I didn't say developed/invented, but they were the first to make these safety features standard equipment. Initially they are too expensive to make it down to the Honda civic's, but after time they do trickle down to them, they only come quicker if there is a government mandate (like backup cameras being mandated in 2018).
The MB S class was the first production to make standard airbags (steering wheel & side and seat), 3 point seat belts, anti-lock brakes, and several other safety features. If I remember correctly (I could be wrong) the S class was the first vehicle to make adaptive cruse control standard, parking sensors, and blind spot sensors.
My 1985 S class has heated side view mirrors, an air bag, catalytic converter with an O2 sensor, and 4 wheel disc brakes which are anti-lock. I wont go into non-safety comfort options that were standard in the 80's that are just catching up in others today.