What are the various driver assistance systems in the Audi A7?

I am interested in learning about the advanced safety features of the Audi A7. Which driver assistance systems come standard and which ones are available as optional add-ons?

The Audi A7 comes standard with Audi pre sense basic and city, which use radar and cameras to detect potential collisions and issues audio and visual warnings to the driver. Optional add-ons include Audi adaptive cruise control, which maintains a set distance from the vehicle in front, and Audi active lane assist, which helps keep the vehicle centered in its lane.

In addition to the basic city pre sense system, the Audi A7 also has rear cross traffic assist, which uses radar to detect approaching vehicles when backing out of a parking space and will initiate a warning or brake if necessary.