DYNAMIC RADAR CRUISE CONTROL SYSTEM DETAILS

FUNCTION OF MAIN COMPONENTS

The main components in the dynamic radar cruise control system have the following functions:

Component		Function
Millimeter Wave Radar Sensor Assembly		Radiates millimeter radar waves forward, uses the reflected waves to detect the presence of a vehicle being driven ahead, the vehicle-to-vehicle distance and the relative speed, and then transmits this information to the driving support ECU assembly.
Cruise Control Main Switch	ON-OFF Button	Turns the cruise control system on and off.
	MODE Switch	Switches between the constant speed control mode and vehicle-to-vehicle distance control mode.
	CANCEL Switch	A cancel signal can be output to the driving support ECU assembly through the operation of this switch.
	+RES Switch	The acceleration function and resumption of a preset speed can be performed by operating this switch. A signal is output to the driving support ECU assembly when this switch is operated.
	-SET Switch	The deceleration function and vehicle speed setting resume signals are output to the driving support ECU assembly due to operation of this switch.
Distance Control Switch		While the system is in the vehicle-to-vehicle distance control mode, the driver can operate the distance control switch to select the vehicle-to-vehicle distance in 3 stages: long, middle and short.
Driving Support ECU Assembly		Calculates the acceleration or deceleration required to achieve the target vehicle speed/target vehicle-to-vehicle distance based on signals from switches, sensors and ECUs and transmits motive force request signal to the power management control ECU (to accelerate the vehicle in accordance with the motive force request) and skid control ECU assembly (to decelerate the vehicle in accordance with the motive force request). Determines the presence of a preceding vehicle based on information from the millimeter wave radar sensor assembly. Transmits control status display request signals, warning display request signals and diagnosis signals for the dynamic radar cruise control system.
Power Management Control ECU		Increases and decreases the motive force in accordance with the motive force request signals transmitted by the driving support ECU assembly. Transmits the information about the motive force that is actually generated and that can be generated to the driving support ECU assembly.
Inverter with Converter Assembly - Motor Generator ECU		Controls the motive force of MG2 in accordance with the signals from the power management control ECU.
ECM		Actuates the throttle control motor in accordance with the signals from the power management control ECU.
Skid Control ECU Assembly		While the system is operating in vehicle-to-vehicle distance control mode, the skid control ECU assembly performs brake control in accordance with request signals from the driving support ECU assembly. Transmits signals such as wheel speed and estimated vehicle acceleration to the driving support ECU assembly. Keeps the vehicle stopped through the brake hold function upon receiving a stop retention signal from the driving support ECU assembly.*
Combination Meter Assembly	Cruise Control Main Indicator Light	Comes on when constant speed control mode is entered. Turns off if a malfunction occurs during constant speed control mode control.
	Radar Cruise Control Indicator Light	Comes on when the cruise control main switch ON-OFF button is pressed to start the cruise control system. Turns off if a malfunction occurs during vehicle-to-vehicle distance control mode control.
	Cruise Control SET Indicator Light	Illuminates when the vehicle speed is set during cruise control driving.
	Master Warning Light	Illuminates when there is a malfunction in the system.
	Multi Buzzer	When the driving support ECU assembly detects automatic cancel or warning signals while the vehicle is operating under cruise control system, this buzzer sounds to inform the driver.
	Multi-information Display	During dynamic radar cruise control system operation, the multi-information display receives signals from the driving support ECU assembly in order to display the system conditions.
Combination Meter Mirror ECU		During vehicle approach warning operation, the head up display receives signals from the combination meter assembly in order to display the warning conditions.
Throttle Control Motor		Adjusts the throttle valve opening angle in accordance with signals from the ECM.
Brake Actuator Assembly		Actuates the brakes in accordance with the signals from the skid control ECU assembly.
Integration Relay		Illuminates the stop light in accordance with the stop light illumination request signal from the skid control ECU assembly.
Skid Control Buzzer Assembly		Sounds on receiving a signal from the skid control ECU assembly and alerts the driver that the distance between the vehicles is short.
Speed Sensor		Detects the wheel speed of each of the 4 wheels.
Accelerator Pedal Sensor Assembly		Detects the accelerator pedal depression degree and outputs it to the power management control ECU.
Shift Lever Position Sensor		Detects the shift position and transmits signals to the power management control ECU.
Steering Sensor		Detects the angle and direction of steering and transmits signals to the driving support ECU assembly.
Yawrate Sensor		Detects the yaw rate of the vehicle and transmits signals to the driving support ECU assembly.
Stop Light Switch Assembly		Detects the pressing of the brake pedal and transmits its signal to the driving support ECU assembly and skid control ECU assembly.

