Mazda CX-9 (2019 year). Instruction - part 19



During headway control travel, the system accelerates and decelerates your vehicle in
conjunction with the speed of the vehicle ahead. However, if it is necessary to accelerate
for a lane change or if the vehicle ahead brakes suddenly causing you to close in on the
vehicle rapidly, accelerate using the accelerator pedal or decelerate using the brake
pedal depending on the conditions.



While the MRCC with Stop & Go function system is in use, it does not cancel even if the
selector lever is operated and any intended engine braking does not occur. If deceleration
is required, lower the set speed or depress the brake pedal.



The sound of the automatic brakes operating may be heard, however, it does not indicate
a problem.



The brake lights turn on while the MRCC with Stop & Go function automatic braking is
operating.

▼ Mazda Radar Cruise Control with Stop & Go function (MRCC with Stop & Go

function) Display Indication

The MRCC with Stop & Go function setting status and operation conditions are indicated
on the multi-information display and the active driving display.

Instrument cluster (Type A)

Multi-information Display

MRCC Distance 
between vehicle 
display

MRCC Set vehicle speed

Vehicle ahead display

Vehicle ahead display

MRCC Distance 
between vehicle 
display

MRCC Set 
vehicle speed

Active driving display

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Instrument cluster (Type B)

MRCC Distance 
between vehicle 
display

MRCC Set vehicle speed

Vehicle ahead display

Vehicle ahead display

MRCC Distance 
between vehicle 
display

MRCC Set 
vehicle speed

Active driving display

Multi-information display

If there is a problem with the MRCC with Stop & Go function system, a message is
displayed on the multi-information display. Check the center display to verify the problem
and then have your vehicle inspected by an Authorized Mazda Dealer.
Refer to Message Indicated on Display on page 7-43.

▼ Close Proximity Warning

If your vehicle rapidly closes in on the vehicle ahead because the vehicle ahead applies the
brakes suddenly while you are traveling in headway control, the warning sound activates
and the brake warning is indicated in the display. Always verify the safety of the
surrounding area and depress the brake pedal while keeping a safer distance from the
vehicle ahead. Additionally, keep a safer distance from the vehicles behind you.

NOTE
In the following cases, the warnings and brakes may not operate even if your vehicle starts
closing in on the vehicle ahead.



You are driving your vehicle at the same speed as the vehicle ahead.



Directly after the MRCC with Stop & Go function system has been set.



Directly after the accelerator pedal is released.



Another vehicle cuts into the driving lane.

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▼ Setting the System

The MRCC with Stop & Go function system operates when all of the following conditions
are met.



Vehicle speed is 0 km/h (0 mph) to 145 km/h (90 mph)



The MRCC with Stop & Go function is turned on.



The brake pedal is not depressed.



The parking brake is released (Electric Parking Brake (EPB) indicator light is turned off).



There is no problem with the DSC.



All the doors are closed.



The driver's seat belt is fastened.



The selector lever is in the drive (D) position or manual (M) position (manual mode).

NOTE



In the following cases, the MRCC with Stop & Go function system is canceled when the
vehicle is traveling at 30 km/h (19 mph) or less and “Mazda Radar Cruise Control
disabled under 30 km/h” is displayed in the multi-information display.



The Forward Sensing Camera (FSC) cannot detect target objects (There is problem
with the Forward Sensing Camera (FSC) or windshield is dirty).



There is a problem with the stop hold control function.



There is a problem with the Electric Parking Brake (EPB).



It may not be possible to set the MRCC with Stop & Go function system directly after
starting the engine, while the DSC operation is being checked.

Turning on the system

CANCEL switch

RES switch

OFF switch

switch

switch

MODE switch

SET- switch

SET+ switch

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When the MODE switch is pressed once, the MRCC with Stop & Go function system turns
on, and the MRCC with Stop & Go function main indication (white) turns on and the
vehicle speed and the distance between the vehicles while in headway control can be set.

In addition, the MRCC with Stop & Go function system display indication is displayed on
the multi-information display and the active driving display at the same time.

NOTE



If the ignition is switched off while the MRCC with Stop & Go function system is
operating, the system will be operable when the ignition is switched ON the next time.



The MRCC with Stop & Go function can switch to the cruise control function.
Refer to Cruise Control Function on page 4-144.

How to set the speed

1. Adjust the vehicle speed to the desired setting using the accelerator pedal.
2. Headway control begins when the SET  or SET  switch is pressed.

