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Emergency Stop operation

Operating conditions

Emergency Stop is ready to operate when both Smart Cruise Control and Lane Following Assist operate.

  • Emergency Stop uses the driver's distraction information detected by the in-cabin camera (if equipped).

  • Once Emergency Stop is ready to operate, the driver's focus on the road will be monitored continuously even if Forward Attention Warning is turned off. For more information, refer to the "Forward Attention Warning (FAW)" section in this chapter (if equipped).

  • Lane Following Assist cannot be turned on if the in-cabin camera (if equipped) is malfunctioning.

Prior warning

Emergency Stop determines that the driver is unresponsive if the hands-off warning or the driver's distraction detected by the in-cabin camera (if equipped) is continued. When the driver is determined to be unresponsive, a warning message appears on the instrument cluster, an audible warning sounds, and the steering wheel vibrates as a prior warning.

2C_ESPriorWarning

Deceleration and steering control

If the driver is still unresponsive despite the prior warning, Emergency Stop controls the steering wheel and brake pedal to stop the vehicle within the driving lane. It is also notified to the driver that Emergency Stop is operating with a warning message, a warning sound, the hazard warning flasher blinking, and vibration on the steering wheel.

2C_ActivatingEmergencyStop

The prior warning and Emergency Stop are deactivated if one of the following conditions is met:

  • The driver's gaze is detected to be focused on the road ahead by in-cabin camera (if equipped) and the driver controls the steering wheel.

  • Smart Cruise Control is temporarily disabled or turned off.

  • Lane Following Assist is turned off.

  • While Emergency Stop is operating, the vehicle distance setting of Smart Cruise Control is changed to Distance 4. The vehicle distance setting is set to the last distance setting after Emergency Stop is deactivated.

  • Emergency Stop is also ready to operate when both Navigation-based Smart Cruise Control and Lane Following Assist operate simultaneously or Highway Driving Assist operates.

  • For more information about Smart Cruise Control, Navigation-based Smart Cruise Control, Lane Following Assist, and Highway Driving Assist, refer to the "Smart Cruise Control (SCC)", "Navigation-Based Smart Cruise Control (NSCC)", "Lane Following Assist (LFA)", and "Highway Driving Assist (HDA)" sections in this chapter.

After stopping

After your vehicle has stopped, the following is performed:

  • Doors are unlocked.

  • SOS call is made. (if equipped)

  • EPB (Electronic Parking Brake) is applied.

Deactivating Emergency Stop

2C_DeactivatingEmergencyStop

If the function judges you have responded, Emergency Stop is deactivated when one of the following condition is met:

  • The driver focuses on the road ahead (if in-cabin camera equipped) and controls the steering wheel.

  • The driver strongly and continuously depresses the accelerator pedal.

  • The driver strongly depresses the brake pedal.

  • The driver presses the Lane Driving Assist button (p).

  • The driver presses the Driving Assist button (ĩ).

  • The driver presses the hazard warning flasher button after the vehicle has stopped.

  • The front door is opened.

  • The driver cancels the SOS call (if equipped).

The vehicle needs to be restarted to reactivate Lane Following Assist or Highway Driving Assist after the vehicle is stopped and Emergency Stop is deactivated.