04_F01-F02 LCI Driver Assistance Systems

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BMWService

F01/F02LCIDriverAssistanceSystems

qt34424ST1212_9-1-12

Generalinformation

Symbolsused

Thefollowingsymbol/schematicdiagramisusedinthisdocumenttofacilitatebettercomprehensionortodrawattentiontoveryimportantinformation:

Containsimportantsafetyinformationandinformationthatneedstobeobservedstrictlyinordertoguaranteethesmoothoperationofthesystem.

Informationstatusandnational-marketversions

BMWGroupvehiclesmeettherequirementsofthehighestsafetyandqualitystandards.Changesinrequirementsforenvironmentalprotection,customerbenefitsanddesignrendernecessarycontinu-ousdevelopmentofsystemsandcomponents.Consequently,theremaybediscrepanciesbetweenthecontentsofthisdocumentandthevehiclesavailableinthetrainingcourse.

ThisdocumentbasicallyrelatestotheEuropeanversionofleft-handdrivevehicles.Someoperatingelementsorcomponentsarearrangeddifferentlyinright-handdrivevehiclesthanshowninthegraph-icsinthisdocument.Furtherdeviationsmayariseasaresultoftheequipmentspecificationinspecificmarketsorcountries.

Additionalsourcesofinformation

Furtherinformationontheindividualtopicscanbefoundinthefollowing:

Owner'sHandbook IntegratedServiceTechnicalApplication.

Contact:[email protected]

2012BMWAG,Munich,Germany

ReprintsofthispublicationoritspartsrequirethewrittenapprovalofBMWAG,Munich

TheinformationcontainedinthisdocumentformsanintegralelementofthetechnicaltrainingoftheBMWGroupandisintendedforthetrainerandparticipantsintheseminar.Refertothecurrentrespec-tiveinformationsystemsoftheBMWGroupforanychanges/additionstothetechnicaldata.

Informationstatus:May2012VH-23/InternationalTechnicalTraining

F01/F02LCIDriverAssistanceSystemsContents1. Introduction.............................................................................................................................................................................................................................................1

2. BMWNightVision.......................................................................................................................................................................................................................22.1. BMWNightVisionwithpedestriandetection..........................................................................................................2

2.1.1. Operation...........................................................................................................................................................................................22.1.2. Warningfunction...................................................................................................................................................................3

3. KAFAS................................................................................................................................................................................................................................................................43.1. Lanedeparturewarning..............................................................................................................................................................................43.2. Collisionwarning(camera-based)...............................................................................................................................................4

3.2.1. Operation...........................................................................................................................................................................................43.2.2. Operatingprinciple............................................................................................................................................................53.2.3. Warningfunction...................................................................................................................................................................53.2.4. Systemlimits...............................................................................................................................................................................7

3.3. SpeedLimitInformation ...........................................................................................................................................................................73.3.1. Systemlimits...............................................................................................................................................................................9

3.4. Functionallimitations..................................................................................................................................................................................10

4. High-beamAssistant........................................................................................................................................................................................................11

5. ACCStop&Go............................................................................................................................................................................................................................125.1. Introduction.................................................................................................................................................................................................................125.2. Systemcomponents....................................................................................................................................................................................14

5.2.1. Systemwiringdiagram............................................................................................................................................165.2.2. RadarsensorforACCStop&Go..........................................................................................................175.2.3. KAFASvideocameraandcontrolunit...........................................................................................195.2.4. IntegratedChassisManagement(ICM)........................................................................................19

5.3. Informationfromthevehicleenvironment.................................................................................................................195.3.1. Recordingobjects...........................................................................................................................................................195.3.2. Processingobjectdata...........................................................................................................................................195.3.3. Assessingobjects...........................................................................................................................................................20

5.4. Controlfunctions................................................................................................................................................................................................205.4.1. Cruisecontrol.........................................................................................................................................................................205.4.2. Distancecontrol(ranging)..................................................................................................................................205.4.3. Cruisecontrolwhencornering...................................................................................................................21

5.5. Operationanddisplay................................................................................................................................................................................215.5.1. Activationanddeactivation..............................................................................................................................215.5.2. Changingthedesiredspeed.........................................................................................................................225.5.3. Changingthedesireddistance..................................................................................................................225.5.4. Stoppingandstarting...............................................................................................................................................235.5.5. Behaviorwhendrivergetsoutofthevehicle.......................................................................23

F01/F02LCIDriverAssistanceSystemsContents

5.6. Monitoringfunctions....................................................................................................................................................................................23

6. CollisionWarningw/BrakeApplication..........................................................................................................................................246.1. Operation........................................................................................................................................................................................................................24

6.1.1. Vehicleswithcollisionwarningw/oNightVision............................................................246.1.2. VehicleswithcollisionwarningandwithNightVision............................................24

6.2. Operatingprinciple..........................................................................................................................................................................................256.3. Warningfunction................................................................................................................................................................................................25

6.3.1. Earlywarning..........................................................................................................................................................................266.3.2. Acutewarning.......................................................................................................................................................................26

6.4. History.................................................................................................................................................................................................................................27

7. DistanceRangingInformation.........................................................................................................................................................................29

F01/F02LCIDriverAssistanceSystems1.Introduction

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ThecomprehensivedriverassistancepackageofsystemsfortheF01/F02LCIhasbeenmodifiedandsupplemented.

Thedriverassistancesystemsfacilitatedrivingofthevehicleby:

providingthedriverwithinformation givingthedriversuggestionsor automaticallyinterveninginthedrivingprocess.

Thistrainingmanualprovidesanoverviewofthedriverassistancesystemswhichareneworwhosefunctionhasbeenmodified:

BMWNightVisionwithpedestriandetection(option6UK) Lanedeparturewarningwithcamera-basedcollisionwarning

isLaneDepartureWarningw/CollisionMitigation(option5AS)andisincludedintheoptionalZDA(DrivingAssistancePackage)

SpeedLimitinformation(option8TH)isalsoincludedintheoptionalZDA(DrivingAssis-tancePackage

ACCStop&GoisreferredtoasEnhancedActiveCruiseControl(option5AT)andcanonlybeorderedincom-binationwithZDA(DrivingAssistancePackage)

CollisionwarningwithbrakingfunctionisanintegralpartoftheEnhancedActiveCruiseControl(option5AT)

RanginginformationisalsoanintegralpartoftheEnhancedActiveCruiseControl(option5AT)

Forfurtherinformationonthedriverassistancesystems,pleaserefertothefollowingST811F01CompleteVehicletrainingmanualsavailableonTISandICP:

BMWNightVision2 F01/F02KAFAS F01CruiseControlSystems F01DynamicsDrivingSystems

F01/F02LCIDriverAssistanceSystems2.BMWNightVision

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BMWNightVisiondetects(inoptimumnighttimeconditions)personsupto100m(328ft)awaywith-inthesystem'swarningrange.Thewarningrangeisdependentonthedrivingspeedandthesteeringangle.Ifthereisapersonwithinthewarningrange,theyarecategorizedasbeinginpotentialdangerandthesystemthenissuesapedestrianwarning.