*: Models with full-speed following function

FUNCTION

Control of Dynamic Radar Cruise Control System Varies Depending on Mode

A: Constant speed control mode
B: Vehicle-to-vehicle distance control mode
C: Vehicle-to-vehicle distance control mode (models with full-speed following function)

Function	Outline	Mode
Function	Outline	A	B	C
Constant Speed Control	Controls the motive force through the power management control ECU and the skid control ECU assembly, and adjusts the vehicle speed to the set vehicle speed.	○	○	○
Deceleration Control	Performs engine, MG2 and brake control in order to decelerate the vehicle so that the vehicle-to-vehicle distance between the driver's own vehicle and the vehicle ahead equals the set speed.	-	○	○
Follow-up Control	After effecting deceleration control, the vehicle follows the vehicle ahead in order to maintain the proper vehicle-to-vehicle distance in accordance with the vehicle speed.	-	○	○
Acceleration Control	Accelerates the vehicle in order to attain the set vehicle speed when the vehicle or the vehicle ahead has changed lanes.	-	○	○
Stop Control	Detects if the vehicle ahead has stopped, performs motive force control and stops the vehicle while maintaining proper vehicle-to-vehicle distance.	-	-	○
Stop Retention Control	Judges if the vehicle is stopped, performs brake control and keeps the vehicle stopped through the brake hold function.	-	-	○
Start Control	Detects that the vehicle ahead starts moving again, displays the message on the multi-information display to urge the driver to perform the start-off operation (to operate the cruise control main switch or depress the accelerator pedal), and resumes follow-up control after the vehicle is started.	-	-	○
Set Control	While this system fulfils the following condition and the cruise control main switch is pressed to the -SET direction and released when the ON-OFF button on the cruise control main switch has been pressed to turn the system on, the driving support ECU assembly stores the vehicle speed and maintains the vehicle constantly at that speed. The shift lever is in D.	○	○	○
	The vehicle is running within the following speed range: Approx. 50 km/h to 200 km/h (30 mph to 125 mph)	○	-	-
	The vehicle is running within the following speed range: Approx. 50 km/h to 170 km/h (30 mph to 105 mph)	-	○	○
Low Speed Limit Control	The low speed limit is the lowest speed that the dynamic radar cruise control system can be set at and the speed limit is designed to be approx. 40 km/h (25 mph). The cruise control system cannot be set below this speed. If the vehicle speed drops below this speed while the cruise control system is running, the cruise control system will be canceled automatically. However, the set speed is kept in the memory.	○	○	○
Coast Control	While the cruise control main switch is held to the -SET direction, the vehicle speed and the set speed change in accordance with the mode as follows:	○	○	○
	The vehicle decelerates constantly. The set speed changes to the speed at which the switch is released.	○	-	-
	The set speed decreases in increments of 5 km/h or 5 mph (for example: 57 → 55 → 50 km/h, 57 → 55 → 50 mph). The vehicle will remain at the speed that the vehicle is traveling at when the coast switch is released.	-	○	○
Tap-down Control	When the cruise control main switch is pushed momentarily (approx. 0.6 seconds or less) to the -SET direction, the vehicle speed and the set speed change as follows, in accordance with the mode:	○	○	○
	The vehicle will decelerate in increments of approx. 1.6 km/h (1mph) each time the switch is pressed. However, if the difference between the actual vehicle speed and the set speed is greater than 5 km/h (3 mph), the set speed will change to the speed at which the vehicle was being driven at the time the switch was operated.	○	-	-
