lights SUBARU LEGACY 2016 6.G Driving Assist Manual

About EyeSight
3
The EyeSight system in your vehicle is designed for use in coun-
tries 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.
*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 vehi-
cle.
- 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 mal-
function.
- 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.

About EyeSight
5
- When passing through the entrance or exit of a tunnel
- When the rear aspect of the vehicle in front is low, small or irregular (for
example a low bed trailer, etc.)
- When there is a fence, a wall or a shutter, etc. with a uniform pattern (a
striped pattern, brick, etc.) or with no pattern in front
- When there is a wall or door made of glass or a mirror in front
- When driving at night or in a tunnel when there is a vehicle in front that
does not have its taillights on
- When passing a banner or flag, low branches on a tree or thick/tall vege-
tation
- On steep uphill or downhill grades
- When the stereo cameras are obstructed by a hand, etc. (If even one of
the cameras is obstructed, the system does not operate properly.)
- When it is completely dark and no objects are detected
- When the area around the vehicle has a uniform color (such as when
completely covered in snow, etc.)
- When the stereo camera lenses are dirty due to fingerprints, etc.
- When accurate detection is not possible due to reflections in the front
windshield
- When the stereo cameras have become misaligned due to a strong
impact
xUnder the conditions listed below, EyeSight may temporarily stop operat-
ing. If this occurs, EyeSight will resume operating when the conditions
improve.
- The temperature inside the vehicle is high, such as after the vehicle was
left in bright sunshine, or the temperature inside the vehicle is low, such
as after the vehicle was left in an extremely cold environment.
- Immediately after the engine starts
xWhen there is a malfunction in the EyeSight system, turn off the Pre-Colli-
sion Braking System (
Ÿ refer to page 30) and the Lane Departure Warning
(
Ÿ refer to page 70), and stop using the Adaptive Cruise Control and Con-
ventional Cruise Control. Contact a SUBARU dealer and have the system
inspected.
xWhen the Vehicle Dynamics Control warning light is illuminated, the Pre-
Collision Braking System may not operate properly. In this case, turn off
the Pre-Collision Braking System. Also, do not use the Adaptive Cruise
Control or Conventional Cruise Control.

About EyeSight
7
The stereo cameras are installed at the posi-
tions of the front map lights.
Continued on next pageŸ
Handling of the Stereo Cameras
CAUTION
xA function is included that will automatically detect that the fronts of the
stereo cameras are dirty. However it is not 100% effective.
Under certain conditions, this function may fail to detect that the fronts of
the stereo cameras have become dirty. In addition, this function may not
detect that there is snow or ice on the windshield close to the stereo cam-
eras. In such conditions, be sure to keep the windshield clean at all times
(indicated by ). Otherwise the system may not operate correctly.
When this function detects that the fronts of the stereo cameras are dirty,
no EyeSight functions are activated except for Conventional Cruise
Control.
xThe stereo camera is a precision component. Always observe the following
precautions especially when handling lenses.
- Never touch the stereo camera lenses, and do not attempt to wipe or
clean the lenses. Doing so could cause lens damage or contamination
and lead to improper system performance.
If you ever touch a lens for any reason, be sure to contact a SUBARU
dealer.
A
S01107
Stereo cameras

