About The 12 ADAS systems: what belongs and what does not: which statement is WRONG?
Blind-spot assistance and rear cross-traffic detection are two names for the same system.
ESP is listed among the yellow warning lights, not in the list of 12 ADAS systems.
After the warning signal the car brakes by itself (hard) if the driver does not intervene; the system does not stop at warning.
A warning signal sounds first so you can brake yourself.
Explanation
trap: shared function merged into one system. Book p.219-220 and p.223 - these are two separately numbered systems in the list of 12 (system 2 versus system 12), each with its own name and place in the section