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

• 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 More Details, More Details, More Details, and More Details.

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

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

Emergency Stop determines that the driver is unresponsive if the hands-off warning 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 forewarning.

A: Drive carefully

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, and vibration on the steering wheel.

A: Take control of the vehicle immediately. Vehicle is stopping.

• 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.

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

• The driver controls the steering wheel.

• Smart Cruise Control is temporarily disabled or turned off.

• Lane Following Assist is turned off.

After the vehicle is stopped by ES, a warning message appears on the instrument cluster, an audible warning sounds, and the hazard warning flasher blinks.

After your vehicle has stopped, the following is performed:

• Doors are unlocked.

• SOS call is made. (if equipped)

• EPB (Electronic Parking Brake) is applied.

If the function judges you have responded, Emergency Stop is deactivated when one of the following conditions 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 ().

• The driver presses the Driving Assist button ().

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

• The front door is opened.

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.