Technicaltraining.

Productinformation.
F01/F02LCIDriverAssistanceSystems

BMWService

Generalinformation
Symbolsused
Thefollowingsymbol/schematicdiagramisusedinthisdocumenttofacilitatebettercomprehension
ortodrawattentiontoveryimportantinformation:

Containsimportantsafetyinformationandinformationthatneedstobeobservedstrictlyinorderto
guaranteethesmoothoperationofthesystem.
Informationstatusandnational-marketversions
BMWGroupvehiclesmeettherequirementsofthehighestsafetyandqualitystandards.Changesin
requirementsforenvironmentalprotection,customerbenefitsanddesignrendernecessarycontinuousdevelopmentofsystemsandcomponents.Consequently,theremaybediscrepanciesbetween
thecontentsofthisdocumentandthevehiclesavailableinthetrainingcourse.
ThisdocumentbasicallyrelatestotheEuropeanversionofleft-handdrivevehicles.Someoperating
elementsorcomponentsarearrangeddifferentlyinright-handdrivevehiclesthanshowninthegraphicsinthisdocument.Furtherdeviationsmayariseasaresultoftheequipmentspecificationinspecific
marketsorcountries.
Additionalsourcesofinformation
Furtherinformationontheindividualtopicscanbefoundinthefollowing:

Owner'sHandbook

IntegratedServiceTechnicalApplication.

Contact:conceptinfo@bmw.de
2012BMWAG,Munich,Germany
ReprintsofthispublicationoritspartsrequirethewrittenapprovalofBMWAG,Munich
Theinformationcontainedinthisdocumentformsanintegralelementofthetechnicaltrainingofthe
BMWGroupandisintendedforthetrainerandparticipantsintheseminar.RefertothecurrentrespectiveinformationsystemsoftheBMWGroupforanychanges/additionstothetechnicaldata.
Informationstatus:May2012
VH-23/InternationalTechnicalTraining

F01/F02LCIDriverAssistanceSystems
Contents
1.

Introduction............................................................................................................................................................................................................................................. 1

2.

BMWNightVision....................................................................................................................................................................................................................... 2
2.1.
BMWNightVisionwithpedestriandetection.......................................................................................................... 2
2.1.1.
Operation........................................................................................................................................................................................... 2
2.1.2.
Warningfunction................................................................................................................................................................... 3

3.

KAFAS................................................................................................................................................................................................................................................................4
3.1.
Lanedeparturewarning.............................................................................................................................................................................. 4
3.2.
Collisionwarning(camera-based)............................................................................................................................................... 4
3.2.1.
Operation........................................................................................................................................................................................... 4
3.2.2.
Operatingprinciple............................................................................................................................................................ 5
3.2.3.
Warningfunction................................................................................................................................................................... 5
3.2.4.
Systemlimits............................................................................................................................................................................... 7
3.3.
SpeedLimitInformation ........................................................................................................................................................................... 7
3.3.1.
Systemlimits............................................................................................................................................................................... 9
3.4.
Functionallimitations.................................................................................................................................................................................. 10

4.

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

5.

ACCStop&Go............................................................................................................................................................................................................................ 12
5.1.
Introduction................................................................................................................................................................................................................. 12
5.2.
Systemcomponents.................................................................................................................................................................................... 14
5.2.1.
Systemwiringdiagram............................................................................................................................................16
5.2.2.
RadarsensorforACCStop&Go.......................................................................................................... 17
5.2.3.
KAFASvideocameraandcontrolunit........................................................................................... 19
5.2.4.
IntegratedChassisManagement(ICM)........................................................................................ 19
5.3.
Informationfromthevehicleenvironment................................................................................................................. 19
5.3.1.
Recordingobjects........................................................................................................................................................... 19
5.3.2.
Processingobjectdata........................................................................................................................................... 19
5.3.3.
Assessingobjects...........................................................................................................................................................20
5.4.
Controlfunctions................................................................................................................................................................................................20
5.4.1.
Cruisecontrol.........................................................................................................................................................................20
5.4.2.
Distancecontrol(ranging).................................................................................................................................. 20
5.4.3.
Cruisecontrolwhencornering................................................................................................................... 21
5.5.
Operationanddisplay................................................................................................................................................................................ 21
5.5.1.
Activationanddeactivation.............................................................................................................................. 21
5.5.2.
Changingthedesiredspeed......................................................................................................................... 22
5.5.3.
Changingthedesireddistance.................................................................................................................. 22
5.5.4.
Stoppingandstarting............................................................................................................................................... 23
5.5.5.
Behaviorwhendrivergetsoutofthevehicle.......................................................................23

F01/F02LCIDriverAssistanceSystems
Contents
5.6.