The set speed and the inter-vehicle distance display filled with white lines is displayed.
The MRCC with Stop & Go function main indication (white) switches to the MRCC
with Stop & Go function set indication (green) at the same time.

Travel status

Indication on multi-information display

Indication on active driving

display

Type A

Type B

During travel
at constant
speed

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Travel status

Indication on multi-information display

Indication on active driving

display

Type A

Type B

During travel
under head‐
way control

NOTE



If a vehicle ahead is detected while traveling at a constant speed, the vehicle-ahead
indication is displayed and headway control is performed. Additionally, when a vehicle
ahead is no longer detected, the vehicle-ahead indication turns off and the system
switches back to travel at constant speed.



The lowest possible speed which can be set on the MRCC with Stop & Go function system
is 30 km/h (19 mph).



Headway control is not possible if the vehicle ahead is driving faster than your vehicle's
set speed. Adjust the system to the desired vehicle speed using the accelerator pedal.

How to set the distance-between-vehicles during headway control

The distance-between-vehicles is set to a shorter distance by pressing the   switch. The
distance-between-vehicles is set to a longer distance by pressing the   switch. The
distance-between-vehicles can be set to 4 levels; Long, medium, short, and extremely short
distance.

Distance-between-vehi‐

cles guideline

(at 80 km/h (50 mph)

vehicle speed)

Indication on multi-information display

Indication on active driv‐

ing display

*1

Type A

Type B

Long (about 50 m (164
ft))

Medium (about 40 m
(131 ft))

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Distance-between-vehi‐

cles guideline

(at 80 km/h (50 mph)

vehicle speed)

Indication on multi-information display

Indication on active driv‐

ing display

*1

Type A

Type B

Short (about 30 m (98
ft))

Extremely short (about
25 m (82 ft))

*

1 Displays a pop-up image in the active driving display only when the driver operates the switch.

NOTE



The distance-between-vehicles differs depending on the vehicle speed, and the slower the
vehicle speed, the shorter the distance.



When the ignition is switched to ACC or OFF and then the engine is started again, the
system automatically sets the distance-between-vehicles to the previous setting.

How to change the set vehicle speed

To accelerate/decelerate using the SET
switch

When you press the SET  switch, the
vehicle accelerates and when you press the
SET  switch, it decelerates.

Short press

1 km/h (1 mph)

Long press

10 km/h (5 mph)

NOTE
For example, the set vehicle speed is
changed by pressing the SET switch four
times as follows:
The vehicle speed accelerates or
decelerates by 4 km/h (4 mph).

To increase speed using accelerator
pedal

Depress the accelerator pedal and press
and release the SET  switch or SET
switch at the desired speed. If the switch is
not operated, the system returns to the set
speed after you release your foot from the
accelerator pedal.

CAUTION

The warnings and brake control do not
operate while the accelerator pedal is
depressed.

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NOTE



The setting speed can be changed by
operating the SET  switch or SET
switch during stop hold control.



When accelerating using the SET
switch while in headway control, the set
vehicle speed can be adjusted but
acceleration is not possible. If there is
no longer a vehicle ahead, acceleration
continues until reaching the set vehicle
speed. For the set vehicle speed, check
the set vehicle speed indication in the
display.



When depressing the accelerator pedal,
the inter-vehicle distance indication in
the display changes to the white-line
indication.

Canceling the system

When the following operations are
performed, the MRCC with Stop & Go
function system is canceled, and the
MRCC with Stop & Go function set
indication (green) switches to the MRCC
with Stop & Go function main indication
(white) at the same time.



The OFF/CANCEL switch is pressed.



The brake pedal is depressed.



The parking brake is applied.



The selector lever is in the P (Park), N
(Neutral), or R (Reverse) position.



Any of the doors is opened.



The driver's seat belt is unfastened.

 

Under the following conditions, the
MRCC with Stop & Go function cancel
indication is displayed in the
multi-information display and a single
beep sound is heard.



The DSC has operated.



The Smart Brake Support (SBS) has
operated.



The Smart City Brake Support (SCBS)
or Advanced Smart City Brake Support
(Advanced SCBS) has operated.



When traveling on a downslope for a
long period of time.



There is a problem with the system.



The engine has stalled.



The parking brake is automatically
applied during stop hold control.



