SUBARU LEGACY 2017 6.G Driving Assist Manual

About EyeSight
18
■ (CRUISE) switch
xSwitches cruise control* on/off.
x When 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.
x Can 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/-
x Can be used to set cruise control*.
x Can 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.
x Can 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
x Can be used to switch the set following distance in 4 stages: (only when Adaptive Cruise
Control is on).
Ÿ Refer to page 45.
x When 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 58.

About EyeSight
19
■ switch/ switch
These are used in the following situations.
x When switching the screen displayed on the multi information display.
x When changing the Warning Volume settings, etc.
Ÿ Refer to page 89.
■ (Info)/SET switch
This is used in the following situations.
x When displaying the message that appeared in the warning screen area again.
Ÿ Refer to page 91.
x When changing the Warning Volume settings, etc.
Ÿ Refer to page 89.
■ (Pre-Collision Braking System OFF) switch
Press and hold this switch for approximately 2 seconds or longer to turn off the Pre-Collision
Braking System and Pre-Collision Throttle Management.
When these functions are off, the Pre-Collision Braking System OFF indicator light on the
instrument panel illuminates.
Press and hold the switch again to turn on the Pre-Collision Braking System and Pre-
Collision Throttle Management. This turns off the Pre-Collision Braking System OFF indica-
tor light.
Ÿ Refer to page 30.
■(Lane Departure Warning OFF) switch
Press and hold this switch for approximately 2 seconds or longer to turn off the Lane
Departure Warning and Lane Sway Warning functions.
When these functions are off, the Lane Departure Warning OFF indicator light on the instru-
ment panel illuminates.
Press and hold the switch again to turn on the Lane Departure Warning and Lane Sway
Warning functions. This turns off the Lane Departure Warning OFF indicator light.
Ÿ Refer to page 70.

20
Pre-Collision Braking System
When there is the risk of a rear-end collision with an obstacle in front, the EyeSight system
helps to minimize or prevent a collision by warning the driver. If the driver still does not take
evasive action to avoid a collision, the brakes can be automatically applied just before the
collision in order to reduce impact damage, or if possible, prevent the collision. If the driver
takes evasive action to avoid a collision, Pre-Collision Brake Assist will operate in order to
help the driver to prevent the collision.
This system can be effective not only with direct rear-end collisions, but also with offset
rear-end collisions. This function can be activated when the select lever is in the , or positions.
WARNING
xNever use the Pre-Collision Braking System and Pre-Collision Brake Assist to
stop your car or avoid a collision under ordinary conditions. These functions
cannot prevent collisions under all conditions. If the driver relies only on the
Pre-Collision Braking System for Brake operation, collisions may occur.
x When a warning is activated, pay attention to the front of the vehicle and its
surroundings, and operate the brake pedal and/or take other actions if nec-
essary.
x The EyeSight Pre-Collision Braking System is primarily designed to pre-
vent rear-end collisions with other vehicles when possible and to minimize
damage and injuries in the event of a collision. In addition to other vehi-
cles, things such as motorbikes, bicycles and pedestrians can also be
treated as obstacles. However, there may be cases when detection is not
possible depending on a variety of conditions
*2. For example, when a vehi-
cle is viewed from the side, oncoming vehicle, vehicles approaching in
reverse, small animals or children, or walls or doors are not likely to be
detected.
x The Pre-Collision Braking System will operate at the point when it deter-
mines that a collision cannot be avoided and is designed to apply strong
braking force just before a collision. The result of this varies depending on
a variety of conditions
*2. Because of this, performance of this function will
not always be the same.
x When the Pre-Collision Braking System is activated, it will continue to
operate even if the accelerator pedal is partially depressed. However, it will
be canceled if the accelerator pedal is deeply depressed.
x If the driver depresses the brake pedal or turns the steering wheel, the system
may determine that this constitutes evasive action by the driver, and the auto-
matic braking control may not activate in order to allow the driver full control.
x When the difference in speed with the obstacle in front is the following fig-
ure
*1 or more, it may not be possible to avoid a collision. Even if the speed
difference is the following figure*1 or less, in cases such as when another
vehicle cuts in front of you, or in other cases depending on visibility, the
condition of road surface and other factors
*2, the function may be unable to
stop the vehicle or may not activate. Pre-Collision Brake Assist also may
not activate depending on the conditions
*2 listed below.
*1:For vehicles: approximately 30 MPH (50 km/h),
For pedestrians: approximately 21 MPH (35 km/h)
*2:Conditions
- Distance to obstacle in front of you, speed difference, proximity condi-
tions, lateral displacement (the amount of offset)
DM
N

