Volkswagen Touareg (2015 year). Instruction — part 30

The Electronic Stabilization Program (ESC) cannot be deactivated when the Adaptive Cruise

Control is switched on. If the ESc has been deactivated and you then switch on the Adaptive Cruise
Control, the ESC function will also be activated automatically.

The currently set distance and the last settings are stored automatically and assigned to the used

remote control vehicle key.

When to temporarily deactivate Adaptive Cruise Control (ACC)

Please first read and note the introductory information and heed the WARNINGS

Please deactivate ACC under following conditions

⇒ :

When driving around curves, turn lanes, highway ramps or construction sites, in order to prevent

unwanted acceleration of the vehicle.

When driving through tunnels.
Under bad weather conditions or bad visibility, like in heavy rain, snowfall or fog.

WARNING

Not deactivating Adaptive Cruise Control (ACC) in the situations mentioned above can cause
collisions, other accidents and serious personal injury.

Forward Collision Warning system (Front Assist)

Fig. 274 In the instrument cluster display. Advance warning: Distance to vehicle ahead becoming too small.

Fig. 275 In the instrument cluster display. Alert: Distance to vehicle ahead is too small.

Please first read and note the introductory information and heed the WARNINGS

The Forward Collision Warning system (Front Assist), when switched on, uses a radar sensor to help
prevent rear-end collisions by providing a warning of a possible collision with a vehicle on the road
ahead within physical and technical limits of the system.

The Forward Collision Warning system (Front Assist) is not a substitute for the driver's full
concentration.

Distance warning

If the vehicle is traveling within a speed range of about 44–130 mph (70–210 km/h), the system warns

the driver with a message in the instrument cluster display

⇒

fig. 275

if it detects that the vehicle is

driving too close to the vehicle ahead

⇒ .

The warning period varies according to the traffic situation and your driving style.

Advance warning

If the vehicle is traveling within a speed range of about 18–130 mph (30–210 km/h), the system warns

the driver with a warning chime and a message in the instrument cluster display (

⇒

fig. 274

) if it de-

tects a possible collision with a vehicle ahead

⇒ .

The warning period varies according to the traffic situation and your driving style.

However, do not rely solely on Front Assist. Under certain conditions, the reactions of Front Assist
may be unexpected or delayed from the driver's viewpoint. Always pay attention and take over if

necessary

⇒ .

Immediate warning

Front Assist can initiate a short active braking maneuver, should you not react accordingly to an ad-
vance alert. In this case you will notice brief jerky braking of the vehicle, in order to warn you of an
impending collision.

The moment of this alert can vary, depending on the traffic situation and the driving behavior.

Automatic braking maneuver

If you should also fail to react to the immediate alert, the system can initiate an automatic braking
maneuver which will slow down the vehicle with gradually increasing braking force. Shortly before a
collision the system can also initiate an emergency braking in order to bring the vehicle to a full stop.
The reduction of speed can help to minimize the effects of a collision.

Braking support

Front Assist can help to minimize the effects of a collision by supporting with additional braking force in
case of an emergency braking situation, should the system detect that the force applied to the brake
pedal by the driver is not sufficient in order to avoid a collision. In order for Front Assist to apply this
support, it must have detected an impending collision with another vehicle ahead of yours and the

brake pedal has to be hit hard and suddenly. However, this support only works as long as the brake
pedal is depressed.

Front Assist cannot react when approaching standing objects ahead of you, like when driving up to a
line of stopped vehicles in heavy traffic.

Operating Front Assist

Front Assist can be turned off or on in the infotainment system:

Switch on the ignition.

Push the infotainment button

CAR

.

Tap on the Assistants button in the display.

Select Front Assist .

Tap on the Active button in order to switch Front Assist on or off.

If the box next to the Active button is checked , then Front Assist is active and ready.

If Front Assist is switched off, then the message Front Assist deactivated appears in the
display of the instrument cluster.

With Front Assist switched off, the advance alert and the distance alert are also deactivated.

Switching the advance alert and distance alert on and off

The advance alert and distance alert can be activated or deactivated together in the infotainment
system:

Switch on the ignition.

Push the infotainment button

CAR

.

Tap on the Assistants button in the display.

Select Front Assist .

Tap on the Alert button in order to switch advance alert and distance alert on or off.

