Four of these vehicles – ESF 5, ESF 13 (both formed on a medium-class W 114/“Stroke 8” series), ESF 22 and ESF 24 (both formed on a W 116-series S-Class) – were presented to a public. The initial ESF car for many years, and a approach prototype to a ESF 2019, was a ESF 2009. This investigate car distinguished a premiere on 15 Jun 2009, during a 21st ESV (Enhanced Safety of Vehicles) discussion in Stuttgart. Numerous innovations in a ESF 2009 have duration entered array production. These embody e.g. a beltbag accessible for a S-Class, PRE-SAFE® Impulse Side for a E-Class, CLS and GLE and Active High Beam Assist Plus, that is accessible for many indication series.