I had a malfunction of one my sensors and car shows warning that auto park is disabled. However AP works perfectly with the exception of the lane change which seems to be disabled too. This surprises me and now I finally understand why the car sometimes almost hits the car in the next lane, although the dashboard clearly shows that the sensors see the car. What confuses me the most is the fact that giving this observation, a side crash avoidance should not exist. However there are videos showing AP steering to avoid a crash. How should this work ?