If the box next to the Active button is checked , then advance alert and distance alert are active and
ready.

Volkswagen recommends to always leave the advance alert and distance alert activated.

Special driving situations

Front Assist is subject to physical and system-specified limits when driving. Under certain conditions,
the reactions of the Adaptive Cruise Control may be unexpected or delayed from the driver's viewpoint

WARNING

The Forward Collision Warning system (Front Assist) technology cannot overcome the laws
of physics and system-related limits. The driver is always responsible for braking in time. If
the Forward Collision Warning system issues a warning, immediately apply the brake to slow
the vehicle down or avoid the obstacle, depending on the traffic situation.

Always adjust your speed and driving style to road, traffic, weather, and visibility condi-

tions.

The Forward Collision Warning system cannot prevent accidents and serious injuries on

its own.

The Forward Collision Warning system can issue unnecessary warnings in certain com-

plex driving situations, for example, at traffic islands.

The Forward Collision Warning system can issue unnecessary warnings when its function

is impaired, for example, if the radar sensor is dirty or if the position of the radar sensor has
been changed.

The Forward Collision Warning system does not react to people, animals, or vehicles

crossing or approaching in the same lane.

Always be prepared to take full control of the vehicle at all times.

NOTICE

If you notice that the Forward Collision Warning system (Front Assist) doesn't work properly or
the sensors are damaged, switch off the Forward Collision Warning system (Front Assist)
immediately.

Go see an authorized Volkswagen dealer or Volkswagen Service Facility for assistance and

have the Forward Collision Warning system (Front Assist) checked.

If the Forward Collision Warning system (Front Assist) initiates a braking maneuver, the hydraulic

braking system is under pressure. In this case the braking pedal will feel “harder” and the brake pedal
travel will be shorter.

Automatic braking maneuvers can be interrupted by depressing the gas pedal or moving the

steering wheel.

Deactivate the Forward Collision Warning system if it does not work as described in this chapter,

for example, if multiple unwanted warnings occur. Have the system checked by an authorized
Volkswagen dealer or authorized Volkswagen Service Facility.

Temporarily switch off the Forward Collision Warning system (Front
Assist) in the following situations

Please first read and note the introductory information and heed the WARNINGS

The Forward Collision Warning system (Front Assist) should be switched off in the following situations

due to system limitations

⇒ :

If the vehicle is being towed.
If the vehicle is on a dynamometer test bed.
If the vehicle is not being driven on public roads, for example, off-road or on a track.

If the radar sensor malfunctions.
If external force has affected the radar sensor, for example, after a rear-end collision.
If the radar sensor is covered (even temporarily) by any accessories or other equipment, for exam-

ple, auxiliary headlights.

If the vehicle is being loaded onto a truck, ferry, or train.

WARNING

Failure to switch off the Forward Collision Warning system in the situations mentioned can
cause accidents and serious personal injury.

Forward Collision Warning system (Front Assist) system limits

Please first read and note the introductory information and heed the WARNINGS

The Forward Collision Warning system (Front Assist) has physical and system-related limits. The
driver may therefore feel that, in certain circumstances, some Forward Collision Warning system
reactions are unwanted or occur with a delay. You should therefore always be prepared to take full
control of the vehicle whenever necessary.

The following conditions can prevent the Forward Collision Warning system (Front
Assist) from reacting, or delay its ability to react:

When driving in tight curves.
When the accelerator pedal is depressed.
When the Forward Collision Warning system (Front Assist) is switched off or if there is a fault.
When ASR is manually switched off.
When the ESC is taking corrective action.
When several brake lights on the vehicle or on a trailer connected to the vehicle electrical system

are faulty.

When the radar sensor is dirty or covered.
When there are metal objects, for example, tracks or metal plates in the road.
When the vehicle is in Reverse (R).
When weather conditions are poor.
When narrow vehicles, such as motorcycles, are moving in front of your vehicle.
When vehicles are traveling slightly offset to the left or right in front of your vehicle.
When vehicles are crossing in front of your vehicle.
When there is oncoming traffic.
When the system cannot detect the traffic situation clearly.
When loads or attachment parts on other vehicles in front of your vehicle protrude to the side, rear,

or above the normal vehicle dimensions.

Autonomous Emergency Braking

Fig. 276 In the instrument cluster display. Warning: Distance to vehicle ahead becoming too small.

