MERCEDES-BENZ C-CLASS ESTATE 2021 Owners Manual

driven, Active Steering Assist uses the vehicles
ahead and lane markings as a reference.%Depending on the country, in the lower speed range Active Steering Assist can use the sur-
rounding traPc as a reference. If necessary,
Active Steering Assist can then also provide assistance when driving outside the centre of
the lane.
If the detection of lane markings and vehicles
ahead is impaired, Active Steering Assist switches to passive mode. The system provides no support
in this case.
Permanent status display in the driver display
ØGrey: activated and passiveØGreen: activated and activeØRed, Oashing prompt to the driver to
actively conNrm or transition from active to
passive status, system limit detected%During the transition from active to passive
status, the Ø symbol is shown as enlarged
and Oashing. Once the system is passive, the
Ø symbol is shown as grey in the driver
display.Contact detection
The driver is required to keep their hands on the steering wheel at all times and be able to inter-
vene at any time to correct the course of the vehi-
cle and keep it in lane. The driver must expect a change from active to passive mode or vice versa at any time.
If the system detects that the driver has not
steered the vehicle for a considerable period of time or has removed their hands from the steeringwheel, an optical warning is given Nrst. Display
message 1 appears in the driver display. If the
driver still does not steer the vehicle, or gives no conNrmation to the system, a warning tone
sounds in addition to the visual warning message.
If the driver does not react to this warning for a
considerable period, an emergency stop is initi-
ated (  page 211).
The warning is not issued or is stopped as soon as
the system detects that the driver has touched
the steering wheel.
Touch detection may be limited or inoperative in
the following situations:
= The driver is wearing gloves.
= There is a steering wheel cover on the steering
wheel.
If Active Steering Assist detects that a system limit has been reached, a visual warning is issuedand a warning tone sounds.
Observe the notes on driving systems and your
responsibility; you may otherwise fail to recognise dangers (  page 189).
System limits
Active Steering Assist has a limited steering tor-
que for lateral guidance. In some cases, the steer-
ing intervention is not suPcient to keep the vehi-
cle in the lane.Driving and parking209

The system may be impaired or may not function
in the following instances:
= There is poor visibility, e.g. due to snow, rain,
fog, heavy spray, greatly varying light condi- tions or strong shadows on the carriageway.
= There is glare, e.g. from oncoming traPc,
direct sunlight or reOections.
= *nsuPcient road illumination.
= The windscreen is dirty, misted up, damaged
or covered in the vicinity of the camera, e.g.
by a sticker.
= No, or several, unclear lane markings are pres-
ent for one lane, or the markings change
quickly, for example, in a construction area or junctions.
= The lane markings are worn away, dark or cov-
ered up, e.g. by dirt or snow.
= If the distance to the vehicle in front is too
short and thus the lane markings cannot be
detected.
= The road is narrow and winding.
= There are obstacles on the lane or projecting
out into the lane, such as object markers.= If transport equipment, for example a trailer or
bicycle rack, is attached to the trailer hitch and the electrical connection has been cor-
rectly established.
The system does not provide assistance in the fol-
lowing conditions:
= On very tight bends and when turning.
= When crossing junctions.
= At roundabouts or toll stations.
= When actively changing lane without switching
on the turn signal indicator.
= When the tyre pressure is too low.&WARNING Risk of accident if Active Steer-
ing Assist unexpectedly stops functioning
If the system limits of Active Steering Assist
are reached there is no guarantee that the
system will remain active or will keep the vehi-
cle in lane.
Always keep your hands on the steering
wheel and observe the traPc carefully.Always steer the vehicle paying attention
to traPc conditions.&WARNING Risk of accident if Active Steer-
ing Assist unexpectedly intervenes
The detection of lane markings and objects
may malfunction and cause unexpected steer-
ing interventions.
Steer according to traPc conditions.