Monitoringfunctions.................................................................................................................................................................................... 23

6.

CollisionWarningw/BrakeApplication.......................................................................................................................................... 24
6.1.
Operation........................................................................................................................................................................................................................ 24
6.1.1.
Vehicleswithcollisionwarningw/oNightVision............................................................ 24
6.1.2.
VehicleswithcollisionwarningandwithNightVision............................................24
6.2.
Operatingprinciple..........................................................................................................................................................................................25
6.3.
Warningfunction................................................................................................................................................................................................ 25
6.3.1.
Earlywarning.......................................................................................................................................................................... 26
6.3.2.
Acutewarning....................................................................................................................................................................... 26
6.4.
History................................................................................................................................................................................................................................. 27

7.

DistanceRangingInformation......................................................................................................................................................................... 29

F01/F02LCIDriverAssistanceSystems
1.Introduction
ThecomprehensivedriverassistancepackageofsystemsfortheF01/F02LCIhasbeenmodifiedand
supplemented.
Thedriverassistancesystemsfacilitatedrivingofthevehicleby:

providingthedriverwithinformation

givingthedriversuggestionsor

automaticallyinterveninginthedrivingprocess.

Thistrainingmanualprovidesanoverviewofthedriverassistancesystemswhichareneworwhose
functionhasbeenmodified:

BMWNightVisionwithpedestriandetection(option6UK)

Lanedeparturewarningwithcamera-basedcollisionwarning
isLaneDepartureWarningw/CollisionMitigation(option5AS)andisincludedintheoptional
ZDA(DrivingAssistancePackage)

SpeedLimitinformation(option8TH)isalsoincludedintheoptionalZDA(DrivingAssistancePackage

ACCStop&Go
isreferredtoasEnhancedActiveCruiseControl(option5AT)andcanonlybeorderedincombinationwithZDA(DrivingAssistancePackage)

Collisionwarningwithbrakingfunction
isanintegralpartoftheEnhancedActiveCruiseControl(option5AT)

Ranginginformation
isalsoanintegralpartoftheEnhancedActiveCruiseControl(option5AT)

Forfurtherinformationonthedriverassistancesystems,pleaserefertothefollowingST811F01
CompleteVehicletrainingmanualsavailableonTISandICP:

BMWNightVision2

F01/F02KAFAS

F01CruiseControlSystems

F01DynamicsDrivingSystems

F01/F02LCIDriverAssistanceSystems
2.BMWNightVision
BMWNightVisiondetects(inoptimumnighttimeconditions)personsupto100m(328ft)awaywithinthesystem'swarningrange.Thewarningrangeisdependentonthedrivingspeedandthesteering
angle.Ifthereisapersonwithinthewarningrange,theyarecategorizedasbeinginpotentialdanger
andthesystemthenissuesapedestrianwarning.

2.1.BMWNightVisionwithpedestriandetection
TheoperationandthewarningfunctionoftheoptionalequipmentBMWNightVisionwithpedestrian
detection(option6UK)havebeenmodified.
ThepedestrianwarningisnowissuedasearlyandacutewarningsirrespectiveofhowtheNightVision
cameraimageisshowninthecentralinformationdisplay(CID).
ThewarningisnolongershownintheCID,butinsteadappearsexclusivelyintheinstrumentclusteror
intheheadupdisplay.
ForfurtherinformationonBMWNightVisionwithpedestriandetection,pleaserefertotheBMW
NightVision2intheF01trainingmaterial.

2.1.1.Operation
Pedestriandetection(orthepedestrianwarning)functionisautomaticallyactivatedaftereachengine
startviatheSTART/STOPbutton.
WhentheNightVisionbuttonispressedinthedriverassistsystemoperatingfacility,theimagefrom
theNightVisioncameraisshowninthecentralinformationdisplay(CID).Thedrivercanadjustthe
brightnessandthecontrastfromhere.
Thepedestrianwarningisactivatedanddeactivatedasdescribedbelow.
VehicleswithBMWNightVisionwithoutcollisionwarning
WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thepedestrianwarningfrontprotectivefunctionisdeactivatedoractivated:

Pedestrianwarningdeactivated:LEDabovethebuttonisoff.

Pedestrianwarningactivated:LEDabovethebuttonlightsup.

