If you look at the information screen between the Tachometer and Speedometer, and you see the acronyms (DCA, LDP and BSI) displayed, then it means HAL is in control. Turn them off. See if that helps. I turned them on yesterday while in traffic (Hawthorne Blvd, Torrance, CA), and the vehicle began to break on it's own to maintain a "safe" following distance. It would also hesitate when turning at an intersection, in traffic. In short, it was keeping me from rear ending someone by not allowing me to get too close, but it won't keep someone from rear ending me!