The radar sensor (front) cannot detect
target objects (during rain, fog, snow or
other inclement weather conditions, or
when the radiator grille is dirty).

Resuming control

If the MRCC with Stop & Go function
system is canceled, you can resume
control at the previously set speed by
pressing the RES switch and after all of
the operation conditions have been met.

NOTE
If the set speed is not indicated in the
display, the control does not resume even
if the RES switch is pressed.

Turning off the system

Press the OFF/CANCEL switch 2 times
while the MRCC with Stop & Go function
system is operating to switch off the
system.

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▼ Stop Hold Control

While in headway control using the MRCC with Stop & Go function system, your vehicle
will stop when a vehicle ahead stops. When the vehicle is stopped and the stop hold control
operates, the MRCC with Stop & Go function indicator light turns on.

NOTE



If the MRCC with Stop & Go function system is canceled during stop hold control, the
vehicle is held in its stopped position. The stop hold control can be canceled by
performing one the following actions.



Press the accelerator pedal and resume driving the vehicle.



While forcefully depressing the brake, switch the MRCC with Stop & Go function
system off.



The parking brake is automatically applied and the vehicle is held in its stopped position
when 10 minutes have elapsed since the stop hold control operated. At this time, the
MRCC with Stop & Go function system is canceled.



The brake lights turn on during stop hold control.

To resume driving

After the vehicle ahead starts moving while your vehicle is stopped under stop hold control,
press the RES switch or depress the accelerator pedal to cancel the stop hold control and
resume driving.

NOTE



When you resume driving by pressing the RES switch, your vehicle does not start moving
until the distance between your vehicle and the vehicle ahead lengthens to the specified
distance or farther.



If the MRCC with Stop & Go function is temporarily canceled during stop hold control,
you cannot resume driving by pressing the RES switch when there are no vehicles in front
of your vehicle. Depress the accelerator pedal and resume driving the vehicle.



If the vehicle ahead starts moving within 3 seconds after your vehicle is stopped by the
stop hold control, headway control will resume even if you do not resume driving your
vehicle, such as by depressing the accelerator pedal.

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Resume driving information

If you do not resume driving within a few seconds after the vehicle ahead starts moving, the
multi-information display vehicle-ahead indication flashes to urge the driver to resume
driving.

▼ Cruise Control Function

While this function is operating, the
headway control operation is canceled and
only the cruise control function operates.
The vehicle speed can be set more than
about 25 km/h (16 mph).
Use the cruise control function on
expressways and other highways which do
not require a lot of repeated acceleration
and deceleration.

WARNING

Do not use the cruise control function in
the following locations:
Otherwise, it could lead to an accident.

Roads with sharp curves and where

vehicle traffic is heavy and there is
insufficient space between vehicles.
(Driving under these conditions using the
cruise control function is not possible)

Steep down slopes (Set speed may be

exceeded because sufficient engine
braking cannot be applied)

Slippery roads such as ice or snow-bound

roads (Tires could spin causing you to
lose vehicle control)

Always drive carefully:
The warnings and brake control will not
operate after the headway control function
is canceled and the system is switched to
only the cruise control function. Depress
the brake pedal to decelerate according to
the surrounding conditions while keeping a
safer distance from the vehicle ahead and
always driving carefully.

Switching to cruise control function

When the MODE switch is pressed until
the system switches to the cruise main
indication (white) while the MRCC with
Stop & Go function system is turned on,
the system switches to the cruise control
function.
When the system switches to the cruise
control function, the indicator and
multi-information display notify the driver
as follows:



The MRCC with Stop & Go function set
indication (green) or the MRCC with
Stop & Go function main indication
(white) is turned off, and the cruise main
indication (white) is turned on.



A message is displayed in the
multi-information display.

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WARNING

Always turn off the cruise control function
when it is not in use:
Leaving the cruise control function turned
on when it is not in use is dangerous as it
could operate unexpectedly, resulting in an
accident.

How to set the speed

Adjust the system to the desired vehicle
speed using the accelerator pedal.
When the SET  or SET  switch is
pressed, the cruise set indication (green) is
turned on and headway control begins.

NOTE



The system may not be able to maintain
the set speed constantly depending on
driving conditions such as steep up or
down slopes.



The speed will continue increasing while
the SET  switch is pressed and held.
The speed will continue decreasing
while the SET  switch is pressed and
held.

