Audi pre sense front utilize the data of radar sensors and/or the front camera, to compute the probability of a rear-end collision with other vehicles or pedestrians. Starting with the new Audi A8, the system can also detect cyclists. It warns of collision threats and initiates braking within system limits and at specific vehicle speeds. If a collision is imminent, the system warns the driver with visual, acoustic and haptic warnings. If necessary, the system provides braking assistance to reduce vehicle speed or initiates a full brake application to avoid the collision under certain circumstances. In addition, actions are taken to protect occupants. The hazard warning lights are activated, the seat belts are pre-tensioned reversibly, the seat position is optimized, and the windows and optional panoramic glass sunroof are closed.