2.1.BMWNightVisionwithpedestriandetectionTheoperationandthewarningfunctionoftheoptionalequipmentBMWNightVisionwithpedestriandetection(option6UK)havebeenmodified.

ThepedestrianwarningisnowissuedasearlyandacutewarningsirrespectiveofhowtheNightVisioncameraimageisshowninthecentralinformationdisplay(CID).

ThewarningisnolongershownintheCID,butinsteadappearsexclusivelyintheinstrumentclusterorintheheadupdisplay.

ForfurtherinformationonBMWNightVisionwithpedestriandetection,pleaserefertotheBMWNightVision2intheF01trainingmaterial.

2.1.1.OperationPedestriandetection(orthepedestrianwarning)functionisautomaticallyactivatedaftereachenginestartviatheSTART/STOPbutton.

WhentheNightVisionbuttonispressedinthedriverassistsystemoperatingfacility,theimagefromtheNightVisioncameraisshowninthecentralinformationdisplay(CID).Thedrivercanadjustthebrightnessandthecontrastfromhere.

Thepedestrianwarningisactivatedanddeactivatedasdescribedbelow.

VehicleswithBMWNightVisionwithoutcollisionwarning

WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thepedestri-anwarningfrontprotectivefunctionisdeactivatedoractivated:

Pedestrianwarningdeactivated:LEDabovethebuttonisoff. Pedestrianwarningactivated:LEDabovethebuttonlightsup.

VehicleswithBMWNightVisionandwithcollisionwarning

WhentheIntelligentSafetybuttonispressedinthedriverassistancesystemoperatingfacility,thein-formationscreensforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.Thedrivercandeactivateoractivatethepedestrianwarningfromhere.

WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylightsup,atleastonefrontprotectivefunctionisactivated.

F01/F02LCIDriverAssistanceSystems2.BMWNightVision

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2.1.2.WarningfunctionThesystemissuesapedestrianwarningwhenBMWNightVisiondetectsaperson(pedestrian)with-inthewarningrange.Thepedestrianwarningappearsintheinstrumentclusterorintheheadupdis-play.ThepedestrianwarningcanbedeactivatedviatheIntelligentSafetybuttoninthedriverassis-tancesystemoperatingfacilityordirectlyintheCID.

F01/F02LCI-Pedestrianwarningintheinstrumentclusterdisplayorintheheadupdisplay

Index ExplanationA Stage1:Earlywarning,personisalongdistanceawayfromthevehicleB Stage1:Earlywarning,personisashortdistanceawayfromthevehicleoris

crossingtheroadC Stage2:Acutewarning,flashingpersoninredandacousticwarningsignal

Earlywarning

Theearlywarningisissuedforthecloserangeandthelong-distancerangewhenapersonisdetect-edwithinthewarningrange.Theearlywarningshows-dependingonwherethepersonissituated-apersonlityellowwhoislocatedwithinthelaneorismovingonit.Iftheearlywarningshowsapersonclearlyabovetheroadway,theyarestilltoogreatadistanceaway.Iftheearlywarningshowsapersoninsidetheroadway,thepersonatriskisalreadyatcloserange.

Inbothcasesthedrivermustbrakeormakeanevasivemaneuver.

Acutewarning

Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedangerofacollision.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollisioncanonlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.

Theacutewarningshowsapersonflashingredwithintheroadway.Inaddition,anacousticwarningsignalissounded.

Theacutewarningdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdrivingspeedanddrivingstyletotheroadandtrafficconditions.

F01/F02LCIDriverAssistanceSystems3.KAFAS

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3.1.LanedeparturewarningThelanedeparturewarningisanintegralpartoftheoptionalequipmentZDA(DrivingAssistancePackageoption5AS)inwhichitsbasicsystemoperationremainsunchanged.Thelanedeparturewarningwarnsthedriverbyvibratingthesteeringwheelintheeventoftheunintentionaldeparturefromagivenlane.Theprerequisiteforthisisthepresenceofsuitableroadwayorlanemarkings,thatcanberecognizedwiththeKAFASvideocameraofthecontrolunit.

Thesystemcannotreplaceapersonalassessmentoftheroadsandtrafficsituation.Thelanedeparturewarningmerelysupportsthedriverintheeventthevehiclewandersawayfromthedrivenlane.

PleaserefertoFunctionallimitationssectionattheendofthechapterKAFASforfurtherinforma-tion.

Forfurtherinformationonlanedeparturewarning,pleaserefertotheKAFAS-Cam-era-basedDriverAssistSystemsF01/F02trainingmaterialavailableonTISandICP.

3.2.Collisionwarning(camera-based)Thecamera-basedcollisionwarningisanadditionalfunctionofthelanedeparturewarningandthere-foreisanintegralpartoftheoptionalZDA[DrivingAssistancePackage(option5AS)LaneDepartureWarningwithCollisionMitigation].ThecollisionwarningalertsthedriverofapossiblecollisiondangerandisrealizedusingtheKAFASsystem.Thecamera-basedcollisionwarningisissuedwithoutanau-tomaticbrakingfunction.

3.2.1.OperationThecollisionwarningisautomaticallyactivatedaftereachenginestartviatheSTART/STOPbutton.

Vehicleswithcamera-basedcollisionwarningw/oNightVision

WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thecollisionwarningfunctionisdeactivatedoractivated:

Collisionwarningdeactivated:LEDabovethebuttonisoff. Collisionwarningactivated:LEDabovethebuttonlightsup.

ThestatusofthecollisionwarningisalsodisplayedintheCID.Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarninginthreestages.Thelatesettingcorre-spondstothepointoftheacutewarning.Thesettingofthetimeoftheearlywarningissavedforthecurrentdriverprofile.


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Vehicleswithcamera-basedcollisionwarningwithNightVision

WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,theinforma-tionscreenforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.Thedriv-ercandeactivateoractivatethecollisionwarningandthepedestriandetectionfromhere.

Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarninginthreestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetimeissavedforthecurrentdriverprofile.

WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylightsup,atleastonefrontprotectionfunctionisactivated.

3.2.2.OperatingprincipleThesystemwarnsofapossiblecollisionintwostagesstartingfromaspeedofabout15km/h(9.3mph).

TheKAFASvideocamerarecordsthesceneryaheadofthevehicleandusesimageprocessingtode-tectthecompleterearviewsofmovingandstationaryvehiclesinthefieldofview.Thecorrespond-ingwarningstagesareoutputincriticalsituationsonthebasisofthecalculatedpositions,distancesandrelativespeedsoftheothervehicles.Inadditiontothewarnings,thevehicle'sbrakesarepreparedforemergencybrakingandtheactivationthresholdsofthebrakeassistantaredecreased.However,incontrasttoCollisionWarningwithbrakingfunction,thereisNOautomaticbrakeinterventionbythesystem.

ThecollisionwarningfunctionisautomaticallyactivatedaftereachenginestartviatheSTART/STOPbutton.

3.2.3.WarningfunctionThewarningfunctionisdividedintotwostages.Itappearsintheinstrumentclusterorintheheadupdisplay.