How to increase the set speed

The set speed can be increased using the
following operations:

To increase speed using the SET
switch

Press and hold the SET  switch and
release the switch at the desired speed.
The set speed can be adjusted
incrementally (1 km/h (1 mph)
increments) by pressing the switch and
releasing it immediately. For example, if
the switch is pressed 4 times, the set speed
increases by about 4 km/h (4 mph).

To increase speed using accelerator
pedal

Depress the accelerator pedal and press the
SET  or SET  switch at the desired
speed.
If the switch is not operated, the system
returns to the set speed after you release
your foot from the accelerator pedal.

How to Decrease the Set Speed

Press the SET  switch continuously and
release the switch at the desired speed.
The set speed can be adjusted
incrementally (1 km/h (1 mph)
increments) by pressing the switch and
releasing it immediately. For example, if
the switch is pressed 4 times, the set
vehicle speed decreases by about 4 km/h
(4 mph).

Canceling the function

When the cruise control function is
canceled and the RES switch is pressed
while the vehicle speed is 25 km/h (16
mph) or faster, the speed returns to the
original set speed.

Canceling using OFF/CANCEL switch

When the OFF/CANCEL switch is
pressed once, the cruise control function is
cancelled.

Automatically cancel

The cruise control function is canceled
automatically in the following cases.



The brake pedal is depressed.



The parking brake is applied.



The selector lever is shifted to P or N
position.

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NOTE



If the vehicle speed decreases by about
15 km/h (9.4 mph) or more than the set
speed, the cruise control function may
be canceled.



When the vehicle speed is less than 21
km/h (13 mph), the cruise control
function is canceled. In this case, the
vehicle speed will not return to the
original set speed even if the vehicle is
accelerated to 25 km/h (16 mph) or
higher and the RES switch is pressed.
Reset the cruise control function.

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Lane-keep Assist System (LAS) & Lane Departure

Warning System (LDWS)

*

The LAS & LDWS alerts the driver that the vehicle may be deviating from its lane and it
provides steering assistance to help the driver stay within the vehicle lanes.
The Forward Sensing Camera (FSC) detects the white lines (yellow lines) of the vehicle
lane in which the vehicle is traveling and if the system determines that the vehicle may
deviate from its lane, it operates the electric power steering to assist the driver's steering
operation. The system also alerts the driver by activating a lane departure warning sound,
vibrating the steering wheel, and indicating an alert in the display. Use the system when you
drive the vehicle on roads with white (yellow) lines such as expressways and highways.
Refer to Forward Sensing Camera (FSC) on page 4-192.

Forward Sensing 
Camera (FSC)

WARNING

Do not rely completely on the LAS & LDWS:

The LAS & LDWS is not an automatic driving system. In addition, the system is not designed

to compensate for a driver's lack of caution, and over-reliance on the system could lead to
an accident.

The detection ability of the LAS & LDWS is limited. Always stay on course using the steering

wheel and drive with care.

Do not use the LAS & LDWS in the following cases:
The system may not operate adequately according to the actual driving conditions, resulting
in an accident.

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Driving on roads with tight curves.
Driving under bad weather conditions (rain, fog, and snow).
Slippery roads such as ice or snow-bound roads.
Roads with heavy traffic and insufficient distance between vehicles.
Roads with no white (yellow) lane lines.
Narrow roads resulting from road construction or lane closures.
The vehicle is driven on a temporary lane or section with a closed lane resulting from road

construction where there may be multiple white (yellow) lane lines or they are interrupted.

Vehicle is driven on roads other than expressways and highways.
The tire pressures are not adjusted to the specified pressure.
Tires of a different specified size are used, such as an emergency spare tire.

CAUTION

Heed the following cautions so that the LAS & LDWS can operate normally.

Do not modify the suspensions.
Always use wheels of the specified type and size for the front and rear wheels. Consult an

Authorized Mazda Dealer for tire replacement.

NOTE



When the turn signal lever is operated for a lane change, the LAS & LDWS is
automatically disabled. The LAS & LDWS becomes operational again when the turn
signal lever is returned and the system detects white (yellow) lane lines while the vehicle
is being driven normally within its vehicle lane.



If the steering wheel, accelerator pedal, or brake pedal is operated abruptly and the
vehicle moves close to a white (yellow) line, the system determines that the driver is
making a lane change and the LAS & LDWS operation is temporarily canceled. The LAS
& LDWS becomes operational again when the system detects white (yellow) lane lines
while the vehicle is being driven normally within its vehicle lane.



