Extende approach:
1. Pop the hood (Edit: Also activate the parking brake)
2. Switch on the ignition. (But not the engine.)
3. Connect OBD11.
4. Enter module [A5 Driver Assistance].
5. Enter [Security access] enter code [20103].
6. Go into Long coding,
7. Search [Point_of_intervention]. (Byte 08 > Bit 5-7 Set to "80 Point_of_intervention,early_setting_over_menu")
8. Change to [early_setting_over_menu].
9. Search [Configuration_for_lane_departure_warning_Kl15]. (Byte 09 > Bit 0-1 Set "03 Configuration_for_lane_departure_warning_Kl15,Last_setting")
10. Change to [last_setting]. This is optional but it makes the car remember last setting, with out this change will Lane assist always be activated when starting the car.
11. Search [HC_advanced_takeover_request]. (Byte 09 > Bit 4-5 Set to "10 HC_advanced_takeover_request,coded")
12. Change to [Coded]. This was coded already in my car.
13. Search [HC]. (Byte 09 > Bit 7 Activate ("HC,0=not_coded / 1=coded")
14. Change to [Coded]. This was coded already in my car.
15. Search [Hc_messages]. (Byte 17 > Bit 0 Activate ("Hc_messages,0=not_coded / 1=coded"))
14. Change to [Coded]. This was coded already in my car.
16. Search [HC_Warn_Intensity]. (Byte 17 > Bit 1-3 Set to "02 HC_Warn_Intensity,Setting_over_Menu")
17. Change to [Setting_over_Menu].
18. Search [Hc_variante]. (Byte 17 > Bit 5-7 to "20 Hc_variante.Variante_1" or "00 Hc_variante.Variante_ 0")
19. Change to [Variante 1 OR Variante 0]. My was Variante 0 so I change it to Variante 1. (I think this is what gave me line assist below 60km/h with ACC active. I will try the other variants to see what's happening.)
19. Exit Long coding.
20. Enter adaptations.
21. Search [Switch-on state Lane Keeping Assistant]. (Module A5 > access authorization: 20103 > Adaption "Switch-on state Lane Keeping Assistant" set value to "on (setting via menu)")
22. Change to [on (setting via menu)]. My car hade this set already.
23. Exit module [A5 Driver Assistance].
24. Enter module [5F Multimedia].
25. Enter adaptations.
26. Search [Vehicle function list BAP] and enter. (Go to "Car_Function_List_BAP_Gen2-LDW_HCA_0x19" > Set to "activated")
27. Search [LDW].
28. Select [LDW_HCA_0x19] and change it to [Activated]. This was already set on my car.
29. Select [LDW_HCA_0x19_msg_bus] and change it to [Databus Extended]. This was already set on my car. (Go to "Car_Function_List_BAP_Gen2-LDW_HCA_0x19_msg_bus" > Set to "Datenbus Extended")
30. Exit [Vehicle function list BAP].
31. Search [Vehicle menu operation] and enter. (Go to "Car_Function_Adaptations_Gen2-menu_display_Lane_Departure_Warning" > Set to "activated")
32. Search [Menu display Lane Departure Warning] and change it to [Activated]. This was already set om my car.
33. Search [Menu display Lane Departure Warning over threshold] and change it to [Activated]. This was already set om my car. (Go to "Car_Function_Adaptations_Gen2-menu_display_Lane_Departure_Warning_over_threshold_high" > Set to "activated")
34. Exit [Vehicle menu operation].
35. Exit adaptations.
36. Exit module [5F Multimedia].
37. Enter module [17 Dashboard].
38. Enter Long coding.
39. Search for [Lane]. This give four settings. (Byte 04 > Bit 6 Activate ("Lane Assistant"))
40. Change [Lane assistant] to [Yes].
41. Change [Lane change assistance] to [Yes].
42. Change [Lane change assistant, BAP distance] to [Yes].
43. Change [Lane retention assistant, BAP distance] to [Yes]. (Byte 11 > Bit 1 Activate "Lane retention Assistant BAP")
(My car hade all this set to Yes already.)
44. Exit Long coding.
45. Exit module [17 Dashboard]
46. Enter module [44 Steering Assistance].
47. Enter [Security access] enter code [19249]. (Module 44 > security access: 19249 > Long Coding >)
48. Enter Long coding.
49. Search for [Lane assistant]. (Byte 00 > Bit 4 Activate ("Lane Assistant"))
50. Change it to [Active]. My car hade this set already.
51. Exit Long coding.
52. Exit module [44 Steering Assistance].
Go back to Home screen and disconnect from OBD11.
Switch off the ignition.
Close the door and hood, and lock the car.
Have a cup of coffee.
Switch on the ignition. (But not the engine.)
Clear all Faults.
Take a test run to get feeling for the changes.
IT WILL WORK BRILLIANT with simple CRUISE CONTROL , however with ACC(adaptive speed) it will prompt for takeover steering wheel...