Please first read and note the introductory information and heed the WARNINGS

Autonomous Emergency Braking is a function of the Forward Collision Warning system (Front Assist)
and active when the Forward Collision Warning system (Front Assist) is switched on.

The Autonomous Emergency Braking function monitors the traffic situation in front of your vehicle at
speeds between 3 mph (5 km/h) and about 20 mph (30 km/h).

If the Autonomous Emergency Braking function detects a critical situation which can lead to a collision,

it will prepare the vehicle for a possible emergency braking maneuver

⇒ .

In case of an impending collision and the driver not reacting accordingly to the warning, the system
can initiate an automatic braking maneuver in order to reduce the speed of your vehicle and help
minimize the effects of a collision.

Display

An automatic braking maneuver is indicated by a warning in the instrument cluster display

⇒

fig. 276

.

The Autonomous Emergency Braking function may not work under following conditions:

When driving around curves.
When the Forward Collision Warning system (Front Assist) is switched off or not working properly.
When ASR is switched off manually.
When ESC is actively regulating.
When 2 or more brake lights on your vehicle are not working.
When the sensors are soiled or covered.
When the brake pedal is depressed.
When the OFF-ROAD mode is switched on.
If the last braking maneuver initiated by the Autonomous Emergency Braking function is shorter

than 20 seconds ago.

When your vehicle is driving in reverse.
When your vehicle is quickly accelerated.
In bad weather conditions with decreased visibility, like heavy rain or snowfall.
If the vehicles travelling ahead are too small or narrow, like motorcycles or bicycles.
If the vehicles travelling ahead are driving offset.
If the radar sensor signal is multiply reflected, like when driving in parking garages.
In case of crossing traffic.
In case of oncoming vehicles on your lane.

The Autonomous Emergency Braking function should be deactivated by switching off
the Forward Collision Warning system (Front Assist) in following situations:

When the vehicle is being towed.
When the vehicle is on a roller test stand.
When the vehicle is off road, like on construction sites or on race tracks.
When one of the sensors is defect.
When the sensors have been damaged, like after a frontal collision accident.
After several false alarms in a row.
If the sensors are covered by additional parts, like auxiliary headlights.
If the vehicle is driving on steep terrain or on or across slopes.

WARNING

Always remember that the Autonomous Emergency Braking function has limits – it will not
release you from the responsibility to control and slow down your vehicle.

The Autonomous Emergency Braking function alone cannot avoid accidents and fatal

injuries.

Under certain circumstances and complex traffic situations the Autonomous Emergency

Braking function can perform unwanted braking maneuvers, like in construction sites.

Soiled or misaligned radar sensors can lead to unwanted braking maneuvers
The Autonomous Emergency Braking function does not react to people, animals, crossing

traffic or vehicles that are approaching you on the same lane.

Always adjust your speed and the distance you keep between you and the vehicles ahead

of you to the road, traffic, weather, and visibility conditions.

Never follow a vehicle so closely that you cannot stop your vehicle safely, under certain

circumstances the automatic braking function cannot bring the vehicle to a stop in time.

Never allow the closing speed between you and other vehicles to be so high that the Au-

tonomous Emergency Braking function may not be able to slow your vehicle safely. If closing
speed is too high, you must apply the brakes yourself to reduce the risk of a rear-end crash.

Always be prepared to takeover the control of the brake and the gas pedal in every situa-

tion.

NOTICE

If you notice that the Autonomous Emergency Braking function doesn't work properly or the
sensors are damaged, switch off the Forward Collision Warning system (Front Assist) and
therefore the Autonomous Emergency Braking function immediately.

Go see an authorized Volkswagen dealer or Volkswagen Service Facility for assistance and

have the system checked.

If the Autonomous Emergency Braking function initiates a braking maneuver, the hydraulic brak-

ing system is under pressure. In this case the braking pedal will feel “harder” and the brake pedal
travel will be shorter.

Automatic braking maneuvers can be interrupted by depressing the gas pedal or moving the

steering wheel.

The Autonomous Emergency Braking function can slow your vehicle down to a standstill, but not

hold your vehicle permanently. When necessary, apply the vehicle brakes!

