When a collision with a vehicle ahead is about to happen at a vehicle speed more than 15 km/h (9 mph) and the relative speed (the speed difference from the vehicle ahead) is more than 15 km/h (9 mph), the system provides warnings (audible and visual) and brake control.

When approaching a vehicle ahead and the distance to the vehicle ahead is very close, the system provides the collision warning (1st stage) by the MID indication and buzzer sound.

When the closing distance continues to decrease and there is a high risk of collision, the system applies light braking (2nd stage) with the 1st stage warning.

When the system judges that a collision is imminent, the system activates emergency brake control.