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DISTRONIC PLUS Incl. BAS PLUS And PRE-SAFE Brake, Function - GF30.30-P-0006CE

MODEL 204.0/2 as of model year 2012 with CODE 233 (DISTRONIC PLUS) 

MODEL 204.3 with CODE 233 (DISTRONIC PLUS) 

MODEL 204.9 as of model year 2013 with CODE 233 (DISTRONIC PLUS) 

Fig 1: BAS Plus And PRE-Safe Brake - Block Diagram
G10084409Courtesy of MERCEDES-BENZ USA

Function requirements, general 

IMPORTANT The standstill coordinator function is described in detail in the separate description "Adaptive Brake (ABR)".

DISTRONIC PLUS incl. BAS PLUS and PRE-SAFE brake, general points 

IMPORTANT The units and values given in the following text for the speed must be assigned to the possible national versions. The details in "miles per hour (mph)" refer to vehicles with a miles indicator.

The DISTRONIC PLUS automatically regulates the speed and the distance to the vehicle driving immediately ahead in a vehicle speed range of v = 0 to 200 km/h and from v = 200 to 0 km/h (v = 0 to 120 mph and from v = 120 to 0 mph) according to the request from the driver.

The PRE-SAFE brake function permanently determines the potential danger of a collision occurring and initiates appropriate measures to mitigate the effects of a collision in critical situations.

Furthermore, there is a distance warning function contained therein which advises the driver about a vehicle driving immediately ahead which is too close. An optical and acoustic warning is issued before any possible collisions with vehicles or stationary obstacles on the vehicle's own lane.

If the driver reacts to the warning with emergency braking, he is supported by the function Brake Assist System (BAS) PLUS. The required brake servo assistance is calculated dependent on the situation. This means that the brakes are automatically applied as intensively as required (max. approx. a = 10 m/s2 ). In doing this the threat of a collision can be reduced or at least the severity of the accident can be reduced. If the driver does not react to the warning, the PRE-SAFE brake function brakes the vehicle autonomously and can therefore mitigate the consequences of any possible collision.

IMPORTANT The PRE-SAFE brake function also supports the PRE-SAFE safety concept.

The PRE-SAFE function is described in the separate function description "PRE-SAFE Function".

IMPORTANT The following partial functions of the DISTRONIC PLUS are described in the separate function description "CC (TPM)" function:

The following graphical representations show the principle of operation of the functions DISTRONIC PLUS incl. BAS PLUS and PRE-SAFE brake.

Detection area of the radar sensor system 

Fig 2: Identifying Radar Sensor System Detection Area
G10084410Courtesy of MERCEDES-BENZ USA

Illustration of the principle of the functions BAS PLUS and PRE-SAFE brake, shown on model 221 

Fig 3: Overview Of BAS Plus And PRE-Safe Brake - Shown On Model 221
G10084411Courtesy of MERCEDES-BENZ USA

IMPORTANT Operation of the DISTRONIC PLUS takes place over the cruise control lever.

Design of the cruise control lever 

Fig 4: Identifying Cruise Control Lever Adjustment Position
G10084412Courtesy of MERCEDES-BENZ USA

Operation over the CC lever, vehicle without code (494) USA version 

Fig 5: Identifying Cruise Control Lever Adjustment Position - Vehicle Without Code (494)
G10084413Courtesy of MERCEDES-BENZ USA

Operation over CC lever, vehicle with code (494) USA version: 

Fig 6: Identifying Cruise Control Lever Adjustment Position - Vehicle With Code (494)
G10084414Courtesy of MERCEDES-BENZ USA

IMPORTANT The distance to the vehicle driving immediately ahead is displayed in the multifunction display for t = 5 s after actuation of the CC lever. Through selection of the operating level "DISTRONIC PLUS" in the menu "Assistance" the distance graphic is shown permanently. Display of the distance graphic can be switched on or off independently of the activity of the automatic distance control. The distance to the vehicle driving immediately ahead can be set over the DISTRONIC control in seven stages between t = 1.0 and 2.0 s. If a distance of t = 2.0 s is set, for example, the vehicle driving immediately ahead will be followed at a temporal distance of t = 2.0 s.