qActivating/deactivating Active Steering Assist
Requirements: = ESP n
is activated, but is not intervening.
= Active Distance Assist DISTRONIC is activa-
ted.
Multimedia system: 4 © 5
Settings 5
Assistance
5 Driving
Select Ø Act. Steering Asst .210Driving and parking

Function of Active Emergency Stop Assist
Depending on vehicle equipment, Active Emer-
gency Stop Assist uses touch sensors or detects steering movements when monitoring the steering
wheel. If the system detects that the driver is no
longer holding the steering wheel, it can initiate
an emergency stop, if necessary.
Vehicles without Driving Assistance Package: the
accelerator and brake pedal are monitored as well
as the steering wheel.
Vehicles with Driving Assistance Package: if
Active Steering Assist is deactivated, the acceler- ator and brake pedal are monitored as well as the steering wheel.
A warning is issued when the steering wheel is not being held or when a pedal is not depressed, and
the vehicle is in danger of leaving the lane.
If the system detects that the driver has not
steered the vehicle for a considerable period of time or has removed their hands from the steeringwheel, visual warning 1 is issued. If the driver
still does not steer the vehicle, or gives no conNr-
mation to the system, a warning tone sounds in
addition to the visual warning message.
Also observe the instructions on the contact
detection of Active Steering Assist (  page 208).
Active Emergency Stop Assist issues the following warnings in order:
= Display message 1 appears in the driver's
display.
= In addition to display 1 a warning tone
sounds.
= The Beginning emergency stop message
appears in the driver display, a continuous
warning tone sounds, the vehicle no longer
accelerates, and there is a slight, repeated
tensioning of the seat belt.
= The vehicle speed is reduced in increments
until it is at a standstill. Sharp brake impulses
are also produced.
Vehicles with Driving Assistance Package:
depending on the country, a lane change to the
adjacent right-hand lane is carried out, if possible.%It is only possible to change across one laneand only into the right-hand lane, and not
onto the hard shoulder.
When automatic braking is initiated, Active Dis-
tance Assist DISTRONIC is deactivated. Depend-
ing on the country, the hazard warning light sys- tem is switched on.
Driving and parking211

When the vehicle is stationary, the followingactions are carried out:
= The vehicle is secured with the electric park-
ing brake.
= The vehicle is unlocked.
= If possible, an emergency call is placed to the
Mercedes-Benz emergency call centre.
Before automatic braking is initiated, you can can- cel Active Emergency Stop Assist by steering.
You can cancel the intervention by Active Emer-
gency Stop Assist aser automatic braking is initi-
ated by one of the following actions:
= Accelerating or braking: the emergency stop is
cancelled, but the warning message, warning
tone and power steering remain active
= Steering: power-assisted steering is cancelled,
the warning message and warning tone remain
active and the vehicle continues to be braked%Active Emergency Stop Assist can initiate an emergency stop a maximum of three times
within one ignition cycle. Aser this Active
Steering Assist and Active Emergency Stop
Assist are deactivated for that ignition cycle.System limits
Vehicles without Driving Assistance Package: if
Active Lane Keeping Assist does not detect lane markings or is deactivated, Active Emergency
Stop Assist is not active.
Vehicles with Driving Assistance Package: if
Active Lane Keeping Assist does not detect lane
markings, Active Emergency Stop Assist is not active.
For the detection of vehicles and other obstacles, observe the system limits of the following func-
tions:
= Active Distance Assist DISTRONIC
(  page 201)
= Active Steering Assist (  page 208)
= Active Lane Change Assist (  page 212)
Active Lane Change Assist

qFunction of Active Lane Change Assist
Active Lane Change Assist supports the driver when changing lanes and is activated by indicat-
ing brieOy.
For this, the following conditions must be fulNlled
= You are on a motorway or high-speed major
road.
= The vehicle speed is between approximately
80 km/h and 180 km/h.
= The neighbouring lane is separated by a bro-
ken lane marking.
= No vehicle or obstacle is detected in the adja-
cent lane.
= Since the last time the vehicle was started,
the sensors have detected a vehicle at a suita-
ble distance behind your vehicle.
= Active Lane Change Assist is selected in the
multimedia system.
= Active Distance Assist DISTRONIC and Active
Steering Assist are activated on motorways.
The system is not available and must be reactiva-
ted in the following situations:
= Active Distance Assist DISTRONIC and Active
Steering Assist were already activated before entering the motorway.212Driving and parking