VehicleswithBMWNightVisionandwithcollisionwarning
WhentheIntelligentSafetybuttonispressedinthedriverassistancesystemoperatingfacility,theinformationscreensforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.
Thedrivercandeactivateoractivatethepedestrianwarningfromhere.
WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylights
up,atleastonefrontprotectivefunctionisactivated.

F01/F02LCIDriverAssistanceSystems
2.BMWNightVision
2.1.2.Warningfunction
ThesystemissuesapedestrianwarningwhenBMWNightVisiondetectsaperson(pedestrian)withinthewarningrange.Thepedestrianwarningappearsintheinstrumentclusterorintheheadupdisplay.ThepedestrianwarningcanbedeactivatedviatheIntelligentSafetybuttoninthedriverassistancesystemoperatingfacilityordirectlyintheCID.

F01/F02LCI-Pedestrianwarningintheinstrumentclusterdisplayorintheheadupdisplay

Index

Explanation

Stage1:Earlywarning,personisalongdistanceawayfromthevehicle

Stage1:Earlywarning,personisashortdistanceawayfromthevehicleoris
crossingtheroad

Stage2:Acutewarning,flashingpersoninredandacousticwarningsignal

Earlywarning
Theearlywarningisissuedforthecloserangeandthelong-distancerangewhenapersonisdetectedwithinthewarningrange.Theearlywarningshows-dependingonwherethepersonissituated-a
personlityellowwhoislocatedwithinthelaneorismovingonit.Iftheearlywarningshowsaperson
clearlyabovetheroadway,theyarestilltoogreatadistanceaway.Iftheearlywarningshowsaperson
insidetheroadway,thepersonatriskisalreadyatcloserange.
Inbothcasesthedrivermustbrakeormakeanevasivemaneuver.
Acutewarning
Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedanger
ofacollision.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollision
canonlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.
Theacutewarningshowsapersonflashingredwithintheroadway.Inaddition,anacousticwarning
signalissounded.

Theacutewarningdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdriving
speedanddrivingstyletotheroadandtrafficconditions.
3

F01/F02LCIDriverAssistanceSystems
3.KAFAS
3.1.Lanedeparturewarning
ThelanedeparturewarningisanintegralpartoftheoptionalequipmentZDA(DrivingAssistance
Packageoption5AS)inwhichitsbasicsystemoperationremainsunchanged.Thelanedeparture
warningwarnsthedriverbyvibratingthesteeringwheelintheeventoftheunintentionaldeparture
fromagivenlane.Theprerequisiteforthisisthepresenceofsuitableroadwayorlanemarkings,that
canberecognizedwiththeKAFASvideocameraofthecontrolunit.

Thesystemcannotreplaceapersonalassessmentoftheroadsandtrafficsituation.Thelane
departurewarningmerelysupportsthedriverintheeventthevehiclewandersawayfromthe
drivenlane.
PleaserefertoFunctionallimitationssectionattheendofthechapterKAFASforfurtherinformation.
Forfurtherinformationonlanedeparturewarning,pleaserefertotheKAFAS-Camera-basedDriverAssistSystemsF01/F02trainingmaterialavailableonTISandICP.

3.2.Collisionwarning(camera-based)
Thecamera-basedcollisionwarningisanadditionalfunctionofthelanedeparturewarningandthereforeisanintegralpartoftheoptionalZDA[DrivingAssistancePackage(option5AS)LaneDeparture
WarningwithCollisionMitigation].Thecollisionwarningalertsthedriverofapossiblecollisiondanger
andisrealizedusingtheKAFASsystem.Thecamera-basedcollisionwarningisissuedwithoutanautomaticbrakingfunction.

3.2.1.Operation
ThecollisionwarningisautomaticallyactivatedaftereachenginestartviatheSTART/STOP
button.
Vehicleswithcamera-basedcollisionwarningw/oNightVision
WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thecollision
warningfunctionisdeactivatedoractivated:

Collisionwarningdeactivated:LEDabovethebuttonisoff.

Collisionwarningactivated:LEDabovethebuttonlightsup.

ThestatusofthecollisionwarningisalsodisplayedintheCID.Inaddition,whenthecollisionwarning
isactivatedthedrivercansetthetimeoftheearlywarninginthreestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetimeoftheearlywarningissavedforthe
currentdriverprofile.

F01/F02LCIDriverAssistanceSystems
3.KAFAS
Vehicleswithcamera-basedcollisionwarningwithNightVision
WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,theinformationscreenforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.Thedrivercandeactivateoractivatethecollisionwarningandthepedestriandetectionfromhere.
Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarningin
threestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetime
issavedforthecurrentdriverprofile.
WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylights
up,atleastonefrontprotectionfunctionisactivated.

