lane assist SUBARU LEGACY 2016 6.G Driving Assist Manual

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.

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2
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5
6
7
8
EyeSight
About EyeSight .................................................................. 2
Pre-Collision Braking System........................................... 20
Adaptive Cruise Control ................................................... 32
Lane Keep Assist ............................................................. 54
Pre-Collision Throttle Management.................................. 62
Lane Departure Warning .................................................. 68
Lane Sway Warning ......................................................... 71
Lead Vehicle Start Alert ................................................... 74
Conventional Cruise Control ............................................ 75
List of buzzer sounds ....................................................... 85
EyeSight malfunction and temporary stop ....................... 86
Customizing functions ...................................................... 89
Message screen list ......................................................... 91
Troubleshooting ............................................................... 93

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. Making use of images created by stereo cameras specially designed by
SUBARU, EyeSight detects the vehicle in front, obstacles, traffic lanes and other items.
EyeSight
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 dis-
tance behind the vehicle in front of you, pay attention to your sur-
roundings and the driving conditions, 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 driv-
ing 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 con-
trol 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.
Refer to the following pages for each function:
xFor the Pre-Collision Braking System, refer to page 20.
xFor Adaptive Cruise Control, refer to page 32.
xFor Pre-Collision Throttle Management, refer to page 62.
xFor Conventional Cruise Control, refer to page 75.

About EyeSight
11
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 a vehicle or obstacle in front of the
driver’s vehicle. If the driver still does not take evasive action, the brakes are quickly applied
automatically just before the collision in order to reduce the collision damage or, if possible,
prevent the collision.
Ÿ Refer to page 20.
■Adaptive Cruise Control
This function maintains the set vehicle speed and when there is a vehicle in front in the
same traffic lane, it tracks the speed of the vehicle in front up to the maximum of the set
vehicle speed.
Ÿ Refer to page 32.
■Lane Keep Assist
This function supports control of drifting out of a lane by detecting lane markings (e.g., white
lines) on highways, etc. and assisting steering operation.
Ÿ Refer to page 54.
■Pre-Collision Throttle Management
This function reduces accidental forward movement caused by the selector lever being
placed in the wrong position or the accelerator pedal being accidently depressed, or
depressed too strongly.
Ÿ Refer to page 62.
■Lane Departure Warning
This function warns the driver when the vehicle is about to depart the traffic lane during driv-
ing.
Ÿ Refer to page 68.
■Lane Sway Warning
This system detects vehicle drifting caused by driver fatigue, failure to concentrate on the
road, inattention, strong crosswinds or other factors, and warns the driver.
Ÿ Refer to page 71.
EyeSight Functions

About EyeSight
13
Instrument panel display layout
(1) EyeSight display area (13) Lead vehicle indicator
(2) Adaptive Cruise Control indicator (14) The pop-up screen area
(3) Conventional Cruise Control indicator (15) EyeSight temporary stop indicator (White)
(4) READY indicator (16) EyeSight warning indicator (Yellow)
(5) OFF indicator (17) Electric parking brake indicator light
(6) SET indicator (18) Lane Departure Warning OFF indicator light
(7) HOLD indicator (19) Pre-Collision Braking System OFF indicator light
(8) Lane indicator (20) Vehicle Dynamics Control OFF indicator light
(9) Set vehicle speed display (21) Selector indicator/shift position indicator
(10) Your vehicle indicator (22) X-mode indicator
(11) Lane keep Assist indicator (23) Brake system warning light
(12) Following distance setting indicator
S02042
(21) (22) (23)
(18)(19) (20) (17)(14)
(12)
(11) (13) (1)
(2)
(3)
(4)
(5)
(6)
(7)(10)
(9) (8)(15) (16)
* Display units can be changed in Screen Settings. For details, refer to the Owner’s Manual for your vehicle.

About EyeSight
15
■Following distance setting indicator
Indicates the following distance setting that was set with the / (Following distance
setting) switch.
Ÿ Refer to page 45.
■Set vehicle speed display
Displays the set vehicle speed.
Ÿ Refer to pages 38 and 76.
■Your vehicle indicator
When the brake pedal is depressed or the brake control function is active, the brake light on
the indicator illuminates in red.
■Lane keep Assist indicator
xThis indicator illuminates when Lane Keep Assist is turned on by pressing the (Lane
Keep Assist) switch.
xWhile the Lane Keep Assist system is activated, if the vehicle travels across a lane
marker the indicator turns from white to green.
Ÿ Refer to pages 54 and 58.
■Selector indicator/shift position indicator
This indicator illuminates and shows which position the selector lever or the gear is in.
■Lane indicator
xWhen Lane Keep Assist is in the standby status or is operating, the lane indicator of the
detected lane will illuminate (left, right or both left and right).
xEither the left or right indicator blinks depending on which side your vehicle is drifting
towards when Lane Departure Warning operates.
xThe left and right indicators alternately blink when Lane Sway Warning operates.
Ÿ Refer to pages 68 and 71.
■EyeSight warning indicator (yellow)
xThis indicator illuminates or flashes when a malfunction occurs in the EyeSight system.
xWhen it is illuminated or flashing, none of the EyeSight functions can be used (including
Adaptive Cruise Control and the Pre-Collision Braking System, etc.).
Ÿ Refer to page 86.

