collision areaExtremely highly possible
collision area
Obstacle
No brake controlCanada only
(For USA: on the
meter display)Short beeps
Repeated
short beeps
Strong
(Flash) Operating
systemMeter displayMulti function
display
Continuous
beep Moderate Strength of
Automatic Braking
Warning
buzzer type
Obstacle Detected
S00839
Following distance
warning
Following
distance
warning
First
braking &
warning
Second
braking &
warning

Customizing functions
80
●Warning volume setting
The warning volume can be set to
Max/Mid/Min.
When the RES/+ or SET/- switch is pressed,
the setting will change to the next and 3 short
beeps will sound in the volume corresponding
to the setting.
●Lead vehicle acquisition alert setting
The lead vehicle acquisition alert function
setting can be activated or deactivated.
When the RES/+ or SET/- switch is pressed,
the setting will change to the next. When the
setting is changed to be activated, a short
beep will sound. When the setting is changed
to be deactivated, no beeps will sound.
●Lead Vehicle Start Alert setting
The Lead Vehicle Start Alert function setting
can be activated or deactivated.
When the RES/+ or SET/- switch is pressed,
the setting will change to the next. When the
setting is changed to be activated, a two-tone
beep will sound. When the setting is changed
to be deactivated, this function is turned off
and no beeps will sound.
NOTE
Even when the engine is restarted after the ignition switch is placed in the
LOCK (OFF) position, the setting will be restored to the previous status
before the ignition switch is placed in the LOCK (OFF) position.
S00869
Setting
Max
Mid
MinDisplay
S00870
Setting
Activate
Deactivate
Display
S00871
Setting
Activate
Deactivate
Display

Troubleshooting
85
A vehicle (in front of your vehicle) is not detected, is detected later 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 windshield is dirty or fogged, it may not be possible to detect object or vehi-
cles. Clean off the dirt or fog from the windshield, and then try using the system
again.
Is the vehicle in front far away?
The maximum detection distance of EyeSight’s stereo cameras is approximately
265 ft (80 m). Detection is not possible if the vehicle is farther away.
Is the vehicle on a curve?
The detection range is limited in the left and right directions to approximately a 25-
degree arc from the vehicle centerline when the cameras are properly aimed.
Is the vehicle on a road with repeated uphill and downhill grades (such as an over-
pass), or on a banked road?
The detection range is limited in the up and down 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.
Control is activated even though no vehicle in front is 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 guard
rails, the angle of the steering wheel, or roadside structures.
The Lead Vehicle Start Alert activates, even though there is no vehicle in front.
Depending on surrounding objects, traffic environment and weather, the Lead
Vehicle Start Alert may issue a warning in response to objects other than a vehicle
that appear in front of your vehicle.