3.2.2.Operatingprinciple
Thesystemwarnsofapossiblecollisionintwostagesstartingfromaspeedofabout15km/h(9.3
mph).
TheKAFASvideocamerarecordsthesceneryaheadofthevehicleandusesimageprocessingtodetectthecompleterearviewsofmovingandstationaryvehiclesinthefieldofview.Thecorrespondingwarningstagesareoutputincriticalsituationsonthebasisofthecalculatedpositions,distances
andrelativespeedsoftheothervehicles.Inadditiontothewarnings,thevehicle'sbrakesareprepared
foremergencybrakingandtheactivationthresholdsofthebrakeassistantaredecreased.However,
incontrasttoCollisionWarningwithbrakingfunction,thereisNOautomaticbrakeinterventionbythe
system.

Thecollisionwarningfunctionisautomaticallyactivatedaftereachenginestartviathe
START/STOPbutton.

3.2.3.Warningfunction
Thewarningfunctionisdividedintotwostages.Itappearsintheinstrumentclusterorintheheadup
display.

F01/F02LCI-Collisionwarningintheinstrumentcluster

F01/F02LCIDriverAssistanceSystems
3.KAFAS

F01/F02LCI-Collisionwarningintheheadupdisplay

Index

Explanation

Stage1:Earlywarning,vehicleinred

Stage2:Acutewarning,flashingvehicleinredandacousticwarningsignal

Earlywarning
Theearlywarningisissued,forexample,intheeventofanimminentdangerofcollisiononaccountof
ahighdifferentialspeedtothevehicledrivingaheadorintheeventofaverysmalldistancetothevehicledrivingahead.
Theearlywarningisindicatedbyavehiclepermanentlyilluminatedinredintheinstrumentclusteror
inthehead-updisplay.
ThetimeoftheearlywarningcanbeconfiguredintheCID.Whenthelatesettingisselected,the
timeoftheearlywarningcorrespondstothatoftheacutewarning.

Thecollisionwarningisdependentonthevehicle'sinherentdrivingspeed.Thedistancecalculatedfor
thecollisionwarningismuchlowerthantheminimumdistancerequiredbylaw.Itisthereforestillthe
driver'sresponsibilitytomaintainthelegalminimumdistance.
Acutewarning
Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedangerofacollisionwhenthevehicleisapproachingthevehicledrivingaheadatrelativelyhighdifferentialspeed.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollision
canonlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.Theacutewarning
thereforecannotbedeliberatelybroughtaboutormonitored.
Ifthevehicleisforexampleapproachingatverylowspeedthevehicledrivingahead,noacutewarning
isissuedeitherwhenthedistancetothevehicleaheadisverysmall.Thisdeliberatelybrought-about
drivingsituationmerelytriggersofftheearlywarning.Inthisway,lesssensibleandthusmoreannoyingacutewarningsareavoidedbythesystem.
Theacutewarningcannotbedeactivated.Norcanthetimeoftheacutewarningbeset.Iftheacute
warningisnottobeissued,thecollisionwarningfrontprotectivefunctionmustbedeactivated.
Anacutewarningisindicatedtothedriverbyaredflashingvehicleintheinstrumentcluster.Inaddition,anacousticwarningsignalissounded.
6

F01/F02LCIDriverAssistanceSystems
3.KAFAS
IncontrasttoCollisionWarningwithbrakingfunction,thecamera-basedcollisionwarning
system(5AS)doesNOTautomaticallyapplybrakeintervention.Theacutewarningdoesnot
relievethedriveroftheirresponsibilitytoadapttheirdrivingspeedanddrivingstyletothe
roadandtrafficconditions.
Intowingortow-startingsituationsthecollisionwarningsystemmustbedeactivatedinordertoavoid
malfunctions.

3.2.4.Systemlimits

Systemlimitationsmeanthatwarningsmayundercertaincircumstancesnotbeissuedorare
issuedtoolateorwithoutauthorization.Thedrivermustthereforealwaysremainalertandobservantsothattheycanactivelyinterveneatanytimesoastoavoidtheriskofanaccident.

Rangeofdetection
Thecollisionwarninghasalimitedcapacityfordetection.
Thismeansthatwarningssometimemaynotbeissuedormaybeissuedlate.
Thefollowingvehiclesmaynotbedetected:

Avehicletravellingatslowspeedwhenapproachingathighspeed

Vehiclesthatcutinsuddenlyorareheavilydecelerating

Vehicleswithanunusualrearvieworwithpoorlyvisiblerearlights

Partiallyconcealedvehicles

Two-wheeledvehiclestravellingahead.

