When you hit the brakes, the cruzz automatically unhooks, as a safety feature. In the car's of the age of yours, the connection between the brakes & the cruzz systems was usually a vacuum hose to the cruzz controller box, because many cars used vacuum to do the actual work of moving the throttle body. Also, the power brakes use vacuum to power that system, so, sounds like you have a vacuum leak. The vacuum leak tricks the cruzz into thinking your on the brakes, and the leak degrades the power brake system enough to trigger the brake light warning.
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1991 toyota mr2 E-BRAKE / CRUISE CONTROL?
Linear Mode
