Here some info that I've found: 1st Generation (3AA/4H0 PQ/MLB): Installed at a 22-degree angle to the lateral side of the vehicle. It can detect three lanes simultaneously: on the left, right, and behind the vehicle. These sensors can track the trajectory of an approaching vehicle from behind, meaning they can warn the driver via a mirror indicator before the vehicle enters the blind spot. This is BSD (Blind Spot Detection) via SWA (Side Warning Assist). This generation supports the Rear PreCrash function, which, in the event of a potential rear-end collision, activates all preparatory safety features (closes windows, tightens seatbelts, etc.). The mirror indicators can also adjust their brightness depending on the distance to the detected object. 2nd Generation (5Q0): Mounted at a 45-degree angle and are no longer capable of predicting vehicle trajectories. BSD works independently for the left and right sides, and brightness adjustment is not available. However, the RTA (Rear Traffic Alert) function was introduced — it assists when backing out of a parking space by detecting moving objects crossing behind the vehicle (cars, pedestrians, cyclists). Due to the steeper angle, the detection range is shorter than that of the 1st generation sensors. 3rd Generation (2Q0): Also installed at a 45-degree angle but combine the capabilities of both previous technologies. While the range doesn’t quite match that of the 1st generation, it is significantly better than the 2nd. Additionally, they outperform the 5Q0 radars — they can detect guardrails, recognize up to 5 lanes, and transmit data to the front assistant camera, which helps improve the accuracy of Lane Assist.