PleaserefertotheCollisionWarningw/BrakeApplicationsectionformoreinformation.

3.3.SpeedLimitInformation
TheoptionalequipmentSpeedLimitInformation(8TH)isreferredtointhefollowingsectionasroad
signrecognitionforshort.Currentspeedlimitsandbansonpassing/overtakingareshownintheinstrumentclusterorintheheadupdisplay.Inthisway,roadsignrecognitionhelpsthedrivertoadhere
toandnottoexceedthemaximumspeedlimit.
Roadsignrecognition(option8THSpeedLimitInformation)isonlyavailableinconjunctionwiththe
navigationsystem(standard)anditispartoftheoptionalZDADriverAssistancePackage.

F01/F02LCIDriverAssistanceSystems
3.KAFAS
Theresponsibilityforthevehicleandforthespeedthatisadoptedrestsexclusivelywiththe
driver.
ThecontrolunitfortheroadsignrecognitionfunctionistheKAFAScontrolunit.
Thedisplayofthespeedlimitsignsisbasedontheevaluationofdatafromthenavigationsystemand
theevaluationofimagedatarecordedbytheKAFASvideocamera.
Themaximumallowablespeedoftheroadcurrentlydrivenisdisplayedintheinstrumentclusterandin
thehead-updisplay.
TheKAFASusesthevideocameratomonitortheroadsignsatthesideoftheroadandtakesintoaccounttheinformationfromthenavigationsystem(609).Thus,forexampleinsomeareas,theapplicablemaximumspeedisdisplayedwithouttherebeingactualrecognizableroadsignsstipulatingthe
speed.

SpeedlimitinformationdisplayedontheHUD(F30graphicshown)

Speedlimitinformationdisplayedontheinstrumentcluster(F30graphicshown)

F01/F02LCIDriverAssistanceSystems
3.KAFAS
3.3.1.Systemlimits
Thesystemhasadetectionrateofaround90to95%.
Roadsignsforspeedlimitswhichdonotconformtothelegalstandards,especiallythosewhichdonot
havesquareborders,arenotalwaysrecognized.Thesameappliestoroadsignswhicharefullyorpartiallyconcealedbystickers,dirtorvegetation.
Longdistancestotheroadsign,highdrivingspeedsandpoorweatherconditions,particularlyatnight,
makeitmoredifficultforthesystemtorecognizeroadsignsreliably.
Thedatainthenavigationmapmustbeuptodateinorderforthecurrentspeedlimittobecorrectlydisplayed.Ifthecurrentplacehasnotyetbeenincorporatedfornavigationpurposes,forexample
whendrivingindevelopmentareas,onnewroadsoronroadswheretheroutinghasbeenchanged,a
recognizedroadsignforspeedlimitscanonlybedisplayedforthenext500m(547yds).
Supplementarysignrecognition
Thesystemcanonlyrecognizesignsthatareincludedinitsdatabase.Textreferencestosupplementarysignscannotbereadorinterpreted.Beforespeedlimitswithlimitingvalidityaredisplayed,the
systemscansfurtherinformationfromthevehicleelectricalsystem.
Thesystemcantreadtext,itcanonlyrecognizeasignthatisincludedinthesigndatabase
thereforethesystemwasprogramedextensivelyin48USstates+western/easternCanadathereforeallspeedlimitsigns(10-80mph+signsase.g.Trucks,Trailers,School,
Constructionarea)arenormally(whenconditionsallow)recognizedbythecamera.
Thetrailersignalforvehiclesintowingmodeisnotevaluatedforthedisplayofspeedlimits,asthe
speedlimitsforvehicleswithtrailersdifferfromcountrytocountryandaredependentonthetrailer
type.
Supplementarysignsarenotrecognized.Thespeedlimitisthendisplayedascurrentlyvalidwithout
thesupplementarysignbeinginterpreted.
Roadsignsonparallel,branching-offormergingroadsandonexits
ParallelroadsarenotrecognizedneitherwiththeKAFASvideocameranorwiththeaidofthenavigationmap.Signspostedtherecanberecognizedanddisplayedasspeedlimitsfortheroadcurrently
beingdriven.
Speedlimitsforbranching-offormergingroadsareusuallyalsoadoptedanddisplayedfortheroad
currentlybeingdriven.
Speedlimitsonhighwayexitswithorwithoutanarrowasasupplementarysignareusuallycorrectly
evaluatedandsuppressedinthedisplayedwhentheexitisdrivenpast.Thisisonlythecaseifthedata
inthenavigationmapisuptodate.
Inthecaseofoverheadhighwaysignswithdifferent,lane-specificspeedlimits,thespeedlimitnearest
tothelanethevehicleisdrivinginisdisplayed.Thedisplayisnotmodifiedafteralaterlanechange.