	When the cruise control main switch is pushed momentarily (approx. 0.6 seconds or less) to the -SET direction, the vehicle will decelerate in increments of approx. 1 km/h or 1 mph each time the switch is pressed.	-	○	○
Accelerator Control	When the cruise control main switch is pushed to the +RES direction and held, the vehicle speed and the set speed change in accordance with the mode as follows:	○	○	○
	The vehicle will accelerate constantly. The set speed changes to the speed at which the switch is released.	○	-	-
	The set speed increases in increments of 5 km/h or 5 mph (for example: 52 → 55 → 60 km/h, 52 → 55 → 60 mph). The vehicle will accelerate to the speed that is set at the time the switch is released. However, only the set speed will change during follow-up control.	-	○	○
Tap-up Control	When the cruise control main switch is pushed momentarily (approx. 0.6 seconds or less) to the +RES direction, the vehicle speed and the set speed change as follows:	○	○	○
	The vehicle will accelerate in increments of approx. 1.6 km/h (1 mph) each time the switch is pressed. However, if the difference between the actual vehicle speed and the set speed is greater than 5 km/h (3 mph), the set speed does not change.	○	-	-
	The vehicle will accelerate in increments of approx. 1 km/h or 1 mph each time the switch is pressed.	-	○	○
Resume Control	When the vehicle speed is above the low speed limit, the cruise control system resumes operation (when the cruise control main switch is subsequently moved to the +RES side) to reach the vehicle speed that was set at the time the driver canceled cruise control system.	○	○	○
	Even if the vehicle speed drops below the low speed limit, resumption can be performed when the vehicle speed increases to above the low speed limit. (However, resumption can be performed even if the vehicle speed is below the low speed limit when the vehicle is running in mode B and there is a vehicle ahead.)	-	-	○
	When the vehicle ahead changes driving lanes during follow-up control, the vehicle speed is gradually increased to the set speed. At this time, the vehicle speed can be increased promptly by pushing the cruise control main switch to the +RES direction.	-	○	○
	After the vehicle ahead has started running again under stop retention control and then the message that urges the driver to perform the start-off operation has been displayed, follow-up control is resumed and the vehicle can be accelerated up to the set speed when the cruise control main switch is pushed to the + RES side.	-	-	○
Manual Cancel Control	When any of the following signals are sent to the driving support ECU assembly, the dynamic radar cruise control system is canceled accordingly: Stop light switch on signal (the brake pedal is depressed) D position off signal (the shift lever is moved from D to N) Signal to select the D1, D2 and D3 ranges in D position using paddle shift control Signal to select the S1, S2 and S3 ranges CANCEL switch on signal (the cruise control main switch is moved to the CANCEL direction) ON-OFF button off signal	○	○	○
Automatic Cancel Control	When an automatic cancel signal is sent to the driving support ECU assembly, the cruise control system operation is canceled. At this time, the warning method and the control resumption condition vary in accordance with the cancel signal.	○	○	○
Mode Switching Control	The following operations switch the modes: (a) ON-OFF button on the cruise control main switch is on (starts in the vehicle-to-vehicle distance control mode). (b) Cruise control main switch is held in the MODE direction (approx. 1 second or more). If the switch has been pushed in any other direction before switching modes, switch the dynamic radar cruise control system to off, and then perform steps (a) and (b) again.	○	○	○