About EyeSight
17
Switch layout
(1) (Lane Keep Assist) switch (6) switch
(2)
/(Following distance setting) switch(7) (Info)/SET switch
(3) RES/+ switch (8) switch
(4) SET/- switch (9) (Lane Departure Warning OFF) switch
(5) (CRUISE) switch (10) (Pre-Collision Braking System OFF) switch
S01984
(9)
(8) (6)(2)(3) (4)
(1)
(7) (10)
(5)

About EyeSight
18
■ (CRUISE) switch
xSwitches cruise control* on/off.
xWhen this switch is pressed “ ” or “ ” appears on the EyeSight display area in the
multi information display. This indicates that the main cruise control is turned on.
Ÿ Refer to pages 38 and 76.
xCan be used to cancel the cruise control.
Ÿ Refer to pages 48 and 81.
* Adaptive Cruise Control and Conventional Cruise Control
■RES/SET switch
●
SET/-
xCan be used to set cruise control*.
xCan be used to reduce the set vehicle speed (when cruise control* is currently set).
Ÿ Refer to pages 39 and 43 (for Adaptive Cruise Control).
Ÿ Refer to pages 78 and 80 (for Conventional Cruise Control).
●RES/+
xAfter cruise control* is canceled, this switch can be used to resume the cruise control
function at the vehicle speed that was previously set.
xCan be used to increase set vehicle speed (when cruise control
* is currently set).
Ÿ Refer to pages 42 and 51 (for Adaptive Cruise Control).
Ÿ Refer to pages 79 and 84 (for Conventional Cruise Control).
* Adaptive Cruise Control and Conventional Cruise Control
■/(Following distance setting) switch
xCan be used to switch the set following distance in 4 stages: (only when Adaptive Cruise
Control is on).
Ÿ Refer to page 45.
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.
■ (Lane Keep Assist) switch
Switches Lane Keep Assist on/off.
Ÿ Refer to page 43.

32
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. Through operation of the electronic parking brake,
the system uses the vehicle’s conventional braking system to stop your vehicle when the vehicle
in front is stopped. The vehicle is capable of being controlled at a speed between approximately 0
and 90 MPH (145 km/h). Please remember that you should not exceed posted speed limits.
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 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 action as neces-
sary.
xSet the set vehicle speed within a range that is appropriate to the road con-
ditions and surrounding environment.
xBefore using the system, perform a daily inspection and verify that there
are no malfunctions of the tires or brakes.
Ÿ Refer to the separate “Warranty and Maintenance Booklet”.
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.
*1
- The temporary spare tire is installed on any wheel.*1
- Tires that are worn or have large variations in wear conditions are installed.*1
- Tires other than those of the designated size are installed.*1
- Flat tires have been fixed temporarily with a tire repair kit.
- The suspension has been modified (including a genuine SUBARU sus-
pension that has been modified).
- Any object that disturbs the stereo cameras’ 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 illu-
minated and are difficult to detect.)
- The lights including headlights and fog lamps have been modified.
- Vehicle operation has become compromised due to an accident or malfunction.
- The brake system warning light is illuminated in red.
- A heavy cargo is loaded onto or inside the vehicle.
- The maximum number of occupants is exceeded.
- There is something wrong with the combination meter; such as when the
lights do not illuminate, the beeps do not sound, the display is different
from when it is normal, etc.
*2
*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: For details about the combination meter, refer to the Owner’s Manual
for your vehicle.

54
Lane Keep Assist
The stereo cameras detect lane markings
(including Botts' dots) of the lane and the sys-
tem 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 high-
ways.
WARNING
Lane Keep Assist is not an automatic driving system.
Do not overestimate the capabilities of Lane Keep Assist. It is not a sys-
tem to assist inattentive driving or meant to permit driving without hold-
ing 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 con-
ditions 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 Keep Assist.
Lane Keep Assist does not always operate under all situations. If you rely
only on the Lane Keep Assist 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.
xCheck that there are problems with the tires and brakes during a daily
inspection before using the system.
Ÿ Refer to “Warranty and Maintenance Booklet”.
xThe system may not operate properly under the following conditions. Do
not use Lane Keep Assist.
- The air pressure of tires is not to specification.
*1
- Tires that are worn or have large variations in wear conditions are
installed.*1
- Tires other than those of the designated size are installed.*1
- The wheel balance is abnormal (e.g., the balance weight is removed or
misaligned.)*1
- The wheel alignment is not adjusted within the specified value.*1
- Flat tires have been fixed temporarily with a tire repair kit.
- The suspension has been modified (including genuine SUBARU parts).
S02069
Lane
markings