a few things regarding Meritor. this year they have come up with an update to address "ghost braking". as well as upgrade the ESC capability's on some older software versions of On-Guard. and rid the systems of typical "phantom" fault codes that constantly come up with (Eaton) Automated Transmissions. the CMS(collision mitigation sys) part will give a "haptic"(short brake pulse) when it "sees" that you are in danger of collision. all the Meritor and Bendix info(ABS. Radar, Air Sys. etc.) is available on their respective websites, good info, and if you have trouble with the systems its best to give a shop as much info as you can. intermittent shorts, grounds, opens, data link issues are difficult to diagnose, yet are often the cause. thanks for your time.