=The system brieOy does not detect the road
you are on as a motorway or a motorway-like road, e.g. on a motorway junction.
As soon as Active Lane Change Assist detects a suitable road, you can reactivate it with J,
M or N .Driver display in the $ssLstDnFH menu1Green arrow: lane change initiated2Red arrow: lane change cancelled
When Active Lane Change Assist is available, the
± display appears along with green arrows in
the driver display. If the system has been activa-
ted but is not currently available, the ± display
appears along with grey arrows in the driver dis-
play.
If no vehicle or obstacle is detected in the adja- cent lane and a lane change is permitted, the lane
change begins aser the driver has indicated
brieOy. The lane change is shown to the driver
with a Oashing green arrow next to the ±
steering wheel symbol. A green arrow 1 is dis-
played in the appropriate adjacent lane in
the Assistance menu in the driver's display. The
Lane change to the left message, for example,
also appears.
Active Lange Change Assist can be cancelled in
various situations, including the following:
= Change in the surrounding conditions (e.g.
detected obstacle).
= The driver removes their hands from the steer-
ing wheel.
= The driver steers with too much force or in the
opposite direction.
= The driver moves the turn signal indicator in
the opposite direction.Driving and parking213

=Active Distance Assist DISTRONIC or Active
Steering Assist is deactivated.
= The vehicle cannot make the lane change as
planned.
Cancellation of Active Lane Change Assist is dis-
played as follows:
= The arrow in the selected direction of travel
turns red.
= A corresponding message appears on the
driver display.
= In certain circumstances a warning tone
sounds.&WARNING Risk of accident when changing
lane to an occupied adjacent lane
Lane Change Assist cannot always clearly
detect if the adjacent lane is free.
The lane change might be initiated although
the adjacent lane is not free.
Before changing lanes, make sure that
the neighbouring lane is free and there is
no danger to other road users.Monitor the lane change.&WARNING Risk of accident if Lane Change
Assist unexpectedly stops functioning
If the system limitations for Lane Change
Assist have been reached, there is no guaran-
tee that the system will remain active.
Lane Change Assist cannot then assist you by
applying steering torque.
Always monitor the lane change and
keep your hands on the steering wheel. Observe the traPc conditions and steer
and/or brake if necessary.
System limits
The system limitations of Active Steering Assist
apply to Active Lane Change Assist (  page 208).
The system may also be impaired or may not func-
tion in the following situations:
= The sensors are damaged, covered or dirty
(  page 189).
= The exterior lighting shows a defect.
=The system does not detect a suitable road,
for example, in tight bends or shortly aser a
slip road.
= The vehicle is on a construction site.%The Active Lane Change Assist sensors adjust
automatically while a certain distance is being
driven aser the vehicle has been delivered.
Active Lane Change Assist is unavailable or
only partially available during this teach-in
process, and no arrows are displayed next to
the Ø Active Steering Assist symbol.
Observe the notes on driving systems and your
responsibility; you may otherwise fail to recognise
dangers (  page 189).

q Selecting Active Lane Change Assist
Multimedia system: 4 © 5
Settings 5
Assistance
5 Driving
Select the function.214Driving and parking