The control takes place by the video and radar sensor system control unit. The video and radar sensor system control unit intervenes actively in the engine timing as well as in the brake system to realize the functions. The optical and acoustic warnings are emitted by the IC. The video and radar sensor system control unit evaluates the input factors and transmits appropriate requests for controlling the functions DISTRONIC PLUS, BAS PLUS and PRE-SAFE brake via the following CAN:

The video and radar sensor system control unit evaluates the following input factors: 

Operating condition for engine/drivetrain:

The CDI control unit or the ME-SFI [ME] control unit sends the "engine running" signal or the "drivetrain operational" signal via the chassis CAN to the video and radar sensor system control unit.

Engaged gear range (for transmission 722):

The electronic transmission control control unit (transmission 722.6) or the fully integrated transmission control unit (transmission 722.9) transmits the information about the gear range via the drive train CAN, CDI control unit or ME-SFI [ME] control unit and the chassis CAN to the video and radar sensor system control unit.

Parking brake status

Application of the parking brake is detected over the status of the parking brake indicator switch. The front SAM control unit reads in the status of the parking brake indicator switch directly and sends it over the chassis CAN to the PARKTRONIC control unit.

Engine drive torque:

The CDI control unit or ME-SFI [ME] control unit sends information about the currently available engine drive torque via the chassis CAN to the Electronic Stability Program control unit which evaluates this appropriately and transmits it via the chassis CAN to the video and radar sensor system control unit.

Brake torque:

Information about the currently applied braking torque is transmitted by the Electronic Stability Program control unit via the chassis CAN to the video and radar sensor system control unit.

Acceleration/yaw rate:

The acceleration/yaw rate is detected by the yaw rate sensor for lateral and longitudinal acceleration.

The yaw rate sensor for lateral and longitudinal acceleration sensor transmits the values for acceleration and the yaw rate via the dynamics CAN, Electronic Stability Program control unit and chassis CAN to the video and radar sensor system control unit.

IMPORTANT On safety and comfort grounds the maximum (positive) acceleration of the automatic distance control is limited to about a = 2.5 s2 m/s. It behaves in reverse proportion to the vehicle speed. This means that smaller accelerations are permitted for an increasing vehicle speed.

Driver request via the cruise control lever:

The driver request over the CC lever are directly read in by the steering column tube module control unit. The steering column tube module control unit transmits the control signals of the CC lever via the chassis CAN to the video and radar sensor system control unit.

The driver request "Overtake":

The steering column tube module control unit directly reads in the switch position of combination switch and transmits this via chassis CAN to the video and radar sensor system control unit.

Driver request via menu settings in the IC:

The following settings can be selected over the menu settings in the IC:

The instrument cluster transmits the corresponding status via the interior CAN to the radar sensors control unit.

Vehicle speed/acceleration:

The vehicle speed is calculated on the basis of the wheel speeds. The acceleration is defined over the increase in rotational speed. The rotational speed sensors detect the wheel speeds.

The Electronic Stability Program control unit directly reads in the signals from the rpm sensors and sends them via the chassis CAN to the video and radar sensor system control unit.

GPS signals:

The NAV in the COMAND controller unit or in the radio (in combination with navigation module adapted via the telematics CAN) receives the GPS signals over the GPS antenna or the multifunction antenna and transmits these via the interior CAN, front SAM control unit and chassis CAN to the video and radar sensor system control unit.

Steering angle:

The steering angle is recorded by the steering angle sensor. The steering column tube module control unit reads in the signals from the steering angle sensor and transmits this via the chassis CAN to the video and radar sensor system control unit.

Object recognition in the short range:

The short range radar sensors in the front bumper operate in the 24 GHz frequency range (model 204.0/2/3 to 30.11.12, model 204.9) or in the 25 GHz frequency range (model 204.0/2/3 from 1.12.12) for a maximum range of s = 30 m and are integrated into the following components:

IMPORTANT These are switched off automatically in countries in which the 24 GHz radar sensor system is not approved.

The detection angle of the short range radar sensors is a maximum of ∠= 130°. A precise angle can be determined within a detection zone of ∠ = 60° and up to ∠ = 130° only after detection of the objects. The radar sensors communicate via the sensor CAN with the video and radar sensor system control unit.

