The speed control is also canceled when the brake pedal is depressed.
(When the vehicle has been stopped by system control, depressing the brake pedal does not cancel the setting.)
However, when a vehicle ahead is not detected, cruise control does not resume when the vehicle speed is approximately 25 mph (40 km/h) or less.

Approach warning (vehicle-to-vehicle distance control mode)
When your vehicle is too close to a vehicle ahead, and sufficient automatic deceleration via the cruise control is not possible, the display will flash and the buzzer will sound to alert the driver. An example of this would be if another driver cuts in front of you while you are following a vehicle.
Depress the brake pedal to ensure an appropriate vehicle-tovehicle distance.

■ Warnings may not occur when In the following instances, warnings may not occur even when the vehicle-to-vehicle distance is small.
Changing the vehicle-to-vehicle distance (vehicle-to-vehicle distance
control mode)
Selecting constant speed control modeToyota CH-R Service Manual > Blind Spot Monitor System: Blind Spot Monitor Master Module Beam Axis Inspection Incomplete (C1ABB)
DESCRIPTION
This DTC is stored when a beam axis adjustment has not been performed for the
blind spot monitor sensor LH (Master).
HINT:
This DTC is always stored after replacing a blind spot monitor sensor. The purpose
of this DTC is to ensure that a beam axis adjustment is performed. Completi ...
Toyota CH-R Service Manual > Occupant Classification System: Front Occupant Classification Sensor LH Circuit Malfunction (B1780)
DESCRIPTION
The front occupant classification sensor LH circuit consists of the occupant
detection ECU and front in weight detection sensor sub-assembly.
DTC B1780 is stored when a malfunction is detected in the front in weight detection
sensor sub-assembly circuit.
DTC No.
...