If the distance from the vehicle ahead decreases during dynamic radar cruise control system operation, it might not be possible for the vehicle to attain a sufficient amount of deceleration by restraining the engine output controlled by the ECM. In this instance, even if the driver is not depressing the brake pedal, the skid control ECU activates the brake actuator assembly and starts braking, in order to attain the target deceleration rate that is constantly calculated and requested by the driving support ECU assembly. As a result, the stop lights illuminate.
At the end of braking, the skid control ECU gradually decreases the braking force and ends it in order to decelerate smoothly.
If further deceleration is required, the system sounds a skid control buzzer assembly to alert the driver to apply the brakes.