Object recognition in the long range:

The long range radar operates in the 77 GHz frequency range and is integrated in the DISTRONIC controller unit. With its detection angle of ∠ = 18° the long range radar covers the front area of the vehicle at a length of s = 60 up to 200 m. The range s = 0 m to s = 60 m in front of the vehicle is detected for an angle of ∠ = 60°.

The DISTRONIC controller unit performs a soiling and function test to ensure proper operation after each engine start.

The function test requires an object in the detection range of the long range radar which is used as a reference value for the function test by the DISTRONIC controller unit. The DISTRONIC PLUS cannot be activated if a malfunction is established or if there are no objects (for the function test) in the detection range of the long range radar. The DISTRONIC PLUS controller unit communicates via the vehicle dynamics CAN with the video and radar sensor system control unit. Accelerator pedal position:

Pressing on the accelerator pedal is registered by the accelerator pedal sensor. The CDI control unit or the ME-SFI [ME] control unit directly reads in the signals from the accelerator pedal sensor and transmits these via the chassis CAN to the video and radar sensor system control unit.

Brake pedal position:

Operation of the brake pedal is detected by the brake lights switch. The Electronic Stability Program control unit directly reads in the status of the brake lights switch and transmits these via the chassis CAN to the video and radar sensor system control unit.

The video and radar sensor system control unit emits the following initial parameters (requests): 

Engage targeted gear (for transmission 722):

The video and radar sensor system control unit transmits the appropriate request via the chassis CAN to the ESP control unit. The Electronic Stability Program control unit evaluates this request as well as further driving dynamics requests internally and transmits them, according to their relevance, via the chassis CAN, the CDI control unit or the ME-SFI [ME] control unit and drive train CAN to the electronic transmission control control unit (transmission 722.6) or the fully integrated transmission control unit (transmission 722.9).

This request is, however, to be understood as a switching recommendation.

Downshifting or upshifting of the A/T takes place autonomously by the electronic transmission control control unit (transmission 722.6) or the fully integrated transmission control unit (transmission 722.9), dependent on the current operating condition.

Raise/reduce engine torque:

The video and radar sensor system control unit transmits the appropriate request via the chassis CAN to the ESP control unit. The Electronic Stability Program control unit evaluates this request as well as further driving dynamics requests internally and transmits a corresponding request via the chassis CAN to the CDI control unit or the ME-SFI [ME] control unit. The CDI control unit or the ME-SFI [ME] control unit implements this request.

Switch short range radar On/Off (model 204.0/2/3 to 30.11.12, model 204.9)

The video and radar sensor system control unit switches the short range radar off and on again dependent on the protection zones around radio astronomy stations. The short range radar can also be switched off and on again manually over the menu "Vehicle settings" in the IC. The video and radar sensor system control unit transmits the respective request via the sensor CAN to the DISTRONIC (DTR) bumper sensors at the front.

IMPORTANT For model 204.0/2/3 as of 1.12.12 the radar sensor system is no longer switched off automatically. This is no longer necessary through use of the reduced frequency band range of f = 24.25 to 25.65 GHz. Both the NATO band and the radio astronomy band are left out. Operation of the radar sensor system within the protected areas for radio astronomy stations is therefore permissible. The radar sensor system can also no longer be switched off and on again manually. Raise/reduce braking torque:

The video and radar sensor system control unit transmits the appropriate request via the chassis CAN to the ESP control unit. The Electronic Stability Program control unit reacts by directly controlling the traction system hydraulic unit, which reacts by increasing or decreasing the braking torque.

Emit warning tones, system or warning messages

The Electronic Stability Program control unit transmits the corresponding requests via the chassis CAN to the IC.

The DISTRONIC PLUS includes the following partial functions:

Additional function requirements for DISTRONIC PLUS 

IMPORTANT If the SPEEDTRONIC LED (without code (494) USA version) lights up, the DISTRONIC PLUS is deactivated and the function variable SPEEDTRONIC (without Code (494) USA version) preselected.