Active Brake Assist

qFunction of Active Brake Assist
Active Brake Assist consists of the following func-
tions:
= Distance warning function
= Autonomous braking function
= Situation-dependent braking assistance
= Vehicles with Driving Assistance Package: Eva-
sive Steering Assist (country-speciNc)
Active Brake Assist can help you to minimise the risk of a collision with vehicles, cyclists or pedes-
trians or to reduce the eMects of such a collision.
If Active Brake Assist has detected a risk of colli- sion, a warning tone sounds and the / dis-
tance warning lamp lights up.
In the Assistance menu, an insuPcient distance
1 to the vehicle in front is displayed in red. If you
further reduce the distance, the vehicle in front is also highlighted in red. When the system detects a
risk of collision, red radar waves 2 appear in
front of the vehicle.
Vehicles with PRE-SAFE n
: depending on the coun-
try, an additional haptic warning occurs in the form of slight, repeated tensioning of the seatbelt.
If you do not react to the warning, autonomous
braking can be initiated in critical situations.
In particularly critical situations, Active Brake Assist can also initiate autonomous braking
directly. In this case, the warning lamp and warn-
ing tone occur simultaneously with the braking
application.
If you apply the brake yourself in a critical situa-
tion or apply the brake during autonomous brak-
ing, situation-dependent braking assistance
occurs. The brake pressure increases up to maxi- mum full-stop braking if necessary.
If autonomous braking or situation-dependent
braking assistance has occurred, pop up 1
appears in the driver display and then automati-
cally goes out aser a short time.
If the autonomous braking function or the situa- tion-dependent braking assistance is triggered,
Driving and parking215

additional preventive measures for occupant pro-tection (PRE-SAFE n
) may also be initiated.&WARNING Risk of an accident caused by
limited detection performance of Active
Brake Assist
Active Brake Assist cannot always clearly iden- tify objects and complex traPc situations.
In such cases, Active Brake Assist might:
= Give a warning or brake without reason
= Not give a warning or not brake
Active Brake Assist is only an aid. The driver is
responsible for maintaining a suPciently safe
distance to the vehicle in front, vehicle speed and for braking in good time.
Always pay careful attention to the traPc
situation; do not rely on Active Brake
Assist alone.Be prepared to brake or swerve if neces-
sary.%If Active Brake Assist is deactivated, 00D4
appears in the driver display.If the system is unavailable or the functions
are restricted, 00A5 appears.
Also observe the system limits of Active Brake
Assist.
The individual subfunctions are available in the fol-
lowing speed ranges:
The distance warning function issues a warning in the following situations:
= From approximately 30 km/h, if over several
seconds the distance maintained to the vehi- cle travelling in front is insuPcient for the
driven speed, the / distance warning lamp
lights up in the driver display.
= From approximately 7 km/h, if your vehicle is
critically close to a vehicle, cyclist or pedes-
trian, you will hear an intermittent warning
tone and the / distance warning lamp
lights up in the driver display.
Vehicles with PRE-SAFE n
: depending on the
country, an additional haptic warning occurs in the form of slight, repeated tensioning of
the seat belt.
If possible, brake immediately or manoeuvre to
avoid the obstacle.
Distance warning function
The distance warning function can aid you in the following situations with an intermittent warning
tone and a warning lamp:
Vehicles without Driving Assistance Package: = At speeds up to approximately 250 km/h
when approaching vehicles ahead.
= At speeds up to approximately 80 km/h when
approaching stationary vehicles, pedestrianswalking in the direction of travel and cyclistsahead
= At speeds up to approximately 70 km/h when
approaching crossing pedestrians and cyclists.
= At speeds up to approximately 60 km/h when
approaching stationary pedestrians and
cyclists.
Vehicles with Driving Assistance Package:
= At speeds up to approximately 250 km/h
when approaching vehicles ahead.216Driving and parking

