Collision Mitigation Braking System (CMBS) Description - Overview
The CMBS can detect a possible collision and assists brake operation to reduce the impact on occupants and vehicle damage.

CMBS Operation Sequence:
1.
When a speed difference between your vehicle and the leading vehicle or pedestrian in front of your vehicle is greater than 3 mph (5 km/h) and the system detects a possible collision, the system issues a warning message on the multi information display (MID) and sets an alarm off.
2.
When your vehicle is getting close to the leading vehicle or pedestrian ahead of your vehicle, the system issues a warning message on the MID and sets an alarm off to give the warning to the driver that there is a possible collision (First step).
3.
When your vehicle gets even closer to the leading vehicle or pedestrian ahead of your vehicle and the system anticipates a collision, the CMBS applies light braking force while issuing the MID warning and setting an alarm off (Second step).
4.
When the system determines that a collision is inevitable, the CMBS applies strong brake force while issuing the MID warning and setting an alarm off (Third step).
The multipurpose camera unit records the number of operations from vehicle ON mode to OFF (LOCK) mode. When the limit for the number of operations is exceeded, “excessive CMBS operation” is judged and the CMBS function is disabled. The warning indicator comes on and DTCs are stored. The limit for the number of operations differs according to the CMBS operation conditions.
When the multipurpose camera is malfunctioning (including a temporary function stop), CMBS does not function.
Operation Conditions
 
Vehicle Ahead
Opposite Vehicle
Pedestrian
Conditions for the object
Passenger vehicles, subcompact, or large vehicle (The system may have difficulty recognizing two wheeled vehicles, like motorcycles, or other unusual body styles. The system will function as designed if the vehicles are detected.).
The system uses an analysis method using preprogrammed human figure patterns to detect pedestrians. (heights needs to be approximately 1.0?2.0 m (3.3?6.6 ft) for the system to recognize figures as pedestrians)
Pedestrians behind the vehicle, and persons crossing the road:
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In some cases, persons crossing the road may not be detected if they jump out onto the road or are running.
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The system may detect human-shaped signboards along the road as actual pedestrians depending on the shape and material.
System operation conditions
Operation vehicle speed
About 3 mph (5 km/h) or more
Between about 3 mph (5 km/h) and 62 mph (100 km/h).
Relative velocity
About 3 mph (5 km/h) or more
About 9 mph (15 km/h) or more
About 3 mph (5 km/h) or more
Environment conditions*1
There is sufficient visibility and light available for the multipurpose camera to recognize objects
In environments where millimeter wave transmission/reception is not blocked (Some weather conditions such as fog, snowfall may have impact on system operation)
*1: For more details on environmental conditions and objects that are hard to be recognized, please refer to the Owner's Manual.