Function sequence for DISTRONIC PLUS 

The description of the function sequence DISTRONIC PLUS takes place, for example, in the following sequence:

IMPORTANT The sequence can vary depending on the driver requests and the current traffic situation.

Activate DISTRONIC PLUS and drive off automatically 

The DISTRONIC PLUS can only be activated when stationary if there was also a stationary vehicle detected over the radar sensor system. This is displayed by the distance graphic in the multifunction display. If the vehicle driving immediately ahead moves off, the driver can press the accelerator pedal to confirm the automatic drive off function or alternatively actuate the switch "Resume from memory" on the CC lever. The brake pedal must not be pressed during this time. The vehicle subsequently starts off automatically, accelerates and follows the vehicle driving immediately ahead at the programmed distance up to the maximum speed to be set.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests: Input variables:

Initial parameters:

Automatic distance control 

The automatic distance control can only be activated while driving if a vehicle driving immediately ahead was detected.

If the vehicle driving immediately ahead brakes or accelerates, the DISTRONIC PLUS function can instigate the following measures for maintaining the clearance:

The driver must press on the brake pedal if he sees that the instigated measures are not adequate, to avoid any possible collision. If the vehicle driving immediately ahead accelerates again, the engine torque is increased and the vehicle also accelerates.

The driver also has the option to accelerate the vehicle (e.g. to overtake a vehicle).

The automatic acceleration is put out of action for as long as the driver uses the accelerator pedal. The multifunction display shows the message "DISTRONIC passive".

If the automatic distance control requires a higher acceleration than the driver prescribes, the driver request is overlaid by the request for automatic distance control.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Change of driving lane (Overtake) 

For overtaking above a speed of v = 60 km/h (45 mph) the vehicle is also accelerated automatically. To this the driver must initiate the overtaking maneuver by setting the flasher.

In as far as the automatic distance control is activated, the video and radar sensor system control unit recognizes the intention of the driver to overtake and accelerates the vehicle while taking account of the distance to the vehicle driving immediately ahead.

The vehicle then accelerates up to set maximum speed (automatic speed control) after the overtaking maneuver in as far as there was no vehicle driving immediately ahead detected as a target object.

If a vehicle driving immediately ahead is subsequently detected as a target object the automatic speed control function changes over again into the automatic distance control function.

The overtaking maneuver is broken off in the following situations:

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Automatic speed control 

If the vehicle is in active distance control and the vehicle driving immediately ahead accelerates above v = 200 km/h (v = 120 mph) or removes itself from the detection area of the radar sensor system, the automatic distance control function switches over into the automatic speed control function.

IMPORTANT The automatic speed control is described in detail in the separate function description "CC (TPM) function".

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Passing through a radio astronomy protection zone 

For model 204.0/2/3 to 30.11.12, model 204.9 the short range radar sensors are automatically switched off as a result of legal requirements on the 24 GHz radar system (short range radar, band width: f = 5 GHz) in Western Europe in certain protected areas around radio astronomy stations.

When DISTRONIC PLUS is active, the message "Radar sensor system automatically switched off, see operator's manual" is shown on the multifunction display of the instrument cluster. When the vehicle leaves the protected area, the short range radar sensor system is switched on again automatically. For an activated DISTRONIC PLUS the message "DISTRONIC PLUS available again" is issued.

IMPORTANT For model 204.0/2/3 as of 1.12.12 the radar sensor system is no longer switched off automatically. This is no longer necessary through use of the reduced frequency band range of f = 24.25 to 25.65 GHz. Both the NATO band and the radio astronomy band are left out. Thus operation of the radar sensor system within the protected areas of the radio astronomy stations is permissible. It is therefore also no longer necessary to have localization of the vehicle over GPS.

IMPORTANT The driver has the option for model 204.0/2/3 to 30.11.12, model 204.9 to switch the short range radar sensor system off and on manually over the "Vehicle settings" menu in the instrument cluster. If one seeks to manually switch on the short range radar sensors within a protected area, the message "Radar sensor system switched off automatically" is displayed in the multifunction display.

