2016 SUBARU LEGACY light

Adaptive Cruise Control
34
ŸContinued from previous page
- When 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 con-
trol impossible.
- When the stereo cameras’ field of view is obstructed (for example by a
canoe on the roof of the vehicle)
xThe stereo cameras 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, bicycles, pedestrians and animals, etc.
- When light is poor in the evening or early morning
- When driving at night or in a tunnel without the headlights on
- When driving at night or in a tunnel when there is a vehicle in front that
does not have its taillights on
- When affected by strong light from the front (sunlight or headlight high
beams, etc.)
- Vehicles in front that have
a rear aspect that is low,
small or irregular (the sys-
tem may recognize
another part of the vehicle
and will determine opera-
tion from that)
xAn empty truck or trailer
that has no cargo in the
cargo bed being affected
by wind
xVehicles that have cargo
protruding from their
back ends
xNon-standard shaped ve- hicles (vehicle transporters or vehicles with a
sidecar fitted, etc.)
xVehicles that are low
- Objects that are located close to the bumper of your vehicle
xWhen 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.
xBefore 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.
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Adaptive Cruise Control is available when the engine is turned on.
■Setting Adaptive Cruise Control
(1) Setting Adaptive Cruise Control to standby status
Press the (CRUISE) switch. At this time, “ ” (Adaptive Cruise Control), your vehi-
cle indicator and the “following distance setting” are displayed on the EyeSight display area
in the multi information display.
The set vehicle speed display will read “- - MPH”.
If the switch is pressed once more, the EyeSight display will turn off. It will also automatically
turn off when the engine is stopped.
To set ready status:
Adaptive Cruise Control can be set when all
of the following conditions are met and
is displayed on the EyeSight display area.
- All doors (except the rear gate/trunk) are
closed.
- The driver’s seatbelt is fastened.
- The electronic parking brake is not
engaged (The brake system warning light
is turned off.).
- The selector lever is in the position
and the paddle shift is not operated.
- The brake pedal is not depressed.
- EyeSight operation is not temporarily stopped.
Ÿ Refer to page 87.
- The road is not a steep slope.
- The steering wheel has not been turned significantly in either direction.
- X-mode is not turned on.
- The vehicle speed is between approximately 0 MPH (0 km/h) and 90 MPH (145 km/h).
How to use Adaptive Cruise Control
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xIf your vehicle no longer detects the vehicle
in front
The vehicle gradually accelerates back to
the set target vehicle speed and will drive at
that constant speed.
If a vehicle in front is detected while accel-
erating to the set target vehicle speed, vehi-
cle tracking will be started again.
CAUTION
If the driver operates the brake pedal during automatic braking, the pedal
may feel stiff; however, this is not a malfunction. By depressing the brake
pedal further you can apply more braking force. When the brake pedal is
released it will return to its original condition.
NOTE
xWhen the brakes are applied by Adaptive Cruise Control, the vehicle’s
brake lights will illuminate.
xEven 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
target vehicle speed.
xSome noises may be audible during automatic braking. This is caused by
the braking control and does not indicate a malfunction.
xTo temporarily accelerate quickly, use the accelerator pedal. After acceler-
ating, the vehicle will gradually return to the set target vehicle speed shown
in the gauge cluster.
xThere are cases where the vehicle in front has turned off the road while
your vehicle is still controlled by the automatic braking operation that has
activated due to the deceleration of the vehicle in front of yours. In those
cases, the brake will be automatically released gradually. Depress the
accelerator pedal if necessary.
xThe lead-vehicle tracking function has the following characteristics:
- If the lead vehicle’s brake lamp is detected, deceleration is started more
quickly than without detection.
- If the vehicle moves to the fast lane while travelling more than 37 MPH
(60 km/h), the system starts acceleration to the set vehicle speed more
quickly because it is linked with the turn signal.
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■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.
When your vehicle comes to stop after the vehicle in front has stopped, Adaptive Cruise
Control is paused and the stay-stopped function is engaged. on the EyeSight display
area is turned off and is displayed. At the same time, is turned back to white.
●Resuming Adaptive Cruise Control in stay-stopped status
▼Setting using the RES/SET switch
Press “SET/-” (Ÿ Refer to page 39 “(2) Setting Adaptive Cruise Control”.)
Press “RES/+” (
Ÿ Refer to page 51 “Returning to a vehicle speed that was previously
set”.)
▼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 target speed unless a lead vehicle is detected. If a lead vehi-
cle is detected, Adaptive Cruise Control will maintain the previous following distance set-
ting.
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
track 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.
NOTE
If the accelerator pedal is only slightly depressed, the stay-stopped function
may not be canceled, and the Adaptive Cruise Control may not be resumed.
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●Canceling the stay-stopped function
If any of the following operations is performed, the stay-stopped function will be canceled
and the Adaptive Cruise Control will be canceled at the same time.
xThe brake pedal is depressed.
xThe (CRUISE) switch is pressed.
xThe electronic parking brake switch is pressed to apply the Electronic Parking Brake.
