where is the lateral acceleration sensor

[Mollyoo]

I want to replace the lateral acceleration sensor in my 2002 S6 Audi. According to ETKA they are under the front seats but I cannot see them. I have also read under the back bench seat. Can anyone help. Sick of seeing the ESP light come on. Fault code states G200 sensor.

 

[Arrkon]

Under the rear seat bench, G200 and G202 are one and the same unit.