First of all I apologize for mistakes, English is not my language, I am from Romania.
Own a hybrid Toyota Auris, manufactured at the end of 2012 and finally yesterday I managed to make the cruise control function.
I will write here what it is about because I did not find the complete answer here.
After installing the cruise control command, the damage occurred p0571.
in my case I was missing a wire between the brake pedal switch and the ECM.
the ECU plug is A130, the pin 7 that connects to the A124(switch pedal) plug, pin 5.
I hope it is clear and useful,all the best!