F01/F02LCIDriverAssistanceSystems
3.KAFAS
Informationsignsintheroadsignsurroundings
Informationsignswithspeedlimitsatbordercrossingswithreferencestothedifferentlegalmaximumspeedsforordinaryroadsandhighways,canbemistakenlyrecognizedascurrentlyvalidanddisplayed.Thesameappliestoinformationsignssetoutonlyindifferentcolors,e.g.forminimumorrecommendedspeeds.
Stickersonvehicles
Stickersshowingaspeedlimitonvehiclesdrivingaheadoronovertakenvehicles,e.g.ontrucks,buses,trailersandconstructionmachinery,canbemistakenlyrecognizedasthecurrentlyvalidspeedlimit
anddisplayed.
Town/citylimits
Ifthetown/citylimitssignisnotclearlyrecognizedandthedatainthenavigationmaparenotupto
date,thespeedlimitattown/citylimitsmaybeincorrectlydisplayed.
Legalchanges
Ifmaximumspeedsprescribedbylawarechanged,theseareonlyavailableafteranavigationsoftware
update.Theoriginal,butnolongervalidspeedlimitsaredisplayeduntiltheupdateisissued.

Thesystemcanonlycurrentlydetectspeedlimitsignsandnoothertrafficsigns.
Thissystemcannotreplacethedriver'spersonalassessmentoftheroadandtrafficsituation.Speed
LimitInformationsupportsthedriverbutdoesnotisnotintendedtoreplacethehumaneye.

3.4.Functionallimitations
ThefunctionoftheKAFASvideocameraandthusalsothefunctionofthecorrespondingdriverassistancesystemsmaybeimpairedinthefollowingsituations:

heavyfog,rain,sprayorsnow

stronglightinthecameralens

ifthefieldofviewoftheKAFASvideocameraorthewindshieldisdirtyorconcealed

onsharpcorners

upto10secondsafterenginestartingviatheSTART-STOPbutton

duringthecalibrationprocessoftheKAFASvideocameraimmediatelyaftervehicledeliveryor
acamerachange.

Systemandfunctionallimitationsmeanthatwarningsandbansmayundercertaincircumstancesnot
beissuedorareissuedtoolateorwithoutauthorization.Thedrivermustthereforealwaysremainalert
andobservantsothattheycanactivelyinterveneatanytimesoastoavoidtheriskofanaccident.
10

F01/F02LCIDriverAssistanceSystems
4.High-beamAssistant
Invehicleswithoutadaptiveheadlights(option524)andwithoutadaptiveLEDheadlights(option552)
thefunctionofthehigh-beamassistant(option5AC)remainsunchangedattwostages.Thehighbeamheadlightsareautomaticswitchedonandoff.
Forfurtherinformationonthehigh-beamassistantinthiscase,pleaserefertotheKAFAS-Camera-basedDriverAssistanceSystemsST811F01CompleteVehicletrainingmaterialavailableonTIS
andICP.

Thehigh-beamassistantcannotreplaceapersonaldecisionontheuseofthehigh-beamheadlight.In
somesituations,manualdippingisrequiredasotherwisethereisasafetyrisk.

11

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
ActivecruisecontrolwithStop&Gofunction(ACCStop&Go)hasenhancedfunctionalityintheF01
LCI.Option5AT(EnhancedActiveCruiseControl)requirestheoptionalZDADrivingAssistantPackage.
ACCStop&Goadjustsadriver-specifieddesiredspeedand,ifrequiredbythetrafficsituation,also
thepreselectedfollowingdistanceautomaticallytothevehicledrivingahead.Passengercars,trucks
andmotorcyclesaredetected.Thescopeofthisapplicationrangesfromhighspeedsdowntoafull
stop.Dependingonthestationarytime,drivingofffromastandstillisperformedautomaticallyorinresponsetoapromptbythedriver.
TheF01/F02LCIACCStop&Gosystemcan(forthefirsttime)notonlydetectslowlystoppingvehiclesbutalsovehiclesthatarealreadystationaryandthereforecanreacttothesesituationsaccordingly.Thedetectionofstationaryvehiclesisauniquefeatureasthefunctionofthisapplicationisalsoextendedtoincludehigh-capacityurban(arterial)andring(loop)roads.
Thereactiontotransversemovementshasalsobeenimproved.Thisenablesthesystemtoreactmore
swiftlytovehiclesthatareveeringinandoutofourlaneorturning.
ByconnectingtheKAFASvideocameratotheACCStop&Gosystemweextendthescopeofthisapplication.Inadditiontotheradardata,theimagedatafromthevideocameraisnowevaluatedinACC
Stop&Go.Thiscombinationofimageandradardatafacilitatestheclearidentificationoflanemarkingsanddistinctionbetweenstationaryvehiclesandotherimmobileobjects.
Inaddition,theadjustmentrangeforthesetspeedhasbeenincreasedfrom180km/hto210km/h
(112mphto130mph).
TheaccelerationbehaviorofACCStop&GoisalsoadaptedforECOPROmode.ACCStop&GoacceleratesthevehicleinECOPROmodemuchmoresmoothlyforoptimizedfuelconsumption.The
ECOPROinstructionsregardingtheacceleratorpedalpositionaresuppressed(notdisplayed)when
ACCStop&Goisactivated.