●Setting Adaptive Cruise Control while the Electronic Parking Brake is applied
If the Electronic Parking Brake is applied, then before setting 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.
WARNING
xWhile the stay-stopped function is engaged, do not exit the vehicle.
xThe stay-stopped function is not a replacement for engaging the parking
brake.
When parking, always apply brakes manually to come to a full stop, then
set the electronic parking brake.
CAUTION
The stay-stopped function of cruise control will be canceled under the follow-
ing conditions:
xThe vehicle is in stay-stopped mode for approximately 2 minutes or more.
(A buzzer will sound 5 intermittent beeps and 1 long beep.)
xAny condition in which automatic cancellation is met. (A buzzer sounds 1
long beep.)
Ÿ Refer to page 49.
After the stay-stopped function has been canceled, the Electronic Parking
Brake will be automatically applied and the brake system warning 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 func-
tion is activated, the stay-stopped function of cruise control may be canceled,
and the Electronic Parking Brake may not work.

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●Automatic cancellation by the system
In the following cases, a buzzer will sound a
single long beep and Adaptive Cruise
Control is automatically canceled. ( is
displayed on the EyeSight display area.) If
the stay-stopped function is engaged, the
electronic parking brake will be automati-
cally engaged.
xConditions for automatic cancellation
- The grade of the road is very steep.
- ABS, Vehicle Dynamics Control or Traction Control Function is activated.
- The vehicle speed has exceeded approximately 100 MPH (160 km/h) while cruise con-
trol is set.
- The steering wheel was turned significantly in either direction.
- The transmission select lever is moved to a position other than .
xCruise control can be resumed after the transmission select lever is returned to the
position.
- A paddle shift switch is operated while driving when the transmission select lever is in
the position.
xCruise control can be resumed again after the shift indicator returns to .
- Any door (except the rear gate/trunk) is opened.
- The driver’s seatbelt is unfastened.
- The electronic parking brake is engaged manually. (When the brake system warning
light is illuminated or flashing.)
- The X-mode is turned on (the X-mode indicator light illuminates).
xCruise control can be resumed after the X-mode is turned off.
- EyeSight operation has temporarily stopped.
Ÿ Refer to page 87.
- EyeSight is malfunctioning.
Ÿ Refer to page 86.
- The Pre-Collision secondary braking has activated.
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WARNING
Do not use Adaptive Cruise Control on slippery roads. Doing so may result in
an accident.
CAUTION
When shifting the selector lever to the position, Adaptive Cruise Control
will be automatically canceled. Do not shift the lever to the position unless
it is an emergency. Otherwise the engine brake may not operate, which could
cause an accident.
NOTE
xIf EyeSight operation has temporarily stopped, the Pre-Collision Braking
System OFF indicator light and Lane Departure Warning OFF indicator
light illuminate, and the EyeSight temporary stop indicator is displayed on
the multi information display.
Ÿ Refer to page 87.
xIf EyeSight is malfunctioning, the EyeSight warning indicator is displayed
on the multi information display, and the Pre-Collision Braking System
OFF indicator light and Lane Departure Warning OFF indicator light will
also illuminate. If this occurs, stop the vehicle in a safe location and then
turn off the engine and restart it. If the indicators remain illuminated after
restarting the engine, Adaptive Cruise Control cannot be used. This will not
interfere with ordinary driving; however the system should be inspected by
a SUBARU dealer as soon as possible.
Ÿ Refer to page 86.
xWhen the operation of Adaptive Cruise Control has been automatically
canceled, perform the set cruise control operation again after the condition
that caused the cancellation has been corrected. If the cruise control func-
tion cannot be set even after the condition has been corrected, EyeSight
may be malfunctioning. This will not interfere with ordinary driving; how-
ever contact a SUBARU dealer and have the system inspected.
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■“Brake more” warning
The “brake more” warning is activated while Adaptive Cruise Control is tracking a lead vehi-
cle. This function warns the driver when it determines that the current level of deceleration
by automatic braking control is insufficient.
xWhen the ‘brake more’ function operates,
“Obstacle Detected” will be shown in the
pop-up screen area of the multi information
display, a lead vehicle indicator will flash,
and a buzzer will sound several short
beeps.
xWhen this function activates, depress the
brake pedal to decelerate and maintain a
correct following distance.
Other functions
WARNING
xIf the buzzer sounds frequently, do not use Adaptive Cruise Control.
xThe “brake more” warning will not activate in the following situations.
- The accelerator pedal is depressed.
- The brake pedal is depressed.
xEven when the following distance is short, the “brake more” warning may
not activate in the following situations.
- The difference in speed with the vehicle in front is small. (The two vehi-
cles are travelling 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.
- When there are repeated uphill and downhill grades
xThe “brake more” 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 intersec-
tion 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.
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Obstacle
Detected