=At speeds up to approximately 120 km/h
when approaching crossing vehicles, pedes-
trians and cyclists.
= At speeds up to approximately 100 km/h
when approaching stationary vehicles.
= At speeds up to approximately 80 km/h when
approaching cyclists ahead.
= At speeds up to approximately 70 km/h when
approaching stationary pedestrians and
cyclists.
Autonomous braking function
If the vehicle is travelling at speeds above approx-
imately 7 km/h, the autonomous braking function may intervene in the following situations:
Vehicles without Driving Assistance Package: = At speeds up to approximately 250 km/h
when approaching vehicles ahead.
= At speeds up to approximately 80 km/h when
approaching cyclists ahead, pedestrians walk-
ing in the direction of travel and stationary
vehicles.= At speeds up to approximately 70 km/h when
approaching crossing pedestrians and cyclists.
= At speeds up to approximately 60 km/h when
approaching stationary pedestrians andcyclists.
Vehicles with Driving Assistance Package: = At speeds up to approximately 250 km/h
when approaching vehicles ahead.
= At speeds up to approximately 120 km/h
when approaching crossing vehicles, pedes-
trians and cyclists.
= At speeds up to approximately 100 km/h
when approaching stationary vehicles.
= At speeds up to approximately 80 km/h when
approaching cyclists ahead.
= At speeds up to approximately 70 km/h when
approaching stationary pedestrians and cyclists.
Situation-dependent braking assistance
If the vehicle is travelling at speeds above approx-
imately 7 km/h, situation-dependent brakingassistance may intervene in the following situa-
tions.
Vehicles without Driving Assistance Package: = At speeds up to approximately 250 km/h
when approaching vehicles ahead.
= At speeds up to approximately 80 km/h when
approaching cyclists ahead, pedestrians walk-
ing in the direction of travel and stationary
vehicles.
= At speeds up to approximately 70 km/h when
approaching crossing pedestrians and cyclists.
= At speeds up to approximately 60 km/h when
approaching stationary pedestrians and cyclists.
Vehicles with Driving Assistance Package: = At speeds up to approximately 250 km/h
when approaching vehicles ahead.
= At speeds up to approximately 120 km/h
when approaching crossing vehicles, pedes-
trians and cyclists.
= At speeds up to approximately 100 km/h
when approaching stationary vehicles.Driving and parking217

=At speeds up to approximately 80 km/h when
approaching cyclists ahead.
= At speeds up to approximately 70 km/h when
approaching stationary pedestrians and
cyclists.
Cancelling a brake application of Active Brake Assist
You can cancel a brake application of Active Brake Assist at any time by:
= Fully depressing the accelerator pedal or with
kickdown.
= Releasing the brake pedal.
Active Brake Assist may cancel the brake applica-
tion when one of the following conditions is fulNl-
led
= you manoeuvre to avoid the obstacle
= there is no longer a risk of collision
= an obstacle is no longer detected in front of
your vehicleReaction to oncoming road users (only vehicles
with Driving Assistance Package)
Active Brake Assist can also react to detected
oncoming road users:
= Reaction up to speeds of approximately
100 km/h
= Warning for oncoming road users through
acoustic warning and warning lamp
= Autonomous braking application in order to
reduce the severity of an accident
Evasive Steering Assist (only vehicles with Driving
Assistance Package)&WARNING Risk of accident despite Eva-
sive Steering Assist
Evasive Steering Assist cannot always recog-
nise objects or complex traPc situations
clearly.
Moreover, the steering support provided by
Evasive Steering Assist is not suPcient to
avoid a collision.
Always pay careful attention to the traPc
situation; do not rely on Evasive Steering
Assist alone.Be prepared to brake or swerve if neces-
sary.End the support by actively steering in non-critical situations.Drive at an appropriate speed if there
are pedestrians close to the path of your
vehicle.
Evasive Steering Assist has the following charac-
teristics:
= Detection of pedestrians, cyclists and vehi-
cles.
= Assistance through power-assisted steering if
it detects a swerving manoeuvre.
= Activation by an abrupt steering movement
during a swerving manoeuvre.
= Assistance during swerving and straightening
of the vehicle.
218Driving and parking