Should the Autonomous Emergency Braking function not work properly as described here and

initiate several false alarms unwanted braking maneuvers in a row, temporarily deactivate the Forward
Collision Warning system (Front Assist) and therefore the Autonomous Emergency Braking function.
Have the system checked by an authorized Volkswagen dealer or Volkswagen Service Facility.

Special driving situations

Fig. 277 Driving in a curve. Motorcycle travelling ahead outside of the sensor range.

Fig. 278 Vehicle changing lanes. A turning and a stationary vehicle ahead.

Please first read and note the introductory information and heed the WARNINGS

Adaptive Cruise Control is subject to physical and system-specified limits when driving. Under certain
conditions, the reactions of the Adaptive Cruise Control may be unexpected or delayed from the
driver's viewpoint. Always pay attention and take over if necessary:

Changing lanes and passing other vehicles

When you change lanes, like when passing a vehicle ahead of you, and there is no other vehicle
detected on the lane that you switched to, ACC will automatically accelerate your vehicle to the previ-
ously set speed.

Driving around curves and roundabouts

When driving into a curve and driving out of a long curve, the radar sensor may react to a vehicle in

the next lane

⇒

fig. 277

(A)

and cause your vehicle to brake. You stop the braking process by pressing

the accelerator pedal.

When driving in curves and roundabouts it can happen that the vehicle travelling ahead of yours
temporarily leaves the sensor range of your vehicle. This can lead to an unwanted acceleration of your
vehicle. Switch off ACC in narrow curves and roundabouts.

Driving through tunnels

The function of the distance radar may be limited when driving in tunnels. Switch off ACC when driving
through tunnels.

Vehicles offset to one side

Vehicles traveling ahead and to one side can only be detected by the radar sensor when they are
within sensor range

(B)

. That applies especially to narrow vehicles such as motorcycles.

Vehicles with oversize loads

Under certain circumstances vehicles carrying oversize loads or loads that exceed the vehicle dimen-
sions, like flat-bed trailer trucks, can't be recognized correctly by the ACC. Switch off ACC when
driving behind such vehicles.

Other vehicles changing lanes

Vehicles that change into your lane within a short distance can only be detected by the radar sensor

once they are within sensor range

⇒

fig. 278

(C)

. The result is a delayed reaction by the Adaptive

Cruise Control.

Stationary vehicles

If a vehicle detected by Adaptive Cruise Control turns or changes lanes and there is a stationary
vehicle in front of that vehicle, the system will not react to the stationary vehicle

(D)

.

Narrow vehicles

Narrow vehicles, such as motorcycles traveling ahead, are often detected late or not at all under some
circumstances.

Oncoming vehicles

ACC does not detect oncoming vehicles on your lane.

Metal objects on the road

Metal objects on the road, such as tracks, can cause irritations for the ACC due to falsely reflected
radar signals and therefore lead to unwanted reactions of the system, such as abrupt braking maneu-
vers.

Radar sensor impaired by rain and dirt

If the radar sensor function is impaired by heavy rain, spray, snow or mud, Adaptive Cruise Control
switches off temporarily. ACC not available. No sensor view! appears in the instrument
cluster display.

When Adaptive Cruise Control is reactivated after this message is displayed, it functions like a “stand-
ard” cruise control system. It maintains the set speed but it does not regulate the distance to the
vehicle ahead.

Overheated brakes

Adaptive Cruise Control may switch off temporarily if the brakes overheat significantly, for example
from braking maneuvers or driving down steep slopes. ACC not available appears in the instru-
ment cluster display. Adaptive Cruise Control cannot be activated.

Adaptive Cruise Control can be activated again once the temperature of the brakes decreases suffi-
ciently. The message ACC not available in the instrument cluster switches off.

If the message ACC not available does not switch off, there is a malfunction. Contact your au-
thorized Volkswagen dealer.

Trailer towing

When towing a trailer, ACC and the Forward Collision Warning system (Front Assist) may work only
with limited functionality.

Text messages in the instrument cluster display

Text message

Meaning

Text message

Meaning

ACC not avail-

able.

ACC and/or the Forward Collision Warning system
(Front Assist) are disabled due to a system malfunc-
tion or soiled/misaligned sensors.

ACC and Front

Assist are not

available.

ACC not avail-

able. No sen-

sor view!

The sensors are soiled and the sensor view is im-
paired. Clean the sensors.

ACC and Front

Assist are not

available. No

sensor view!

