warning collision system introduced on the W221 S-Class, it incorporates the autonomous cruise control system and adds a radar-based collision warning. 2006: the "Pre-Safe Brake" on the CL-Class C216 was their first to offer partial autonomous braking (40%, or up to 0.4g deceleration) if the driver does not react to the BAS Plus warnings and the system detects a severe danger of an accident. 2009: Mercedes introduced the first Pre-Safe Brake with full (100%) autonomous braking with maximum braking force approximately 0.6 seconds before impact, on the Mercedes-Benz E-Class (W212). 2013: Mercedes updated Pre-Safe on the W222 S-Class as plus with cross-traffic assist. Pre-Safe with pedestrian detection and City Brake function is a combination of stereo camera and radar sensors to detect pedestrians in front of the vehicle. Visual and acoustic warnings are triggered when a hazard is spotted. If the driver then reacts by braking, the braking power will be boosted as the situation requires, up to a full brake application. Should the driver fail to react, Pre-Safe Brake triggers autonomous vehicle braking. Pedestrian detection is active up to about , and is able to reduce collisions with pedestrians autonomously from an initial speed of up to . A radar sensor in the rear bumper monitors the traffic behind the vehicle. If the risk of an impact from the rear is detected, the rear hazard warning lights are activated to alert the driver of the vehicle behind (not on vehicles with USA/Canada coding). Anticipatory occupant protection measures, such as the reversible belt tensioners, are deployed. If the vehicle is stopped and the driver indicates a wish to remain stationary by depressing the brake pedal, activating the hold function, or moving the selector lever to "P" the system increases the brake pressure to keep the vehicle firmly braked during a possible rear-end collision. Pre-Safe Impulse works an early phase of the crash, before the resulting deceleration starts to increase, the front occupants are pulled away from the direction of impact and deeper into their seats by their seat belts. By the time the accident enters the phase when loads peak, the extra distance they are retracted by can be used while dissipating energy in a controlled fashion. Pre-acceleration and force limitation allow the occupants to be temporarily isolated from the effects of the crash, significantly reducing the risk and severity of injuries in a frontal collision. Nissan Nissan's Infiniti brand