Pre-Collision Braking System
21
Continued on next pageŸ
- Vehicle conditions (amount of load, number of occupants, etc.)
- Road conditions (grade, slipperiness, shape, bumps, etc.)
- When visibility ahead is poor (rain, snow, fog or smoke, etc.)
- When the detected object is something other than a vehicle, motorcycle,
bicycle or pedestrian
xA domestic animal or other animal (a dog or deer, etc.)
xA guardrail, telephone pole, tree, fence or wall, etc.
- Even if the obstacle is a motorcycle, bicycle or pedestrian, depending on
the brightness of the surroundings as well as the relative movement, and
aspect or angle of the object, there may be cases when the system can-
not detect it.
- When the system determines that operation by the driver (based on
accelerator pedal operation, braking, steering wheel angle, etc.) is
intended as evasive action
- Vehicle maintenance status (brake systems, tire wear, tire pressure,
whether a temporary spare tire is being used, etc.)
- When towing a trailer or another vehicle, etc.
- When the brakes are cold due to outside temperature being low or just
after starting the engine.
- When the brakes are overheated on downhill grades (braking effective-
ness is reduced)
- When driving in rain or after washing the vehicle (the brakes are wet and
braking effectiveness is reduced)
- Recognition conditions of the stereo cameras
In particular, the function may be unable to stop the vehicle or may not
activate in the following cases.
xBad weather (for example heavy rain, a blizzard or thick fog)
xWhen visibility is poor due to sand, smoke or water vapor in the air or
when the vehicle in front or oncoming traffic causes water, snow, dirt,
dust or other substances to obscure the view through the windshield
xWhen driving at night or in a tunnel without the headlights on
xWhen driving at night or in a tunnel when there is a vehicle in front that
does not have its taillights on
xWhen approaching a motorcycle, bicycle or pedestrian at night
xWhen ambient light is poor in the evening or early morning
xWhen a vehicle, motorcycle, bicycle or pedestrian is outside the area
illuminated by the headlights
xWhen affected by strong light from the front (for example, sunlight at
dawn, sunset or headlight beams, etc.)
xWhen there is snow, frost, dirt or dust on the windshield or it is clouded
xWhen fluid has not been fully wiped off the windshield during or after
washer use
xWhen the target cannot be correctly recognized because the stereo
cameras’ view is obstructed by water droplets from rain or the window
washer, or by the wiper blades.

Pre-Collision Braking System
23
xWhen you suddenly change lanes and your vehicle is immediately
behind an obstacle
xWhen there is a vehicle, motorcycle, bicycle or pedestrian in a location
close to your vehicle’s bumper
xWhen the speed difference between your vehicle and an obstacle is 4
MPH (5 km/h) or less (As braking is performed once the obstacle is in
close proximity to your vehicle, depending on the shape and size of the
obstacle, there may be some cases when the obstacle is outside the
range of the cameras’ field of vision.)
xWhen driving on sharp curves, steep uphill grades or steep downhill
grades
xWhen driving on a bumpy or unpaved road
xWhen there are changes in brightness, such as at a tunnel entrance or
exit
xDo not test Pre-Collision Braking System on its own. It may operate
improperly and cause an accident.
xThe system may not operate correctly under the conditions listed below.
When these conditions occur, turn off the Pre-Collision Braking System.
- 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 vehi-
cle.
- 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 mal-
function.
- 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.

Pre-Collision Braking System
27
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.
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 multi information 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.
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 multi information display illu-
minate to warn the driver, and braking control is activated and the engine output, in some
situations, is also controlled. If the system determines that the amount of evasive action
(braking, steering, etc.) taken by the driver has reduced the risk of collision, braking activa-
tion is canceled.
Secondary 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 and the engine output control are continued.
Even after the vehicle has stopped, depress the brake pedal.

Until the brake pedal is depressed, a mes-
sage appears and stays in the pop-up screen
area of the multi information display for
approximately 2 minutes. A single continuous
beep sounds while the message is displayed.
Pre-Collision Braking System operation
S01124
Apply Brake
To Hold
Position

Pre-Collision Braking System
29
When the Pre-Collision Braking System is activated (when the system determines that there
is a high risk of collision with an obstacle in front), if the driver depresses the brake pedal,
the system determines that this is emergency braking and activates braking assist automat-
ically.xNeither first braking or secondary braking will operate in the following
cases.
- When your vehicle speed is approximately 1 MPH (1 km/h) or less
(When the selector lever is in the position and your vehicle speed is
approximately 2 MPH (4 km/h) or less) or 100 MPH (160 km/h) or more
- When Vehicle Dynamics Control is active
xIf the system detects the brake lights of the vehicle in front, your vehicle
will start decelerating earlier than if it does not.
xThere are some cases where the first braking is applied for a longer period
of time. One of the reasons for this is due to a large speed difference with
an obstacle in front. In those cases, stronger or weaker braking control
may be activated.
Pre-Collision Braking Assist operation
CAUTION
If the driver depresses the brake pedal manually while following distance
warning is activated, the Pre-Collision Braking Assist will not work. (The vehi-
cle decelerates with the normal braking force operated by the driver.)
NOTE
xPre-Collision Braking Assist function does not operate when the vehicle
speed is approximately 7 MPH (10 km/h) or less or 100 MPH (160 km/h) or
more.
xFor information about the braking assist function, refer to the Owner’s
Manual for your vehicle.
N

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.

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.
S02061

Adaptive Cruise Control
41
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.
S01981