F01/F02LCI-Collisionwarningintheinstrumentcluster


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F01/F02LCI-Collisionwarningintheheadupdisplay

Index ExplanationA Stage1:Earlywarning,vehicleinredB Stage2:Acutewarning,flashingvehicleinredandacousticwarningsignal

Earlywarning

Theearlywarningisissued,forexample,intheeventofanimminentdangerofcollisiononaccountofahighdifferentialspeedtothevehicledrivingaheadorintheeventofaverysmalldistancetothevehi-cledrivingahead.

Theearlywarningisindicatedbyavehiclepermanentlyilluminatedinredintheinstrumentclusterorinthehead-updisplay.

ThetimeoftheearlywarningcanbeconfiguredintheCID.Whenthelatesettingisselected,thetimeoftheearlywarningcorrespondstothatoftheacutewarning.

Thecollisionwarningisdependentonthevehicle'sinherentdrivingspeed.Thedistancecalculatedforthecollisionwarningismuchlowerthantheminimumdistancerequiredbylaw.Itisthereforestillthedriver'sresponsibilitytomaintainthelegalminimumdistance.

Acutewarning

Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedan-gerofacollisionwhenthevehicleisapproachingthevehicledrivingaheadatrelativelyhighdifferen-tialspeed.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollisioncanonlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.Theacutewarningthereforecannotbedeliberatelybroughtaboutormonitored.

Ifthevehicleisforexampleapproachingatverylowspeedthevehicledrivingahead,noacutewarningisissuedeitherwhenthedistancetothevehicleaheadisverysmall.Thisdeliberatelybrought-aboutdrivingsituationmerelytriggersofftheearlywarning.Inthisway,lesssensibleandthusmoreannoy-ingacutewarningsareavoidedbythesystem.

Theacutewarningcannotbedeactivated.Norcanthetimeoftheacutewarningbeset.Iftheacutewarningisnottobeissued,thecollisionwarningfrontprotectivefunctionmustbedeactivated.

Anacutewarningisindicatedtothedriverbyaredflashingvehicleintheinstrumentcluster.Inaddi-tion,anacousticwarningsignalissounded.


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IncontrasttoCollisionWarningwithbrakingfunction,thecamera-basedcollisionwarningsystem(5AS)doesNOTautomaticallyapplybrakeintervention.Theacutewarningdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdrivingspeedanddrivingstyletotheroadandtrafficconditions.

Intowingortow-startingsituationsthecollisionwarningsystemmustbedeactivatedinordertoavoidmalfunctions.

3.2.4.Systemlimits

Systemlimitationsmeanthatwarningsmayundercertaincircumstancesnotbeissuedorareissuedtoolateorwithoutauthorization.Thedrivermustthereforealwaysremainalertandob-servantsothattheycanactivelyinterveneatanytimesoastoavoidtheriskofanaccident.

Rangeofdetection

Thecollisionwarninghasalimitedcapacityfordetection.

Thismeansthatwarningssometimemaynotbeissuedormaybeissuedlate.

Thefollowingvehiclesmaynotbedetected:

Avehicletravellingatslowspeedwhenapproachingathighspeed Vehiclesthatcutinsuddenlyorareheavilydecelerating Vehicleswithanunusualrearvieworwithpoorlyvisiblerearlights Partiallyconcealedvehicles Two-wheeledvehiclestravellingahead.

PleaserefertotheCollisionWarningw/BrakeApplicationsectionformoreinformation.

3.3.SpeedLimitInformationTheoptionalequipmentSpeedLimitInformation(8TH)isreferredtointhefollowingsectionasroadsignrecognitionforshort.Currentspeedlimitsandbansonpassing/overtakingareshowninthein-strumentclusterorintheheadupdisplay.Inthisway,roadsignrecognitionhelpsthedrivertoadheretoandnottoexceedthemaximumspeedlimit.

Roadsignrecognition(option8THSpeedLimitInformation)isonlyavailableinconjunctionwiththenavigationsystem(standard)anditispartoftheoptionalZDADriverAssistancePackage.


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Theresponsibilityforthevehicleandforthespeedthatisadoptedrestsexclusivelywiththedriver.

ThecontrolunitfortheroadsignrecognitionfunctionistheKAFAScontrolunit.

ThedisplayofthespeedlimitsignsisbasedontheevaluationofdatafromthenavigationsystemandtheevaluationofimagedatarecordedbytheKAFASvideocamera.

Themaximumallowablespeedoftheroadcurrentlydrivenisdisplayedintheinstrumentclusterandinthehead-updisplay.

TheKAFASusesthevideocameratomonitortheroadsignsatthesideoftheroadandtakesintoac-counttheinformationfromthenavigationsystem(609).Thus,forexampleinsomeareas,theappli-cablemaximumspeedisdisplayedwithouttherebeingactualrecognizableroadsignsstipulatingthespeed.

SpeedlimitinformationdisplayedontheHUD(F30graphicshown)

Speedlimitinformationdisplayedontheinstrumentcluster(F30graphicshown)


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3.3.1.SystemlimitsThesystemhasadetectionrateofaround90to95%.

Roadsignsforspeedlimitswhichdonotconformtothelegalstandards,especiallythosewhichdonothavesquareborders,arenotalwaysrecognized.Thesameappliestoroadsignswhicharefullyorpar-tiallyconcealedbystickers,dirtorvegetation.

Longdistancestotheroadsign,highdrivingspeedsandpoorweatherconditions,particularlyatnight,makeitmoredifficultforthesystemtorecognizeroadsignsreliably.

Thedatainthenavigationmapmustbeuptodateinorderforthecurrentspeedlimittobecorrect-lydisplayed.Ifthecurrentplacehasnotyetbeenincorporatedfornavigationpurposes,forexamplewhendrivingindevelopmentareas,onnewroadsoronroadswheretheroutinghasbeenchanged,arecognizedroadsignforspeedlimitscanonlybedisplayedforthenext500m(547yds).

Supplementarysignrecognition

Thesystemcanonlyrecognizesignsthatareincludedinitsdatabase.Textreferencestosupplemen-tarysignscannotbereadorinterpreted.Beforespeedlimitswithlimitingvalidityaredisplayed,thesystemscansfurtherinformationfromthevehicleelectricalsystem.

Thesystemcantreadtext,itcanonlyrecognizeasignthatisincludedinthesigndatabasethereforethesystemwasprogramedextensivelyin48USstates+western/easternCana-dathereforeallspeedlimitsigns(10-80mph+signsase.g.Trucks,Trailers,School,Constructionarea)arenormally(whenconditionsallow)recognizedbythecamera.

Thetrailersignalforvehiclesintowingmodeisnotevaluatedforthedisplayofspeedlimits,asthespeedlimitsforvehicleswithtrailersdifferfromcountrytocountryandaredependentonthetrailertype.

Supplementarysignsarenotrecognized.Thespeedlimitisthendisplayedascurrentlyvalidwithoutthesupplementarysignbeinginterpreted.

