Forward Collision-Avoidance Assist warning message and brake control
Collision Warning (1st warning)

The warning message appears on the LCD display with the warning alarms.
Additionally, some vehicle system intervention occurs by the engine management system to help decelerate the vehicle.
The Vehicle may slow down slightly.
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It will operate if the vehicle speed is greater than 8 km/h (5 mph) and less than or equal to 150 km/h (93 mph) on a forward vehicle. (Depending on the condition of the vehicle ahead and the environment surrounding it, the possible maximum operating speed may be reduced.)
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If you select "Warning Only" for Forward Collision-Avoidance Assist setting, Forward Collision-Avoidance Assist activates and produces only warning alarms in accordance with the collision risk levels. You should control the brakes directly because Forward Collision-Avoidance Assist does not control the brakes.
Emergency Braking (2nd warning)

The warning message appears on the LCD display with the warning alarms.
Additionally, some vehicle system intervention occurs by the engine management system to help decelerate the vehicle.
The brake control is maximized just before a collision, reducing impact when it strikes a forward vehicle.
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It will operate if the vehicle speed is greater than 8 km/h (5 mph) and less than or equal to 60 km/h (37 mph) on a forward vehicle. (Depending on the condition of the vehicle ahead and the environment surrounding it, the possible maximum operating speed may be reduced.)
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If you select "Warning Only" for Forward Collision-Avoidance Assist setting, Forward Collision-Avoidance Assist activates and produces only warning alarms in accordance with the collision risk levels. You should control the brakes directly because Forward Collision-Avoidance Assist does not control the brakes.