Tech Tips

○: Available

-: Not available

Constant Speed Control
1. The driving support ECU assembly compares the actual vehicle speed (wheel speed signal from the skid control ECU assembly) with the set vehicle speed under constant speed control mode. When the actual vehicle speed differs from the set vehicle speed, the driving support ECU assembly calculates the acceleration or deceleration required to achieve the set vehicle speed and transmits acceleration or deceleration request signals to the power management control ECU, thus optimally controlling the motive force and adjusting the actual vehicle speed to the set vehicle speed.
2. In vehicle-to-vehicle distance control mode, the driving support ECU assembly performs deceleration control, follow-up control, acceleration control, stop control*, stop retention control* or start control* based on the information about the vehicle ahead transmitted from the millimeter wave radar sensor assembly.
  - *: Models with full-speed following function
Deceleration Control
1. The driving support ECU assembly calculates the target deceleration rate in accordance with signals from the millimeter wave radar sensor assembly, and transmits a deceleration request signal to the power management control ECU and the skid control ECU assembly. Upon receiving this signal, these ECUs control the motive force and decelerate the vehicle in order to cause the vehicle to decelerate.
2. This control is not performed in the presence of a parked vehicle or object, or below the settable vehicle speed range.
3. When the driving support ECU assembly determines that further deceleration is necessary, it transmits a brake request signal to the skid control ECU assembly. Upon receiving this signal, the skid control ECU assembly then activates the brake actuator assembly to apply the brakes.
4. At this time, if the deceleration rate is higher than a predetermined value, the skid control ECU assembly outputs a stop light illumination request signal to the integration relay, in order to inform anyone who might be following the vehicle.
5. If the vehicle is not decelerating adequately, the skid control ECU assembly sounds the skid control buzzer assembly based on the request signal from the driving support ECU assembly to urge the driver to depress the brake pedal.
6. If further deceleration is necessary, the skid control ECU assembly sounds the skid control buzzer assembly based on the request signal from the driving support ECU assembly to urge the driver to depress the brake pedal.
Follow-up Control
1. After performing deceleration control, the driving support ECU assembly transmits a acceleration or deceleration request signal to the power management control ECU and the skid control ECU assembly, so that the vehicle can follow the vehicle ahead while maintaining a proper vehicle-to-vehicle distance in accordance with the vehicle speed. Upon receiving this signal, these ECUs control the motive force in order to perform follow-up control.
2. 3 stages (long, middle and short) of vehicle-to-vehicle distance can be selected by operating the distance control switch.
Acceleration Control
1. When the driving support ECU assembly detects that either the vehicle ahead or own vehicle has changed lanes, a acceleration request signal is transmitted to the power management control ECU in order to attain the set vehicle speed. Upon receiving this signal, the power management control ECU controls the motive force of the engine and MG2 in order to perform acceleration control.
Stop Control (Models with Full-speed Following Function)
1. The driving support ECU assembly detects if the vehicle ahead stops through the signals from the millimeter wave radar sensor assembly and calculates the motive force required to stop the driver's own vehicle while maintaining an appropriate vehicle-to-vehicle distance. The ECU then transmits the motive force request signals to the power management control ECU and the skid control ECU assembly. Upon receiving this signal, these ECUs control the motive force and stop the vehicle.
2. At this time, if the deceleration rate is higher than a predetermined value, the skid control ECU assembly outputs a stop light illumination request signal to the integration relay, in order to inform anyone who might be following the vehicle.
3. The distance between the driver's own vehicle and the preceding vehicle when the vehicles are stopped is set to approximately 3 m to 5 m (approximately 10 ft. to 16 ft.) regardless of the vehicle-to-vehicle distance preset by using the distance control switch.
Stop Retention Control (Models with Full-speed Following Function)
1. After the vehicle has stopped under stop control, the driving support ECU assembly transmits a stop retention request signal to the skid control ECU assembly. Upon receiving this signal, the skid control ECU assembly activates the brake hold function and keeps the vehicle stopped.
Start Control (Models with full-speed following function)
1. When the driving support ECU assembly detects that the vehicle ahead starts moving again from the millimeter wave radar sensor assembly signals, it displays the messages "PRECEDING VEHICLE MOVEMENT" and "Operate cruise lever or accelerator pedal to resume" on the multi-information display to urge the driver to perform the start-off operation (to push the cruise control main switch to the +RES side or to depress the accelerator pedal).
2. On receiving the start-off operation signal generated by pushing the cruise control main switch to the +RES side or by depressing the accelerator pedal, the driving support ECU assembly transmits a motive force request signal to the power management control ECU. Upon receiving this signal, the power management control ECU controls the motive force of the engine and MG2, starts the vehicle and resumes follow-up control.

Automatic Cancel Control

When any of the conditions listed below occur while the vehicle is being driven using cruise control system, the cruise control system will be canceled. Then, the following warning items will appear for the driver.

Constant Speed Control Mode
Description of Malfunction	Warning
Description of Malfunction	Multi-information Display	Master Warning Light	Multi Buzzer	Cruise Control Main Indicator Light
If the conditions listed below occur, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction of the vehicle speed signal An open or short circuit in the stop light switch assembly The cruise control system is prohibited until the conditions are remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	Check Cruise Control System	Illuminates	Sounds Once	-
If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction in the hybrid system The cruise control system is prohibited until the condition is remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	-	-	-	-
If the condition listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. The vehicle speed drops more than 16 km/h (10 mph) below the set vehicle speed.	-	-	-	-
If the conditions listed below occur, the driving support ECU assembly cancels the cruise control system while retaining the set vehicle speed in its memory. The VSC system operates. The TRC system operates for a certain period of time. The VSC or TRC is off.	-	-	-	-
If the conditions listed below occur, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction of the cancel circuit Malfunction of the stop light switch assembly input signal circuit The cruise control system is prohibited until the power switch is turned on again.	Check Cruise Control System	Illuminates	Sounds Once	-