Roadsignsonparallel,branching-offormergingroadsandonexits

ParallelroadsarenotrecognizedneitherwiththeKAFASvideocameranorwiththeaidofthenaviga-tionmap.Signspostedtherecanberecognizedanddisplayedasspeedlimitsfortheroadcurrentlybeingdriven.

Speedlimitsforbranching-offormergingroadsareusuallyalsoadoptedanddisplayedfortheroadcurrentlybeingdriven.

Speedlimitsonhighwayexitswithorwithoutanarrowasasupplementarysignareusuallycorrectlyevaluatedandsuppressedinthedisplayedwhentheexitisdrivenpast.Thisisonlythecaseifthedatainthenavigationmapisuptodate.

Inthecaseofoverheadhighwaysignswithdifferent,lane-specificspeedlimits,thespeedlimitnearesttothelanethevehicleisdrivinginisdisplayed.Thedisplayisnotmodifiedafteralaterlanechange.


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Informationsignsintheroadsignsurroundings

Informationsignswithspeedlimitsatbordercrossingswithreferencestothedifferentlegalmaxi-mumspeedsforordinaryroadsandhighways,canbemistakenlyrecognizedascurrentlyvalidanddis-played.Thesameappliestoinformationsignssetoutonlyindifferentcolors,e.g.forminimumorrec-ommendedspeeds.

Stickersonvehicles

Stickersshowingaspeedlimitonvehiclesdrivingaheadoronovertakenvehicles,e.g.ontrucks,bus-es,trailersandconstructionmachinery,canbemistakenlyrecognizedasthecurrentlyvalidspeedlimitanddisplayed.

Town/citylimits

Ifthetown/citylimitssignisnotclearlyrecognizedandthedatainthenavigationmaparenotuptodate,thespeedlimitattown/citylimitsmaybeincorrectlydisplayed.

Legalchanges

Ifmaximumspeedsprescribedbylawarechanged,theseareonlyavailableafteranavigationsoftwareupdate.Theoriginal,butnolongervalidspeedlimitsaredisplayeduntiltheupdateisissued.

Thesystemcanonlycurrentlydetectspeedlimitsignsandnoothertrafficsigns.

Thissystemcannotreplacethedriver'spersonalassessmentoftheroadandtrafficsituation.SpeedLimitInformationsupportsthedriverbutdoesnotisnotintendedtoreplacethehumaneye.

3.4.FunctionallimitationsThefunctionoftheKAFASvideocameraandthusalsothefunctionofthecorrespondingdriverassis-tancesystemsmaybeimpairedinthefollowingsituations:

heavyfog,rain,sprayorsnow stronglightinthecameralens ifthefieldofviewoftheKAFASvideocameraorthewindshieldisdirtyorconcealed onsharpcorners upto10secondsafterenginestartingviatheSTART-STOPbutton duringthecalibrationprocessoftheKAFASvideocameraimmediatelyaftervehicledeliveryor

acamerachange.

Systemandfunctionallimitationsmeanthatwarningsandbansmayundercertaincircumstancesnotbeissuedorareissuedtoolateorwithoutauthorization.Thedrivermustthereforealwaysremainalertandobservantsothattheycanactivelyinterveneatanytimesoastoavoidtheriskofanaccident.

F01/F02LCIDriverAssistanceSystems4.High-beamAssistant

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Invehicleswithoutadaptiveheadlights(option524)andwithoutadaptiveLEDheadlights(option552)thefunctionofthehigh-beamassistant(option5AC)remainsunchangedattwostages.Thehigh-beamheadlightsareautomaticswitchedonandoff.

Forfurtherinformationonthehigh-beamassistantinthiscase,pleaserefertotheKAFAS-Cam-era-basedDriverAssistanceSystemsST811F01CompleteVehicletrainingmaterialavailableonTISandICP.

Thehigh-beamassistantcannotreplaceapersonaldecisionontheuseofthehigh-beamheadlight.Insomesituations,manualdippingisrequiredasotherwisethereisasafetyrisk.

F01/F02LCIDriverAssistanceSystems5.ACCStop&Go

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ActivecruisecontrolwithStop&Gofunction(ACCStop&Go)hasenhancedfunctionalityintheF01LCI.Option5AT(EnhancedActiveCruiseControl)requirestheoptionalZDADrivingAssistantPack-age.

ACCStop&Goadjustsadriver-specifieddesiredspeedand,ifrequiredbythetrafficsituation,alsothepreselectedfollowingdistanceautomaticallytothevehicledrivingahead.Passengercars,trucksandmotorcyclesaredetected.Thescopeofthisapplicationrangesfromhighspeedsdowntoafullstop.Dependingonthestationarytime,drivingofffromastandstillisperformedautomaticallyorinre-sponsetoapromptbythedriver.

TheF01/F02LCIACCStop&Gosystemcan(forthefirsttime)notonlydetectslowlystoppingvehi-clesbutalsovehiclesthatarealreadystationaryandthereforecanreacttothesesituationsaccording-ly.Thedetectionofstationaryvehiclesisauniquefeatureasthefunctionofthisapplicationisalsoex-tendedtoincludehigh-capacityurban(arterial)andring(loop)roads.

Thereactiontotransversemovementshasalsobeenimproved.Thisenablesthesystemtoreactmoreswiftlytovehiclesthatareveeringinandoutofourlaneorturning.

ByconnectingtheKAFASvideocameratotheACCStop&Gosystemweextendthescopeofthisap-plication.Inadditiontotheradardata,theimagedatafromthevideocameraisnowevaluatedinACCStop&Go.Thiscombinationofimageandradardatafacilitatestheclearidentificationoflanemark-ingsanddistinctionbetweenstationaryvehiclesandotherimmobileobjects.

Inaddition,theadjustmentrangeforthesetspeedhasbeenincreasedfrom180km/hto210km/h(112mphto130mph).

TheaccelerationbehaviorofACCStop&GoisalsoadaptedforECOPROmode.ACCStop&Goac-celeratesthevehicleinECOPROmodemuchmoresmoothlyforoptimizedfuelconsumption.TheECOPROinstructionsregardingtheacceleratorpedalpositionaresuppressed(notdisplayed)whenACCStop&Goisactivated.

5.1.IntroductionACCStop&Gooffersthedriveroptimumsupportnotonlyinflowingtraffic,butalsointrafficjamsitu-ations.

ThescopeofapplicationofACCStop&Gorangesfromhighspeedsdowntoafullstop.Thedistanceandthespeedareautomaticallyadjustedinthisrange.

F01/F02LCI-Activecruisecontrol


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ACCStop&Gocontrolsthespeedifthereisnovehicledrivingdirectlyaheadandautomaticallyswitchestodistancecontrol(ranging)iftheradarsensordetectsaslowervehicleinitslane.

A77GHzradarsensorinthesystemcanidentifyvehiclesupto200m(218.7yd)ahead;thissensorcanoperatelargelyindependentlyofweatherconditions.Thankstotheradarsensor'simprovedde-tectioncapabilityandthecalibrationwiththeimagedatafromtheKAFASvideocamera,evenvehiclesintheneighboringlanesaredetected.Ifthesevehiclesdriveintothesubjectvehicle'sownlane,ACCStop&Goadaptsthespeedtovehiclesveeringinordrivingahead.Consequentlythetimeintervalse-lectedbythedriverismaintainedconstant.

