See also:

Auto-brake
If a collision is imminent and the driver has not applied the brakes or begun to steer around the vehicle or pedestrian, the auto-brake function is activated without the driver pressing the brake ...

Incoming calls
Press OK/MENU (or the thumb wheel on the steering wheel keypad) to answer a call, even if the infotainment system is currently in another mode (e.g., RADIO or MEDIA). Press EXIT to reject a call. ...

Steep inclines and/or heavy loads
ACC is primarily intended for use on fairly level roads. The system may have difficulty maintaining the correct distance to a vehicle ahead on steep inclines, if the vehicle is carrying a heavy lo ...