Technical implementation (model 204.0/2/3 to 30.11.12, model 204.9) 

The protected areas of the radio astronomy stations are stored in the form of Global Positioning System (GPS) coordinates in the video and radar sensor system control unit. The video and radar sensor system control unit evaluates the GPS signals and switches off the short range radar sensor array if necessary.

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Passing over roundabouts, T intersections and freeway exit lanes 

The DISTRONIC PLUS function uses navigation data to adapt the system behavior to the following situations:

This means that if the vehicle driving immediately ahead leaves the detection area of the radar sensor system in one of the above-mentioned traffic situations then the current speed is maintained:

If no vehicle driving immediately ahead is detected afterwards, the vehicle accelerates or decelerates to the set specified speed.

IMPORTANT Since traffic situations are subject to alteration, the digital map data has to be regularly updated.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Going back into a lane/person in the front regulation 

If the vehicle driving immediately ahead turns off and there is another vehicle in front, the system only switches over to the new target vehicle if it is moving. The system does not operate for stationary objects unless a preceding vehicle is tracked to a standstill.

If while driving a vehicle tuns in front within the safe distance to the vehicle driving immediately ahead, the distance to this new vehicle is regulated.

If the vehicle is in automatic speed control and a vehicle tuns onto the lane driven in this vehicle is registered as the vehicle driving immediately ahead.

If the distance to the moving in vehicle is below the value which was programmed, the DISTRONIC PLUS function brakes the vehicle. If the requested brake power is not adequate the driver must press the brake pedal.

IMPORTANT The negative acceleration (deceleration) over the traction system hydraulic unit is limited to 40% (about a = 4 m/s2 ) of the maximum possible brake power.

DISTRONIC PLUS is thereby deactivated.

This process is signaled to the driver by outputting a notification tone over the warning buzzer and indication of a message in the multifunction display.

The driver can subsequently reactivate the DISTRONIC PLUS.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

Automated Stop Vehicle 

For an active DISTRONIC PLUS the vehicle will follow the vehicle driving immediately ahead to standstill. The service brake is activated if the vehicle is stationary.

The vehicle is therefore secured against rolling away.

IMPORTANT Securing the vehicle using the DISTRONIC PLUS does not replace securing the vehicle for parking.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

The following traffic situations show the limits of the DISTRONIC PLUS.

Obstacles and stationary vehicles

The DISTRONIC PLUS does not brake for obstacles or stationary vehicles which were not previously registered as the target object.

If, for example, the detected vehicle turns off and there is an obstacle or stationary vehicles behind it, no automatic intervention by the brake system occurs.

Fig 7: Overview Of Traffic Situations (Obstacles And Stationary Vehicles)
G07300324Courtesy of MERCEDES-BENZ USA

Curves, curved entrances and exits:

The DISTRONIC PLUS can only provides limited detection of vehicles in curves. The vehicle can then brake unexpectedly or late.

Fig 8: Overview Of Traffic Situations (Curves, Curved Entrances And Exits)
G07300325Courtesy of MERCEDES-BENZ USA

Vehicles moving across in front of one's own vehicle:

DISTRONIC PLUS may detect vehicles in cross traffic by mistake.

For an activated distance control the vehicle can start off unintended, (e g. at a traffic light with cross-traffic).

Fig 9: Overview Of Traffic Situations (Vehicles Moving Across In Front Of One Own Vehicle)
G07300326Courtesy of MERCEDES-BENZ USA

Offset driving style:

DISTRONIC PLUS may not be able to detect vehicles driving displaced to one side. The distance to the vehicle in front becomes too small.

Fig 10: Overview Of Traffic Situations (Offset Driving Style)
G10050075Courtesy of MERCEDES-BENZ USA

Lane change by other vehicles:

The DISTRONIC PLUS does not yet detect the vehicle moving into the lane. The distance to the vehicle moving into the lane becomes too small.

Fig 11: Overview Of Traffic Situations (Lane Change By Other Vehicles)
G10050076Courtesy of MERCEDES-BENZ USA

Narrow vehicles:

The DISTRONIC PLUS does not recognize the vehicle driving immediately ahead on the driving lane because it is too small. The distance to the vehicle in front becomes too small.