F01/F02LCI-Schematicdiagramofmonitoringranges

Index Explanationa Closerangeb Long-distancerange1 DetectionrangeofKAFASvideocamera2 Detectionrangeofradarsensor

Thedetectionrange(cone)oftheradarsensorisupto60m(65.6yd)widerinthecloserangethaninthelong-distancerange.Thisprovidesforwiderlanecoverage.Withinthisrangetheradardataorde-tectedobjectsareverifiedwiththeimagedatafromtheKAFASvideocamera.

TheKAFAScontrolunitcandetecttransversemovementsbetter,assignlanesandclearlyidentifyve-hicles.Inthisway,vehiclesveeringinandoutatcloserangecanbedetectedearlierandmuchmorequickly.Thecombinationofradarandvideodataalsofacilitatestheclearidentificationofstationaryve-hicles.

Thesystem'sStop&Gofunctionbringsthevehicletoacompletestopifnecessary.Ifthevehicleinfrontstartsagainafterastandstill,informationisoutputtothedriver.Todriveoffagain,thedrivermustacknowledgethisinformation.Onlyifthedurationofthestandstillisveryshortdoesthestartingpro-cesstakeplacefullyautomaticallybyACCStop&Go.

Inthisway,ACCStop&Gosupportsthedrivernotonlyinflowingtraffic,butalsointrafficjamsitua-tions,bothonmultiple-lanehighwaysandordinaryroadsandonurbanarterialandringroads.


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FurtherconsiderationshouldbegivenheretothefollowingareasofthedriverassistsystemACCStop&Go:

Systemcomponents Informationfromthevehicleenvironment Controlfunctions Operationanddisplay Behaviorwhendriverintendstoexit Monitoringfunctions.

5.2.Systemcomponents

F01/F02LCI-Systemcomponents,ACCStop&Go


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Index Explanation1 Junctionboxelectronics(JBE)andpowerdistributionbox2 Head-updisplay(HUD)3 CrashSafetyModule(ACSM)4 Headunit5 Centralinformationdisplay(CID)6 Rain-light-solar-condensationsensor(RLSBS)7 KAFASvideocamera8 Instrumentcluster(KOMBI)9 Steeringcolumnswitchcluster(SZL)10 IntegratedChassisManagement(ICM)11 Trailermodule(NotforUS)12 Doorcontactdriver'sdoor13 Seatbeltbucklecontact,driver14 Operatingfacilityfordriverassistsystems15 Centralgatewaymodule(ZGM)16 KAFAScontrolunit17 Footwellmodule(FRM)18 DynamicStabilityControl(DSC)19 Electronictransmissioncontrol(EGS)20 DigitalEngineElectronics21 RadarsensorforACCStop&Go


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5.2.1.Systemwiringdiagram

F01/F02LCI-Systemwiringdiagram,ACCStop&Go


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Index Explanation1 RadarsensorforACCStop&Go2 Videocameraheater3 KAFASvideocamera4 Rain-light-solar-condensationsensor(RLSBS)5 Electronictransmissioncontrol(EGS)6 DigitalEngineElectronics7 Junctionboxelectronics(JBE)8 Junctionboxforthepowerdistributionbox9 Centralinformationdisplay(CID)10 Headunit11 Controller12 Trailermodule(NotforUS)13 IntegratedChassisManagement(ICM)14 Operatingfacilityfordriverassistsystems15 Steeringcolumnswitchcluster(SZL)16 Instrumentcluster(KOMBI)17 Doorcontactdriver'sdoor18 Footwellmodule(FRM)19 Head-updisplay(HUD)20 Seatbeltbucklecontact,driver21 CrashSafetyModule(ACSM)22 Centralgatewaymodule(ZGM)23 KAFAScontrolunit24 DynamicStabilityControl(DSC)

5.2.2.RadarsensorforACCStop&GoTheradarsensorsendsoutbundledelectromagneticwaves.Theechoesreflectedbyobjectsarere-ceivedandevaluatedbytheradarsensor.Informationonobjectslocatedinfrontoftheradarsensorcanbeachievedinthisway.Thisinformationincludessize,distanceandthespeedderivedtherefrom.

ForthefirsttimeintheF01/F02LCItheradarsensorreceivesadditionalinformationfromtheKAFAScontrolunitviaitsownsensorbus.Thisinformationislaneinformationontransversemovementsandinformationonvehicleidentification.Theinformationsupportstheradarsensorindetectingandeval-uatingobjectsandfacilitatesclearvehicleidentification.Thisvideodataisrequiredforthereactiontostationaryvehicles.


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F01/F02LCI-RadarsensorforACCStop&Go

Theradarsensorislocatedbehindaremovablegrillonthefrontbumper.

F01/F02LCI-Installationlocationofradarsensor

Index Explanation1 RadarsensorforACCStop&Go2 Removablegrill


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5.2.3.KAFASvideocameraandcontrolunitTheKAFAScontrolunitdetectsvehicleswhentheirrearendsarerecordedbythevideocamera.TheKAFAScontrolunitalsosupplieslaneinformationandthushelpstheradarsensortodeterminevehi-clepositionandmovementmuchmorequickly.Thedataistransmittedviathesensorbustotheradarsensor.

5.2.4.IntegratedChassisManagement(ICM)ForadetaileddescriptionofIntegratedChassisManagement(ICM),pleaserefertotheF01Dynam-icDrivingSystemsinST811F01CompleteVehicletrainingmaterialavailableonTISandICP.Thefol-lowingtextprovidesabriefoverviewandaddressestheparticularsconnectedwiththetopicspresent-edhere.

TheICMintheF01/F02LCIcalculatesthecontrolfunctions,sensordataandvehiclevaluesusedtoinfluencelongitudinalandtransversedynamics.AlsointegratedinICMaremicromechanicalsensorswhichsupplydrivingdynamicssignals.

TwodifferentICMversionsareusedintheF01/F02LCI,abasicversionforvehicleswithoutACCStop&GoandahighversionforvehicleswithACCStop&Go.

5.3.InformationfromthevehicleenvironmentInformationonroadusersaheadisrequiredfortheACCStop&Gofunction.Thisinformationisob-tainedwiththeaidoftheradarsensorforACCStop&GoandpreparedinICM.

5.3.1.RecordingobjectsThedetectionoftheroadusersaheadisoneofthemostimportantfunctionsoftheActiveCruiseControl.FortheStop&Gofunction,thistaskmustbedonenotonlyinthelong-distancerange,butal-soincloserangeuptodirectlyinfrontofthevehicle.Thisisnecessaryasatlowspeedsonecandriveupveryclosetothevehicleahead.