Vehicle-to-vehicle Distance Control Mode
Description of Malfunction	Warning
Description of Malfunction	Multi-information Display	Master Warning Light	Multi Buzzer	Cruise Control Main Indicator Light
If any of the conditions listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction of the vehicle speed signal An open or short circuit in the stop light switch assembly The cruise control system is prohibited until the condition is remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	Check Cruise Control System	Illuminates	Sounds Once	-
	Cruise Control not available Depress the brake pedal*1	Illuminates	Sounds Continuously*1	-
If the condition is listed below occurs, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction in the hybrid system The cruise control system is prohibited until the conditions are remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	-	-	-	-
If the conditions listed below occur, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction of the millimeter wave radar sensor assembly Displacement of the axis of the millimeter wave radar sensor assembly Malfunction in the dynamic radar cruise control system other than those given above. Malfunction of the brake hold function*2 The cruise control system is prohibited until the power switch is turned on again.	Check Cruise Control System	Illuminates	Sounds Once	-
	Cruise Control not available Depress the brake pedal*1	Illuminates	Sounds Continuously*1	-
If the condition listed below occurs, the driving support ECU assembly cancels the cruise control system while retaining the set vehicle speed in its memory. The millimeter wave radar sensor assembly is dirty. The cruise control system is prohibited until the condition is remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	Clean Radar Sensor	Illuminates	Sounds Once	-
	Cruise Control not available Depress the brake pedal*1	Illuminates	Sounds Continuously*1	-
If any of the conditions listed below occur, the driving support ECU assembly cancels the cruise control system while retaining the set vehicle speed in its memory. The wipers operate at high speed. The measurement becomes extremely unstable due to poor weather conditions. SNOW mode is selected by using the combination switch assembly (SNOW mode switch). The cruise control system is prohibited until the conditions are remedied or the cruise control system is turned off and back on again using the ON-OFF button on the cruise control main switch.	Cruise Control not available	Illuminates	Sounds Once	-
If the conditions listed below occur, the driving support ECU assembly cancels the cruise control system while retaining the set vehicle speed in its memory. The vehicle speed drops below the low speed limit (approx. 40 km/h [25 mph]). The VSC system operates. The TRC system operates for a certain period time. The VSC or TRC is off.*3	-	-	Sounds Twice	-
When there is a vehicle ahead, if the condition listed below occurs, the driving support ECU assembly cancels the cruise control system while retaining the set vehicle speed in its memory. The vehicle ahead moves away under follow-up control at approx. 40 km/h (25 mph) or less.*2	Cruise Control not available	-	Sounds 4 Times	-
	Cruise Control not available Depress the brake pedal*1	-	Sounds Continuously*1	-
If the conditions listed below occur, the driving support ECU assembly clears the set vehicle speed and cancels the cruise control system. Malfunction of the cancel circuit Malfunction of the stop light switch assembly input signal circuit The cruise control system is prohibited until the power switch is turned on again.	Check Cruise Control System	Illuminates	Sounds Once	-
	Cruise Control not available Depress the brake pedal*1	Illuminates	Sounds Continuously*1	-

Tech Tips

*1: During stop retention control (models with full-speed following function)

*2: Models with full-speed following function

*3: Multi buzzer does not sound.

CONSTRUCTION

Cruise Control Main Switch

The cruise control main switch consists of the ON-OFF button, +RES, MODE, -SET and CANCEL switches. The +RES, MODE, -SET and CANCEL switches are operated by moving the lever in the 4 directions indicated.

The cruise control main switch is an automatic reset (normally open) type that turns on only when the switch is being operated and turns off as soon as the driver releases the switch. Furthermore, the functions of the control switch are active only when the cruise control system has been turned on using the ON-OFF button on the cruise control main switch.

Text in Illustration
*1	Cruise Control Main Switch	-	-
*a	ON-OFF Button	*b	+RES Switch
*c	MODE Switch	*d	-SET Switch
*e	CANCEL Switch	-	-

Distance Control Switch

While the vehicle is being driven in vehicle-to-vehicle distance control mode, the vehicle-to-vehicle distance setting changes as follows each time the distance control switch is pressed; long → middle → short.

Text in Illustration

*1 Distance Control Switch - -
If the power switch is turned off and back to on (IG), the system will default to "long".

Text in Illustration
*1	Distance Control Switch	-	-

The vehicle-to-vehicle distance is set as follows:

Mode	Vehicle-to-vehicle Distance*
Long	Approx. 50 m (160 ft.)
Middle	Approx. 40 m (130 ft.)
Short	Approx. 30 m (100 ft.)