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.)
x A 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)
x When 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
x When driving at night or in a tunnel without the headlights on
x When driving at night or in a tunnel when there is a vehicle in front that
does not have its taillights on
x When approaching a motorcycle, bicycle or pedestrian at night
x When ambient light is poor in the evening or early morning
x When a vehicle, motorcycle, bicycle or pedestrian is outside the area
illuminated by the headlights
x When affected by strong light from the front (for example, sunlight at
dawn, sunset or headlight beams, etc.)
x When there is snow, frost, dirt or dust on the windshield or it is clouded
x When fluid has not been fully wiped off the windshield during or after
washer use
x When 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
22
ŸContinued from previous page
xWhen the stereo cameras’ field of view is obstructed (for example by a
canoe on the roof of the vehicle)
x When the rear aspect of
the vehicle in front is
low, small or irregular
(the system may recog-
nize another part of the
vehicle as its rear and
will determine operation
from that)
- When there is an empty truck or trailer
with no rear and/or
side panels on the
cargo bed
- With vehicles that have cargo protruding from their back ends
- With non-standard shaped vehicles (vehicle transporters or vehicles with a sidecar fitted, etc.)
- When the height of the vehicle is low, etc.
x When there is a wall, etc. in front of a stopped vehicle
x When there is another object near the vehicle
x When a vehicle, etc. has it’s side facing you.
x With vehicles that are backing up or with oncoming vehicles, etc.
x When the size and height of an obstacle is smaller than the limitations
of the stereo cameras’ recognition capability
- With small animals or children, etc.
- With pedestrians who are sitting or lying down
x When the detected
object is a fence or wall,
etc. with a uniform pat-
tern (a striped pattern or
brick pattern, etc.)
x When there is a wall or
door made of glass or a
mirror in front
x When the vehicle in front
suddenly swerves, accel-
erates, or decelerates.
x When a vehicle, motor-
cycle, bicycle or pedes-
trian suddenly cuts in
from the side or sud-
denly runs in front of you.
S02133
S00653

Pre-Collision Braking System
23
xWhen you suddenly change lanes and your vehicle is immediately
behind an obstacle
x When there is a vehicle, motorcycle, bicycle or pedestrian in a location
close to your vehicle’s bumper
x When 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 view.)
x When driving on sharp curves, steep uphill grades or steep downhill
grades
x When driving on a bumpy or unpaved road
x When there are changes in brightness, such as at a tunnel entrance or
exit
x Do not test Pre-Collision Braking System on its own. It may operate
improperly and cause an accident.
x The 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.*1
- Tires that are unevenly worn or tires with uneven wear patterns are installed.*1
- Tires that are the wrong 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
24
CAUTION
xIn the following situations, turn off the Pre-Collision Braking System. Other-
wise the Pre-Collision Braking System may activate unexpectedly.
- When the vehicle is being towed
- When loading the vehicle onto a carrier
- When a chassis dynamometer, free-rollers or similar equipment is used
- When a mechanic lifts up the vehicle, starts the engine and spins the wheels freely
- When passing hanging banners, flags or branches, or when thick/tall vege- tation is contacting the vehicle
- When using a drive-through car wash
x The Pre-Collision Braking System may activate in the following situations.
Therefore concentrate on safe driving.
- When passing through an automatic gate (opening and shutting)
- When driving close to the vehicle in front
- When driving in a location where the grade of the road changes rapidly
- When 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 or other sub-
stances to obscure the view
- When passing through clouds of steam or smoke, etc.
S00656
S01264

Pre-Collision Braking System
25
- When the exhaust gas emitted by the vehicle in front is clearly visible in coldweather, etc.
- When there is an obstacle on a curve or intersection
- When narrowly passing a vehicle or an object
- When stopping very close to a wall or a vehicle in front
x If there is cargo or installed
accessories, etc. that are pro-
truding over the edge of the
front bumper, the vehicle’s
length will increase and the
system may not be able to pre-
vent a collision.
x If the driver operates the brake pedal during automatic braking, the pedal may
feel stiff; however, this is normal. By depressing the brake pedal further you
can apply more braking force.
NOTE
Some unusual noises may be audible during automatic braking. This is
caused by the braking control and is normal.
S00652
S01973

Pre-Collision Braking System
26
■Detection of pedestrians
The EyeSight system can also detect
pedestrians. The EyeSight system detects
pedestrians from their size, shape and
movement. The system detects a pedestrian
when the contour of the head and shoulders
are clear.
WARNING
The EyeSight system’s Pre-Collision Braking function also treats pedestrians
as obstacles. However, depending on the conditions, there may be cases
when the system cannot detect a pedestrian. In the following conditions, the
possibility that the system may not be able to detect a pedestrian as an object
is particularly high.
x When pedestrians are walking in a group
x When a pedestrian is next to a wall or other obstacle
x When a pedestrian is using an umbrella
x When a pedestrian is wearing clothes that are a similar color to the sur-
rounding environment
x When a pedestrian is carrying bulky luggage
x When a pedestrian is bent over, crouching down or lying down
x When a pedestrian is in a dark location
x When a pedestrian suddenly crosses in front of you from the side or sud-
denly runs in front of you
Approx
3 1/3 ft -
6 2/3 ft
(1-2 m)
S00693

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 warning 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