TheradarsensorforACCStop&Gorecordsthecloserangeandlong-distancerangeaheadoftheve-hiclewiththeaidofradarwaves.Inadditiontodetectingobjects,thepositionofobjectsinthexandydirectionstheradarsensorforACCStop&Gocanalsodeterminetherelativespeedofaparticularve-hicle.WiththeaidoftheimagedatafromtheKAFASvideocamera,objectscanbeclearlyidentifiedasvehiclesandtransversemovementsaslanechanges.

TheradarsensorforACCStop&Goalsousesthedrivingspeedtocalculatetheaccelerationofthevehiclesdrivingaheadinrelationtothesubjectvehicle.Thesevaluesarerequiredfordistancecontrol(ranging).

5.3.2.ProcessingobjectdataTheobjectdatavehicledetection,positionandmotionvariablesarealreadypreparedintheradarsen-sorforACCStop&Go.Individualvehiclesaresummarizedandtrackedovertimeinordertobypassmeasurementfailures.Theobjectdataissubjectedtoaninitialfilteringprocessandthensummarizedagain,sincepartsofthecloseandlong-distancerangesoverlap.Thisoverlapoccursinparticularincloserange.


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Withthesummarizedobjectdata,anotherfilteringprecessisdone,whichtakesintoaccountthespe-cialrequirementsfordistancecontrol(ranging).ThefilteredobjectdataistransmittedtoICMforas-sessment.

5.3.3.AssessingobjectsTodecidewhichvehicleshouldbeusedfordistancecontrol,adiagnosticstatisticiscalculatedinICMforeachvehiclefromitsobjectdata.

Thefollowingtwokeycriteriaareincludedinthecalculation:

Positionandrelativemovementofthevehicledrivingaheadtothesubjectvehicle.Thecloserthevehicledrivingaheadistothesubjectvehicleand/orthefasteritmovestothesubjectve-hicle,thehigherthediagnosticstatistic.

Periodspentbythevehicledrivingaheadintheparticularlane.

Thevehiclewiththehighestdiagnosticstatisticisusedfordistancecontrol.Herethevehiclesareal-soclassifiedaccordingtothemotionstatus.Adistinctionismadebetweendrivingandstationaryve-hicles.ForareactiontoastationaryvehicleitsobjectdatamustbeverifiedbytheimagedatafromtheKAFASvideocamera.IftheKAFASvideocamerafails,therecanbenoreactiontostationaryvehicles.ThedriverisinformedofthefailurebymeansofadisplayintheinstrumentclusterandaCheckCon-trolmessage.

5.4.Controlfunctions

5.4.1.CruisecontrolCruisecontrolforACCStop&Gobasicallycorrespondsto(DCC)Dynamiccruisecontrol.

5.4.2.Distancecontrol(ranging)Distancecontrol(ranging)isthecorefunctionoftheACCStop&Gosystem.ItisintegratedforACCStop&GoinICM.Thedrivercanselectadesireddistanceinfourstagesusingtwobuttonsonthemultifunctionsteeringwheel.ACCStop&Gocalculatestheset-pointdistanceforthecontrolfromthispreselection.

Theset-pointdistanceduringthejourneyisproportionaltothedrivingspeed.Atalowerdrivingspeedandatstandstill,theproportionaldistancetothedrivingspeedisnolongerused,butinsteadvalueinmeters.Distancecontrolusesthepreparedvehicleobjectdatawiththehighestdiagnosticstatisticasinputvariables.

Distancecontroltakesintoconsiderationthefollowingsituations(inparticular):

Maximumvaluesforaccelerationanddeceleration:Themaximumvaluesforaccelerationanddecelerationbelowaround50km/h(30mph)aredynamicvalues.Theycorrespondtotheaccelerationvalueswhichthedriverhimselfwoulduseandconsiderscomfortable.Dependingonthesituation,ACCStop&Goacceleratesbyamaximumof2m/s(6.56ft/s)anddeceleratesbyamaximumof4m/s(13.1ft/s).

Prompttotakeovervehiclehandling:


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WhenACCStop&Goisnolongerabletomaintainasafedistance,e.g.onaccountofveryhighdifferentialspeedsoraninsufficientmaximumdeceleration,twoshortwarningtonessoundandtheorangevehiclesymbolisdisplayedintheinstrumentclusterorflashesintheheadupdisplay.Thesystemcontinuestoperformitscontrolfunctionandpromptsthedrivertotakeovervehiclehandlingandtokeeptheirdistanceaccordingly.Ifthecollisionwarningwithbrakingfunctionisactivated,thiswillissueawarningifthetakeoverpromptisnotfollowedandthereisanimminentdangerofcollision.Theredvehiclesymbolisthendisplayedintheinstrumentclusterorintheheadupdisplay.Forfurtherinfor-mation,pleaserefertothechapterCollisionwarningwithbrakingfunction.

5.4.3.CruisecontrolwhencorneringCruisecontrolofACCStop&GoonbendsisbasedonthatofDCC.Inthecaseofanobjectlossonthebend,itisnecessarytowaitacertainperiodoftimetoseewhethertheobjectreappearsagain(transitioncurve).Thevehicleisacceleratedonlyiftheobjectnolongerappears.

5.5.Operationanddisplay

5.5.1.ActivationanddeactivationActivationanddeactivationofACCStop&GoandDCCarevirtuallyidenticalasotherBMWvehicles.ACCStop&Gocannotonlybeactivatedbythedriverduringthejourney,butalsowhenthevehicleisatastandstill,ifthesystemdetectedanothervehiclebeforeitsownvehicle.ToactivateACCStop&Goatstandstill,thedrivermustpressthebrakepedalandatthesametimepresstheRESbutton.Thefollowingconditionsmustalsobesatisfied:

Seatbeltfastenedanddoorclosed DrivepositionDengaged Enginerunning Parkingbrakenotactivated Nosystemfaultsdetected.

Thesetspeedcanbesetinarangefrom30to210km/h(18.6to130mph).ComparedtotheDCC,avehiclewithACCStop&Goreceivesakeypadinthemultifunctionsteeringwheel,whichalsohastwobuttonsforsettingthedistance.


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F01/F02LCI-Steeringwheel,ACCStop&Go

Index Explanation1 Button-speedSET2 Button-decreasedistance3 rockerswitch-changespeed,setspeed4 Button-increasedistance5 Button-switchACCStop&Goon/off6 Button-retrievesavedspeed(RES)

A(brief)pressoftherespectivebuttonforchangingthedistanceincreasesorreducesthedesireddis-tance,whichACCStop&Gousesforcontrol.Atotaloffourstagesareavailabletothedriverforthispurpose.Intheinstrumentclustertheselectedstageofthedistanceisfaded-in.

LikeforDCC,itisalsonecessarythatthesymbolscreenmasksarecomplementedifnecessarywithnotesintheinstrumentclusterforACCStop&Go.Thesymbolscreenmasksareforexamplethesetspeedandthedistancebar.Thedisplaysarefaded-inforabout3seconds.Foreachrenewedopera-tionthedisplayisfaded-inagainforanother3seconds.

ACCStop&Goinformationisalsoshowninthehead-updisplay.