ACC is cur-

rently not

available.

Gradient is

too large.

The highest possible gradient of 19% for ACC to
work properly is exceeded or the vehicle is rolling
backwards. ACC is deactivated.

ACC is only

available in

driving level

D, S or M.

Shift to selector lever position D, S or M (Tiptronic
mode).

ACC: Release

parking brake!

ACC is deactivated when the electronic parking
brake is engaged.

ACC is cur-

rently not

available. HDC

activated.

The OFF-ROAD mode is switched on and the Hill
descent assist is activated. ACC is deactivated au-
tomatically. In order to enable ACC, switch off the
OFF-ROAD mode.

ACC: Stabili-

zation control

(ESC) inter-

vention.

The Electronic Stabilization Control (ESC) is current-
ly working and ACC is temporarily deactivated.

Text message

Meaning

ACC: Not

available.
Please manual-

ly accelerate

and brake.

ACC is not available. Driver intervention is neces-
sary.

Door open.

ACC cannot be activated. Please close all doors and
engine hood.

Object ahead. A stationary object is detected ahead when ACC is

switched on and your vehicle is moving. ACC cannot
be activated.

Front Assist

deactivated.

Front Assist is deactivated.

WARNING

The view of the radar sensor can be impaired by rain, snow or heavy spray. Under certain
circumstances, this could result in the vehicle ahead being detected inadequately or not at
all. Take over yourself if necessary!

Switch Adaptive Cruise Control off when driving through tunnels because the function of

the system could be impaired.

Adaptive Cruise Control distance regulation will not work if the sensors are covered by

heavy rain, spray, snow, etc. ACC not available. No sensor view! appears in the in-
strument cluster display.

Adaptive Cruise Control switches off temporarily if the brakes overheat too much. ACC

not available appears in the instrument cluster display.

Lane Assist

Introduction

In this section you’ll find information about:

Warning and Indicator lights

How Lane Assist works

When to deactivate Lane Assist

Driver information

Settings

The Lane Assist system can warn you if your vehicle unintentionally leaves the current drive lane.

Any settings for Lane Assist in the infotainment system as well as the activation or deactivation of the
system will be stored after the ignition is switched off and will be kept after the ignition is switched back
on again.

When you change Lane Assist settings you will notice a short vibration in the steering wheel as a
confirmation that the new settings are stored.

Lane Assist has been developed only for on-road driving.

More information:

Exterior views
Parts, accessories, repairs and modifications
Volkswagen Information System

WARNING

Always remember that Lane Assist has limits – Using Lane Assist when it is not possible to
drive safely can be dangerous and can lead to an accident and serious personal injury.

Always adjust your speed and the distance you keep between you and the vehicles ahead

of you to the road, traffic, weather, and visibility conditions.

Always keep your hands on the steering wheel and be ready react - Lane Assist will not

release you from the responsibility to control your vehicle.

Always pay attention to the messages in the instrument cluster display and act according-

ly.

Always pay close attention to what is happening around your vehicle.

WARNING

Under certain circumstances the Forward Collision Warning system (Front Assist) may not be
able to recognize all lane markings. Bad or wet roads, worn out markings or objects on the
road can lead to the Forward Collision Warning system (Front Assist) not or mistakenly rec-
ognizing lane markings.

Always switch off Lane Assist under these conditions.

WARNING

If the view area of the camera is covered or dirty, Lane Assist may not work properly.

Always make sure that the camera area is free of dirt or snow and not covered.

NOTICE

In order to help maintain the proper function of the Forward Collision Warning system (Front
Assist):

Always keep the camera area in the front windshield free of ice, dirt and snow.
Never cover the camera area.
Regularly check the windshield and especially the area of the camera for damages.

Lane Assist has been developed only for on-road driving.

If Lane Assist does not work properly and as described here, have the system checked by an

authorized Volkswagen dealer or Volkswagen Service Facility.

Warning and Indicator lights

Please first read and note the introductory information and heed the WARNINGS

lights

up

Possible cause

Proper response

System or camera malfunc-
tion.

Switch the ignition off and on
again. Should the warning light
still light up, have the system
checked by an authorized
Volkswagen dealer or Volkswagen
service facility.

Camera view area is cov-
ered.

Clean the area of the camera
⇒

fig. 279

.

Lane Assist is switched on
and ready.