If the vehicle deviates from its lane repeatedly within a short period of time, the LAS &
LDWS may not operate.



When white (yellow) lane lines are not detected, the LAS & LDWS does not operate.



Under the following conditions, the LAS & LDWS may not be able to detect white (yellow)
lane lines correctly and it may not operate normally.



If an object placed on the dashboard is reflected in the windshield and picked up by the
camera.



Heavy luggage is loaded in the luggage compartment or on the rear seat and the
vehicle is tilted.



The tire pressures are not adjusted to the specified pressure.

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

Tires other than conventional tires are equipped.



Vehicle is driven on an intersection or junction, or on a forked road.



The white (yellow) lane lines are less visible because of dirt or fading/patchiness.



A vehicle in front of your vehicle is running near a white (yellow) lane line making it
less visible.



A white (yellow) lane line is less visible because of bad weather (rain, fog, or snow).



The vehicle is driven on a temporary lane or section with a closed lane resulting from
construction where there may be multiple white (yellow) lane lines or they are
interrupted.



A misleading line is picked up on the road such as a temporary line for construction, or
because of shade, lingering snow, or grooves filled with water.



The surrounding brightness suddenly changes such as when entering or exiting a
tunnel.



The illumination of the headlights is weakened because of dirt or the optical axis is
deviated.



The windshield is dirty or foggy.



The windshield, camera is fogged (water droplets).



Back-light is reflected off the road surface.



The road surface is wet and shiny after rain, or there are puddles on the road.



The shade of a guardrail parallel to a white (yellow) lane line is cast on the road.



The width of the driving lane is narrow or wide.



Driving on roads with tight curves.



The road is excessively uneven.



The vehicle is shaken after hitting a road bump.



There are 2 or more adjacent white (yellow) lane lines.



There are various road markings or lane markings of various shapes near an
intersection.

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▼ System Operation

Make sure that the LAS & LDWS OFF
switch indicator light is turned off. When
the LAS & LDWS OFF switch indicator
light is turned on, press the switch and
make sure that the switch indicator light
turns off.

Indicator light

The LAS & LDWS indication (gray) is
displayed in the multi-information display,
and the system goes on stand-by.

Instrument Cluster (Type A)

Instrument Cluster (Type B)

Drive the vehicle in the center of the
vehicle lane while the system is on
standby. When all of the following
conditions are met, the LAS & LDWS
indication (white) is displayed in the
multi-information display, and the system
becomes operational.

Instrument Cluster (Type A)

Instrument Cluster (Type B)



The engine is running.



The vehicle speed is about 60 km/h (37
mph) or faster.



The system detects white (yellow) lane
lines on both the right and left sides.



The driver is operating the steering
wheel.



The driving lane is neither narrow nor
wide.

 

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NOTE
The LAS & LDWS indication is gray when
the system detects only a white (yellow)
line on either the left or right, and the
indication changes to white when the
system detects white (yellow) lines on both
the left and right sides.

Detection only on 
either left or right

Detects on both 
left and right sides

(Gray)

(White)

The LAS & LDWS goes on stand-by
status in the following cases:



The system cannot detect white (yellow)
lane lines.



The vehicle speed is less than about 60
km/h (37 mph).



The ABS/TCS is operating.



The TCS is turned off.
(If the TCS is turned off while the
system is operational, a warning beep is
heard and the system goes on standby.)



The vehicle is making a sharp curve.



The brake pedal is depressed.



The steering wheel is operated abruptly.



The width of a lane is excessively
narrow or wide.

NOTE



The LAS & LDWS does not operate until
the system detects white (yellow) lane
lines on either the left or right.



When the system detects a white
(yellow) lane line on one side only, the
system will not operate the steering
wheel operation assist and the warning
for the lane line on the side that is not
being detected. The steering wheel
operation assist and the warning is only
for a lane deviation on the side that is
being detected.



If the driver takes his or her hands off
the steering wheel (not holding the
steering wheel), the warning sound is
activated and an alert is indicated in the
multi-information display or the active
driving display.
 

Active Driving Display

Multi-information Display

If the steering wheel is held lightly, or
depending on the road conditions, the
system may detect that you have
released the steering wheel (not holding
the steering wheel) even if you are
holding it, and display a message in the
multi-information display or the active
driving display.



The timing at which the lane departure
warning is activated and the steering
wheel operation assist is performed
varies.

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