5.5.2.ChangingthedesiredspeedThedrivercanchangethedesiredspeedofACCStop&GoinjustthesamewayasforDCCifthesys-temisswitchedon.AlsoiftheparticularvehicleisbroughttoastandstillbyACCStop&Go,thisad-justmentoptionisgiven.Theadjustablerangeofthedesiredspeedis30to210km/h(18.6to130mph).

5.5.3.ChangingthedesireddistanceThedesireddistancecanbechangedbyabriefpressofthecorrespondingbuttoninthemultifunctionsteeringwheelwhenthesystemisswitchedon.Theusualfourdistancestagesareavailableforselec-tion,whicharerepresentedbybarsintheinstrumentcluster.Thechangeofthedesireddistanceim-


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mediatelyresultsinanoticeablevehicleresponseduringthejourney.Thevehicleacceleratesordecel-eratesslightlyinordertoadjusttothenewdesireddistance.Atstandstillthevehicleisnotsetinmo-tionbythechangeofthedesireddistance.

IfACCStop&Goisoversteeredbythedriver,nochangeofthedesireddistancecanbeeffected.Dur-ingoversteeringbythedriverthedistancebarsintheinstrumentclusterdisappear.

5.5.4.StoppingandstartingIfthevehicleaheadstops,ACCStop&Goalsodeceleratesuntilatafullstop,wherebyasafedistancetothevehicleaheadisobserved.Ifthevehicleaheadstartsmovingagainwithin3seconds,theF01/F02LCIalsostartsupwithoutinterventionbythedriver.Ifthevehicleremainsstationaryforlongerthan3seconds,theF01/F02LCInolongerstartsupautomatically.Instead,ACCStop&Goindicatestothedriverintheinstrumentclusterthattheycanstartdrivingagain.Assoonasthedriveracknowl-edgesthissignalbypressingtheacceleratorpedalorbypressingabuttononthesteeringwheel,thevehicleissetinmotionagain.

Intheeventofextremeexternalconditions,suchasasharpinclineforexample,theACCStop&Gomaynolongerbeabletodriveoff.Inthiscase,thebrakepressurerequiredtoholdthevehicleisbuiltupagain.Thesystemremainsinthisstateuntilthedriverswitchesitofforperformsthestartingpro-cesshim/herselfmanually.Thisdoesnotrepresentafault,butasituationinwhichthelimitsfortheop-eratingrangeofACCStop&Gohavebeenexceeded.

5.5.5.BehaviorwhendrivergetsoutofthevehicleACCStop&GoreliablydeceleratesthevehicletostandstillwithhelpoftheDSChydraulicsandstopsitthere.Withoutthesupplyofelectricalenergy,theDSChydraulicsisnotablehowevertomaintainthebrakeforcerequiredforstoppingforalongperiod.

Ifthedriverleavesthevehicleinstandstillwhenthesystemisactive,ACCStop&Goisdeactivatedandthevehicleispermanentlykeptinstandstillwithhelpoftheparkinglockofthetransmission.

Thesignalsoftheseatbeltbucklecontact(driver)andofthedoorcontact(driver'sdoor)areevaluat-edtodetectthedriver'sintentiontoexitthevehicle.Aseatoccupancydetectionsignal(driver'sseat)isnotusedintheF01/F02LCI.

5.6.MonitoringfunctionsICMmonitorsthesystemnetworktotheeffectthatalltheparticipatingsubsystemsareoperational,alltheinputsignalsrequiredforthefunctionarevalid,andtheelectronicsoftheparticularcontrolunitarefault-free.Whentroubleshootingitisimportanttoincorporatenotonlyindividualcomponents,butalsoparticipatingsystemsfromthesystemnetwork.

Ifthereisafaultintheradarsensorsystem,thefunctionisdeactivatedcompletely.Ifthevideoinfor-mationfromtheKAFAScontrolunitfails,thefunctionwillonlycontinuetobeavailablewithlimitedef-fect.Inbothcasesthedriverisinformedofthefailurebymeansofadisplayintheinstrumentclus-terandaCheckControlmessage.Anactivationwillonlybepossibleagainwhenthefaultisnolongerpresent.

F01/F02LCIDriverAssistanceSystems6.CollisionWarningw/BrakeApplication

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ThecollisionwarningwithbrakeapplicationfunctionisasupplementfunctiontoACCStop&Goandusesitssensorsystemandcomponents.Itisanintegralpartof(option5ATEnhancedActiveCruiseControl)whichcanonlybeorderedincombinationwiththeoptionalZDA(DrivingAssistancePackage).

Thecollisionwarningalertsthedriverofapossibledangerofcollisionandprovidesassis-tanceinanemergencyintheformofanautomaticbrakeintervention.

BycombiningtheradarandKAFASimagedatathebrakingdecelerationofthebrakingfunctionisin-creasedupto8m/s(26.2ft/s).Thisisapplieddifferentlyforthelower(50km/h/30mph)andupper(>50km/h/30mph)speedrangesasbrakingisnowdoneintwostages.

6.1.Operation

6.1.1.Vehicleswithcollisionwarningw/oNightVisionThecollisionwarningwithbrakingfunctionisautomaticallyactivatedaftereachenginestartviatheSTART/STOPbutton.

WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thecollisionwarningwithbrakingfunctionisdeactivatedoractivated:

Collisionwarningdeactivated:LEDabovethebuttonisoff. Collisionwarningactivated:LEDabovethebuttonlightsup.

ThestatusofthecollisionwarningwithbrakingfunctionisadditionallydisplayedintheCID.Inaddi-tion,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarninginthreestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetimeoftheearlywarningissavedforthecurrentdriverprofile.

6.1.2.VehicleswithcollisionwarningandwithNightVisionThecollisionwarningwithbrakingfunctionisautomaticallyactivatedaftereachenginestartviatheSTART/STOPbutton.

WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,theinforma-tionpagesforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.Thedriv-ercandeactivateoractivatethecollisionwarningwithbrakingfunctionandpedestriandetectionfromhere.

Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarninginthreestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetimeissavedforthecurrentdriverprofile.

WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylightsup,atleastonefrontprotectivefunctionisactivated.


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6.2.OperatingprincipleThesystemwarnsofapossiblecollisionfromaspeedofaround15km/h(9.3mph)initiallywithanear-lywarningandthenifthedangerpersistswithanacutewarning.

Thecollisionwarningisalsoavailablewhencruisecontrolisdeactivated.

Stationaryaswellasmovingvehiclesaretakenintoconsideration.

Inadditiontothewarnings,thevehicle'sbrakesarepreparedforemergencybrakingandtheactivationthresholdsofthebrakeassistantaredecreased.Inanemergencyanautomaticbrakeinterventionisperformedbythesystem.

Intheeventofadeliberateforwardcollisionwithavehicle,thesystemsensitivityisreducedandthusthewarningsarenotdisplayed.

6.3.WarningfunctionThewarningfunctionisdividedintotwostages.Itappearsintheinstrumentclusterorintheheadupdisplay.