5.1.Introduction
ACCStop&Gooffersthedriveroptimumsupportnotonlyinflowingtraffic,butalsointrafficjamsituations.
ThescopeofapplicationofACCStop&Gorangesfromhighspeedsdowntoafullstop.Thedistance
andthespeedareautomaticallyadjustedinthisrange.

F01/F02LCI-Activecruisecontrol

12

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
ACCStop&Gocontrolsthespeedifthereisnovehicledrivingdirectlyaheadandautomatically
switchestodistancecontrol(ranging)iftheradarsensordetectsaslowervehicleinitslane.
A77GHzradarsensorinthesystemcanidentifyvehiclesupto200m(218.7yd)ahead;thissensor
canoperatelargelyindependentlyofweatherconditions.Thankstotheradarsensor'simproveddetectioncapabilityandthecalibrationwiththeimagedatafromtheKAFASvideocamera,evenvehicles
intheneighboringlanesaredetected.Ifthesevehiclesdriveintothesubjectvehicle'sownlane,ACC
Stop&Goadaptsthespeedtovehiclesveeringinordrivingahead.Consequentlythetimeintervalselectedbythedriverismaintainedconstant.

F01/F02LCI-Schematicdiagramofmonitoringranges

Index

Explanation

Closerange

Long-distancerange

DetectionrangeofKAFASvideocamera

Detectionrangeofradarsensor

Thedetectionrange(cone)oftheradarsensorisupto60m(65.6yd)widerinthecloserangethanin
thelong-distancerange.Thisprovidesforwiderlanecoverage.WithinthisrangetheradardataordetectedobjectsareverifiedwiththeimagedatafromtheKAFASvideocamera.
TheKAFAScontrolunitcandetecttransversemovementsbetter,assignlanesandclearlyidentifyvehicles.Inthisway,vehiclesveeringinandoutatcloserangecanbedetectedearlierandmuchmore
quickly.Thecombinationofradarandvideodataalsofacilitatestheclearidentificationofstationaryvehicles.
Thesystem'sStop&Gofunctionbringsthevehicletoacompletestopifnecessary.Ifthevehiclein
frontstartsagainafterastandstill,informationisoutputtothedriver.Todriveoffagain,thedrivermust
acknowledgethisinformation.OnlyifthedurationofthestandstillisveryshortdoesthestartingprocesstakeplacefullyautomaticallybyACCStop&Go.
Inthisway,ACCStop&Gosupportsthedrivernotonlyinflowingtraffic,butalsointrafficjamsituations,bothonmultiple-lanehighwaysandordinaryroadsandonurbanarterialandringroads.
13

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
FurtherconsiderationshouldbegivenheretothefollowingareasofthedriverassistsystemACCStop
&Go:

Systemcomponents

Informationfromthevehicleenvironment

Controlfunctions

Operationanddisplay

Behaviorwhendriverintendstoexit

Monitoringfunctions.