Fig 12: Overview Of Traffic Situations (Narrow Vehicles)
G10050077Courtesy of MERCEDES-BENZ USA

Function sequence for PRE-SAFE brake and BAS PLUS 

The BAS Plus and the PRE-SAFE brake assess the traffic situation in front of the vehicle.

Within the following speed ranges, the emergency braking maneuver by the driver is supported by the BAS PLUS function or the vehicle is automatically braked in dangerous situations by the PRE-SAFE brake function:

In the case of stationary obstacles the BAS PLUS function or the PRE-SAFE brake function is only activated if the vehicle's own vehicle speed is a maximum of v = 72 km/h (v = 45 mph).

If a stationary object is detected in the lane by both the short and long range radar sensor systems (the lane is determined, amongst other things, by the steering angle and vehicle speed, etc.), the BAS PLUS function or the PRE-SAFE brake function is activated.

The description of the PRE-SAFE brake and BAS Plus function is subdivided as follows:

BAS PLUS 

If the driver then reacts to the collision-critical distance warning with an emergency braking maneuver, the BAS PLUS function provides support for optimum utilization of the braking distance to the obstacle. If there is no actuation or the intensity of actuation of the brake pedal by the driver reduces, the brake servo assistance is reduced to the driver braking level and the BAS PLUS function is deactivated. The function BAS PLUS will also be deactivated if the driver presses on the accelerator pedal.

Technical implementation 

The hazard braking is defined over the actuation speed and the actuation strength with which the brake pedal is actuated.

To do this the video and radar sensor system control unit also uses the data from the radar sensor system and also calculates the necessary brake servo assistance while taking account of the distance and the closing speed to the obstacle.

IMPORTANT Parallel to this the function PRE-SAFE integrated into the Electronic Stability Program control unit evaluates the current requested braking torque and instigates appropriate measures as necessary.

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

PRE-SAFE brake 

The PRE-SAFE brake function includes a proximity warning system to warn the driver of moving or stationary obstacles in his lane.

The distance warning takes place in a vehicle speed range of v = 7 to 250 km/h (v = 5 to 150 mph).

In this case differentiation is made between a static distance warning and a collision critical distance warning.

Static distance warning:

The static distance warning is triggered if the time interval between the system vehicle and vehicle driving immediately ahead is less than t = 0.8 s (e.g. in moving traffic). The DISTRONIC warning lamp lights up in the IC.

Collision critical distance warning:

If a moving obstacle in the detection range of the radar sensor system is classified as representing a critical accident situation (a collision within t < 2.6 s), the DISTRONIC warning lamp lights up and the warning buzzer emits an intermittent tone.

The warning output is automatically switched off again when the situation is no longer critical and cannot be acknowledged during an active control.

IMPORTANT The proximity warning system can be separately and independently activated and deactivated by the automatic distance control in the menu "PRE-SAFE brake" of the instrument cluster.

The distance warning is basically active for an active DISTRONIC PLUS. If the DISTRONIC PLUS is deactivated, actuation of the DISTRONIC warning lamp takes place by the function PRE-SAFE brake.

Optical warning message in the instrument cluster when a safe distance is not maintained 

Fig 13: Identifying DISTRONIC Warning Lamp And Distance Warning Readiness Indicator
G10084421Courtesy of MERCEDES-BENZ USA

If the driver does not react to the warning signals, the DISTRONIC PLUS function initiates partial braking.

If the driver does not react to the partial braking and if the video and radar sensor system control unit calculates that the collision with the obstacle is unavoidable, the video and radar sensor system control unit instigates emergency braking for t = 1 s and thus reduces the possible consequences of an accident.

IMPORTANT Emergency braking is not triggered if the front passenger seat is occupied and the front passenger is not strapped in.

To do this the video and radar sensor system control unit calculates the required braking torque while taking account of the driving dynamics input factors.

The vehicle is braked according to this request.

Technical implementation 

To do this the video and radar sensor system control unit receives or transmits the following information or requests:

Input variables:

Initial parameters:

  Electrical function schematic for DISTRONIC PLUS incl. BAS PLUS and PRE-SAFE brake   PE30.30-P-2055-97FAA 
  Overview of system components for driver assistance systems   GF54.00-P-9998CE
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