-

Lane Assist is switched on
but not active.

System is switched on, but can't
recognize any lane markings.

lights

up

Possible cause

Proper response

Minimum speed not yet reached.

When the ignition is switched on, several warning and indicator lights come on briefly for a function
check. They go out after a few seconds.

WARNING

Failure to heed warning lights and instrument cluster text messages can cause the vehicle to
break down in traffic and result in a collision and serious personal injury.

Never ignore warning lights or text WARNINGS.
Always stop the vehicle as soon as it is safe to do so.

NOTICE

Failure to heed warning lights or text WARNINGS can result in vehicle damage.

How Lane Assist works

Fig. 279 In the front windshield: Area of the Lane Assist camera.

Please first read and note the introductory information and heed the WARNINGS

With the help of a camera

⇒

fig. 279

, Lane Assist can recognize possible side markings of the current

drive lane. Should the vehicle leave this area unintentionally, like when leaving the current drive lane
without activating a turn signal, the system will warn you by a vibration of the steering wheel.

Lane Assist is ready when it recognizes at least one side marking.

Lane Assist will not warn you of a lane change if you activate the turn signal, since the system will
assume that the lane change is happening intentionally.

Switching Lane Assist on and off

Select Assistants from the main menu in the instrument cluster, then select Lane Assist.

If the check box in the instrument cluster menu is activated ( ), Lane Assist is automatically enabled
when the ignition is switched on.

The indicator light in the instrument cluster shows the status of the system.

The stored settings are recalled when the ignition is switched on.

Before starting to drive, always make sure that the area of the camera

⇒

fig. 279

is not covered.

When to deactivate Lane Assist

Please first read and note the introductory information and heed the WARNINGS

Please deactivate Lane Assist under following conditions

⇒ :

In complex traffic situations when it is necessary for the driver to pay special attention.
On bad roads or on roads with no or hardly visible side markings.
Under bad weather conditions and/or bad visibility.
When the vehicle is off road, like on construction sites or on race tracks.
If the camera is covered by dirt, ice or snow. In this case clean the camera area as soon as possi-

ble or deactivate the system.

WARNING

Not deactivating Lane Assist in the situations mentioned above can cause collisions, other
accidents and serious personal injury.

Driver information

Please first read and note the introductory information and heed the WARNINGS

Automatic deactivation of Lane Assist

Under certain circumstances Lane Assist can be deactivated automatically:

If the system cannot recognize side markings correctly, like in construction sites, on bad roads, bad

visibility or when the camera area is covered.

If more than 2 side markings are on the lane, like in certain construction sites or when markings

have been added to the lane.

When the speed of your vehicle is less than 40 mph (65 km/h).
In narrow curves.
When a turn signal or the emergency flashers are activated.
If ESC is deactivated and the warning light < appears in the instrument cluster display

An automatic deactivation of Lane Assist is indicated by a change of color from green to grey of the
indicator light

in the instrument cluster display.

In order to avoid several warnings in a row, it can happen that Lane Assist warns you when

leaving a lane by crossing over a side marking, but wouldn't warn a second time after crossing a
second marking shortly after. this is normal and no cause for concern.

Settings

Please first read and note the introductory information and heed the WARNINGS

Lane Assist settings in the infotainment system

You can change some Lane Assist settings in the infotainment system

Switch on the ignition.

Push the infotainment button

CAR

.

Tap on the Assistants button in the display.

Select Front LaneAssist .

Function key

Warning time setting: After touching the Warning time setting or

func-

tion key, you can choose between early, medium and late.

Steering wheel vibration: After touching the Steering wheel vibration or

function key, you can choose between low, medium and strong.

Setting the warning time

Menu option

Meaning

Early

The system has a low tolerance level and warns
you early if you come too close to a side marking.

Medium

Original setting.

Late

The system has a high tolerance level and warns
you late if you come too close to a side marking.

The warning time setting defines the distance from your vehicle to the side markings. An early warning
time means that the distance to the side markings has to be high in order for Lane Assist not to trigger
a warning.

The time of the warning is also dependent on the approach angle to the side marking and the driving
speed. If, for example, you approach a road marking at a steeper angle, the steering wheel will start
vibrating at a greater distance.

Setting the vibration level of the steering wheel

Menu option

Meaning

Low

Light vibration of the steering wheel.