F01/F02LCI-Collisionwarningintheinstrumentcluster

F01/F02LCI-Collisionwarningintheheadupdisplay

Index ExplanationA Stage1:Earlywarning,vehicleinredB Stage2:Acutewarning,flashingvehicleinredandacousticwarningsignal


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6.3.1.EarlywarningTheearlywarningisissued,forexample,intheeventofanimminentdangerofcollisiononaccountofahighdifferentialspeedtothevehicledrivingaheadandintheeventofaverysmalldistancetotheve-hicledrivingaheadorstationaryvehicle.

Theearlywarningisindicatedbyavehiclepermanentlyilluminatedinredintheinstrumentclusterorinthehead-updisplay.

ThetimeoftheearlywarningcanbeconfiguredintheCID.Whenthelatesettingisselected,thetimeoftheearlywarningcorrespondstothatoftheacutewarning.

6.3.2.AcutewarningTheacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedan-gerofacollisionwhenthevehicleisapproachingthevehicledrivingaheadatrelativelyhighdifferentialspeed.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollisioncanonlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.

Theacutewarningissuesapromptforinterventionandisusuallysupportedintheeventofadangerofcollisionbyatwo-stagebrakeintervention.Brakeinterventionislimitedintimetoabout3secondsandmustendwhenbyvehiclehasbeendeceleratedbyaround50km/h(30mph).Thisavoidsadditionaldangersforthefollowingtraffic.

Inthelowerspeedrangeupto50km/h(30mph)brakeinterventionisappliedinitiallywithabrakeforceof5m/s.Whenthetargetobjectisverifiedbythecameradata,brakeinterventionisappliedaf-terabout0.5secondsatmax.8m/s(26.2ft/s).Thevehiclecanthereforebebrakedtoafullstopinthelowerspeedrange50km/h(30mph).

Atadrivingspeedinexcessof50km/h(30mph)brakeinterventionisappliedinitiallywithabrakeforceof4m/s(13.1ft/s).Whenthetargetobjectisverifiedbythecameradata,brakeinterventionisappliedafterabout0.5secondatmax.6m/s(19.6ft/s).

Atadrivingspeedinexcessof210km/h(130mph)thespeedreductionislimitedto10km/h(6.2mph).

Brakeinterventionisalsoappliedwhenthedriverfailstodepressthebrakepedalsufficiently.

BrakeinterventionisappliedonlywhenDynamicStabilityControl(DSC)isswitchedon.

Anacutewarningisindicatedtothedriverbyaredflashingvehicleintheinstrumentclusterandinthehead-updisplay.Inaddition,anacousticwarningsignalissounded.

Theacutewarningdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdrivingspeedandstyletotheroadandtrafficconditionsandtomaintaintheprescribedsafetydis-tance.

Brakeinterventioncanbecancelledbypressingtheacceleratorpedalorbyapplyingaclearsteeringwheelmovement.

Thecollisionwarningwithbrakingfunctionmustbedeactivated(intowingsituations)inordertoavoidmalfunctions.


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ThebrakingfunctionisdeactivatedwhenDynamicStabilityControl(DSC)orDynamicTractionControl(DTC)isdeactivated.

IftheKAFASvideocamerafails,brakeinterventionisappliedonlywithabrakeforceofmax.4m/s(13.1ft/s)andsolelyinresponsetodetectedmovingorstoppedvehicles.Inthecaseofvehicleswhichwerealreadystationarywhentheyenteredtheradarsensor'sdetectionrange,thereisnobrak-ing.Iftheradarsensorfails,thecollisionwarningwithbrakingfunctionisdeactivatedcompletely.InbothcasesthedriverisinformedofthefailurebymeansofadisplayintheinstrumentclusterandaCheckControlmessage.

Systemlimitationsmeanthatwarningsmay(undercertaincircumstances)notbeissuedorareissuedtoolateorwithoutauthorization.Thedrivermustalwaysremainalertandobser-vantsothathe/shecanactivelyinterveneatanytimetoavoidtheriskofanaccident.

6.4.HistoryThecollisionwarningwithbrakingfunction(formerlyknownastheadaptivebrakeassistant)wasintro-ducedforthefirsttimein2007withtheE60LCI.Thetablebelowdescribesthevariousdevelopmentstages,theirfeaturesandtheirinitialimplementationinBMWmodels.

Features Adaptivebrakeas-sistant

Adaptivebrakeas-sistant

withwarn-ingfunction

Collisionwarningwithbrak-ingfunction

Collisionwarningwithbrak-ingfunctionLatestgen-eration

Initialimplementation 03/2007E60LCI

08/2009F01

01/2010F10

07/2012F01/F02LCI

Pre-pressurizingofbrakesystem X X X X

Adaptationofbrakeassistant X X X X

Earlyandacutewarn-ings

inresponsetomov-ing/stoppedtargets X X X

inresponsetosta-tionarytargets X X

Brakinginresponsetomov-ing/stoppedtargets X X

inresponsetosta-tionarytargets X


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Features Adaptivebrakeas-sistant

Adaptivebrakeas-sistant

withwarn-ingfunction

Collisionwarningwithbrak-ingfunction

Collisionwarningwithbrak-ingfunctionLatestgen-eration

atmax.3m/s(9.8ft/s) X

atv50km/h(30mph)atmax.8m/s(26.2ft/s)two-stagetoafullstop

X

atv>50km/h(30mph)atmax.6m/s(19.7ft/s)two-stage

X

F01/F02LCIDriverAssistanceSystems7.DistanceRangingInformation

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Distanceranginginformationutilizesthesensorsystemandcomponentsoftheactivecruisecontrol(ACCStop&Go).

ThusitisanintegralpartoftheoptionalequipmentEnhancedActiveCruiseControl(option5AT),availableonlywithZDADrivingAssistancePackage

WhenACCStop&Goisdeactivated,thedistanceranginginformationnotifiesthedriveriftheirvehicleistooclosetothevehicledrivingahead.Herethedistancecanbesmallerthanaminimumdistancere-quiredbylaw.Thedistanceranginginformationisremovedassoonasthedistanceisincreasedagain.

Theindicationappearsonlyintheheadupdisplay.ThedisplaycanbedeactivatedviatheCID.

F01/F02LCI-Distanceranginginformationintheheadupdisplay

Thedistanceranginginformationsymbolisonlydisplayedinthefollowingsituations:

ACCStop&Goisdeactivated ranginginformationisactivated thevehicleisbeingdrivenfasterthan70km/h(43.4mph) thedistanceistoosmallforseveralseconds.

Distanceranginginformationdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdrivingspeedanddrivingstyletotheroadandtrafficconditionsandtomaintainthepre-scribedsafetydistance.

BayerischeMotorenwerkeAktiengesellschaftHndlerqualifizierungundTrainingRntgenstrae785716Unterschleiheim,Germany

Main Menu01 F01-F02 LCI Introduction02 F01-F02 LCI Powertrain and Chassis03 F01-F02 LCI General Vehicle Electronics04 F01-F02 LCI Driver Assistance Systems05 F01-F02 LCI Infotainment06 F01-F02 LCI Displays and Controls07 F01-F02 LCI Passive Safety Systems

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04_F01-F02 LCI Driver Assistance Systems