Tech Tips

*: While driving at a vehicle speed of 80 km/h (50 mph).

Millimeter Wave Radar Sensor Assembly

The millimeter wave radar sensor assembly consists of a millimeter wave radar circuit, signal processing circuit, and CPU.
The millimeter wave radar outputs waves when the vehicle speed is above 0 km/h (0 mph), and not when the vehicle speed is at 0 km/h (0 mph). The millimeter wave radar uses frequencies in the 76.5 GHz band.
The reception antennas receive the millimeter wave radar waves that have been reflected.

The signal processing circuit detects the distance, relative speed, and the direction of the object by generating millimeter wave radar waves and calculating the signals received by the reception antennas. Then, it transmits this information to the driving support ECU.

Text in Illustration
*1	Millimeter Wave Radar Sensor Assembly	-	-
*a	Detection Distance: Approx. 150 m (490 ft.)	*b	Horizontal Angle: Approx. 20°
*c	Vertical Angle: Approx. 8°	*d	Signal Processing Circuit
*e	Millimeter Wave Radar Circuit	-	-

The distance to the object, azimuth and relative speed are calculated from the information that is provided by the reflection millimeter wave radar as described below:

Item	Calculation Method
Distance	Calculated from the length of time that has elapsed from the time the waves of the millimeter wave radar have been emitted, until the waves reflected by the millimeter wave radar are received. The detection distance is approx. 150 m (490 ft.).
Azimuth	Calculated from the angle of the waves reflected by the millimeter wave radar that have been received. The detection angle has a horizontal angle of approx. 20° and a vertical angle of approx. 8°.
Relative Speed	Calculated by utilizing the changes (Doppler effect*) that occur in the frequencies of the reflected millimeter wave radar waves.

Tech Tips

*: The Doppler effect causes the observer to perceive the radio waves emitted by a moving object to be of higher frequencies as it approaches, and to be of lower frequencies as it recedes.

Tech Tips

An SST is used if radar axis adjustment is needed. For details, refer to the Repair Manual.

OPERATION

Combination Meter Assembly

The combination meter assembly provides a master warning light, cruise control main indicator light, radar cruise control indicator light, cruise SET indicator light, multi buzzer, and multi-information display to provide warnings and messages regarding the dynamic radar cruise control system.
The multi-information display displays the set vehicle speed, vehicle ahead mark, and warning message.

Examples are shown below for the illumination or display of each indicator light, warning light or multi-information display:

Constant Speed Control Mode
Condition	Multi-information Display	Cruise Control Main Indicator Light	Cruise Control SET Indicator Light	Master Warning Light	Multi Buzzer
Being Controlled		Illuminates	Illuminates	-	-
System Check		-	-	Illuminates	Sounds once

Vehicle-to-vehicle Distance Control Mode
Condition	Radar Cruise Control Indicator Light	Cruise Control SET Indicator Light	Master Warning Light	Multi Buzzer
Precaution Display*2 (Displayed for 6 sec. after ON-OFF button has been turned on.)	Illuminates	-	-	-
Set Standby	Illuminates	-	-	-
Under Constant Speed Control (No Vehicle Ahead)	Illuminates	Illuminates	-	-
Under Follow-up Control (Vehicle Ahead)	Illuminates	Illuminates	-	-
Under Brake Control (Vehicle Ahead)	Illuminates	Illuminates	-	-
Stop Retention Control*2	Illuminates	Illuminates	-	-
Start Control*2	Illuminates	Illuminates	-	-
Deceleration Control/Vehicle Approach Warning (Vehicle Ahead, Long)*3	Illuminates	Illuminates	-	Skid Control Buzzer Sounds Continuously
Millimeter Wave Radar Sensor is Dirty	-	-	Illuminates	Sounds Once
Poor Weather Conditions*4	-	-	Illuminates	Sounds Once
When any problem occurs during stop retention control.*2	-	-	Illuminates	Skid Control Buzzer Sounds Continuously
System Check	-	-	Illuminates	Sounds Once
Beam Axis Adjustment	-	-	-	-

Tech Tips

*1: When the lane-keeping assist system is operating, its indicator is also displayed. For details, refer to Lane-keeping Assist System.

*2: Models with full-speed following function

*3: Displayed on the headup display on models with the headup display as well.

*4: When the wipers operate at high speed or the SNOW mode is selected.