2020 Mazda CX-9

Vehicle randomly displays "smart brake system malfunction," "forward smart city brake malfunction" and " front radar system malfunction." This has been going on for at least a year. I will be driving on a highway, trying to accelerate and these messages will pop up. I'm not able to accelerate when these messages pop up and I have to turn on my hazard lights and pull over to the side of the road. The only thing that clears these warnings are for me to completely shut down my car and restart it. Luckily I have been able to get over to the side of the road on the highway without an accident, but these warning lights pop up when it's sunny out and there is no reason for the car to act the way it does. I took my car to the dealer the first time it happened and paid several hundred dollars for them to tell me that they don't know why it happened. There are several forums posted online with people having the same issues. Online posts say to make sure the sensors are clean and that the malfunction can activate if it's too hot, rainy, snowing or foggy? In my experience, it has happened only when it has been sunny. When the system decides to malfunction, the car will not accelerate, and it could make it easier for the car to be hit by another car. It's like the car just shuts down.

On 10/12/2021 we were driving on and urban street when the vehicle infront of us signaled and initiated a right hand turn. At that point were we traveling approximately 20 mph, and we were driving with active cruise disengaged. When we were around 150 feet behind the vehicle taking a right when our CX-9 falsely engaged the emergency braking. Our car with our whole family in it locked up the brakes and stopped in 80 feet short of the car taking a right. The vehicle behind us only managed to stop 10 feet short of hitting us in the rear. It is in the 4 people in our vehicles opinion that this operation was both terrifying and dangerous to use and those following.