It also allows the vehicle to engage braking assist, if there is a risk of a frontal collision and the driver suddenly applies the brakes. The speed difference to allow an automatic stop was raised to in 2013 with improved cameras. The adaptive cruise control was also upgraded in 2010 to allow automatic emergency braking in traffic, fully stopping the EyeSight vehicle when the car in front has come to a complete stop. In 2013, color was added to the cameras, allowing the system to recognize brake lights and red stoplights ahead. Subaru also added an active lane-keeping (keeping the vehicle in the middle of the lane, and applying steering force to keep the vehicle in the lane when unintentionally crossing lane markers) and throttle management (to prevent sudden unintended acceleration in forward and reverse) systems in 2013 with the improved cameras. EyeSight has been very popular, equipped on approximately 90% of all Legacy and Outbacks sold in Japan at the beginning of 2012, and the engineers responsible for its development won a prize from the Japanese government that year. , EyeSight is standard on the Ascent, Forester, Legacy, and Outback. It is also standard on all CVT equipped Crosstrek, Impreza, and WRX. It became standard on the automatic-equipped BRZ as of 2022. Toyota Toyota's system, branded "Toyota Safety Sense" or "Lexus Safety Sense", is a radar-based system that uses a forward-facing millimeter-wave radar. When the system determines that a frontal collision is unavoidable, it preemptively tightens the seat belts, removing any slack, and pre-charges the brakes using brake assist to give the driver maximum stopping power when the driver depresses the brake pedal. 2003 February: Toyota launched PCS in the redesigned Japanese domestic market Harrier. 2003 August: added an automatic partial pre-crash braking system to the Celsior. 2003 September: PCS made available in North America on the Lexus LS 430, becoming the first radar-guided forward-collision warning system offered in the US. 2004: In July 2004, the Crown Majesta radar PCS added a single digital camera to improve the accuracy of collision forecast and warning and control levels. 2006: Pre-collision system with Driver Monitoring System introduced in March 2006 on the Lexus GS 450h using a CCD camera on the steering column. This system monitors the driver's face to determine where the driver is looking. If the driver's head turns away from the road and a frontal obstacle is detected,