5.2.Systemcomponents

F01/F02LCI-Systemcomponents,ACCStop&Go

14

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
Index

Explanation

Junctionboxelectronics(JBE)andpowerdistributionbox

Head-updisplay(HUD)

CrashSafetyModule(ACSM)

Headunit

Centralinformationdisplay(CID)

Rain-light-solar-condensationsensor(RLSBS)

KAFASvideocamera

Instrumentcluster(KOMBI)

Steeringcolumnswitchcluster(SZL)

10

IntegratedChassisManagement(ICM)

11

Trailermodule(NotforUS)

12

Doorcontactdriver'sdoor

13

Seatbeltbucklecontact,driver

14

Operatingfacilityfordriverassistsystems

15

Centralgatewaymodule(ZGM)

16

KAFAScontrolunit

17

Footwellmodule(FRM)

18

DynamicStabilityControl(DSC)

19

Electronictransmissioncontrol(EGS)

20

DigitalEngineElectronics

21

RadarsensorforACCStop&Go

15

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
5.2.1.Systemwiringdiagram

F01/F02LCI-Systemwiringdiagram,ACCStop&Go

16

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
Index

Explanation

RadarsensorforACCStop&Go

Videocameraheater

KAFASvideocamera

Rain-light-solar-condensationsensor(RLSBS)

Electronictransmissioncontrol(EGS)

DigitalEngineElectronics

Junctionboxelectronics(JBE)

Junctionboxforthepowerdistributionbox

Centralinformationdisplay(CID)

10

Headunit

11

Controller

12

Trailermodule(NotforUS)

13

IntegratedChassisManagement(ICM)

14

Operatingfacilityfordriverassistsystems

15

Steeringcolumnswitchcluster(SZL)

16

Instrumentcluster(KOMBI)

17

Doorcontactdriver'sdoor

18

Footwellmodule(FRM)

19

Head-updisplay(HUD)

20

Seatbeltbucklecontact,driver

21

CrashSafetyModule(ACSM)

22

Centralgatewaymodule(ZGM)

23

KAFAScontrolunit

24

DynamicStabilityControl(DSC)

5.2.2.RadarsensorforACCStop&Go
Theradarsensorsendsoutbundledelectromagneticwaves.Theechoesreflectedbyobjectsarereceivedandevaluatedbytheradarsensor.Informationonobjectslocatedinfrontoftheradarsensor
canbeachievedinthisway.Thisinformationincludessize,distanceandthespeedderivedtherefrom.
ForthefirsttimeintheF01/F02LCItheradarsensorreceivesadditionalinformationfromtheKAFAS
controlunitviaitsownsensorbus.Thisinformationislaneinformationontransversemovementsand
informationonvehicleidentification.Theinformationsupportstheradarsensorindetectingandevaluatingobjectsandfacilitatesclearvehicleidentification.Thisvideodataisrequiredforthereactionto
stationaryvehicles.

17

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go

F01/F02LCI-RadarsensorforACCStop&Go

Theradarsensorislocatedbehindaremovablegrillonthefrontbumper.

F01/F02LCI-Installationlocationofradarsensor

Index

Explanation

RadarsensorforACCStop&Go

Removablegrill

18

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
5.2.3.KAFASvideocameraandcontrolunit
TheKAFAScontrolunitdetectsvehicleswhentheirrearendsarerecordedbythevideocamera.The
KAFAScontrolunitalsosupplieslaneinformationandthushelpstheradarsensortodeterminevehiclepositionandmovementmuchmorequickly.Thedataistransmittedviathesensorbustotheradar
sensor.

5.2.4.IntegratedChassisManagement(ICM)
ForadetaileddescriptionofIntegratedChassisManagement(ICM),pleaserefertotheF01DynamicDrivingSystemsinST811F01CompleteVehicletrainingmaterialavailableonTISandICP.Thefollowingtextprovidesabriefoverviewandaddressestheparticularsconnectedwiththetopicspresentedhere.
TheICMintheF01/F02LCIcalculatesthecontrolfunctions,sensordataandvehiclevaluesusedto
influencelongitudinalandtransversedynamics.AlsointegratedinICMaremicromechanicalsensors
whichsupplydrivingdynamicssignals.
TwodifferentICMversionsareusedintheF01/F02LCI,abasicversionforvehicleswithoutACCStop
&GoandahighversionforvehicleswithACCStop&Go.

5.3.Informationfromthevehicleenvironment
InformationonroadusersaheadisrequiredfortheACCStop&Gofunction.ThisinformationisobtainedwiththeaidoftheradarsensorforACCStop&GoandpreparedinICM.

5.3.1.Recordingobjects
ThedetectionoftheroadusersaheadisoneofthemostimportantfunctionsoftheActiveCruise
Control.FortheStop&Gofunction,thistaskmustbedonenotonlyinthelong-distancerange,butalsoincloserangeuptodirectlyinfrontofthevehicle.Thisisnecessaryasatlowspeedsonecandrive
upveryclosetothevehicleahead.
TheradarsensorforACCStop&Gorecordsthecloserangeandlong-distancerangeaheadofthevehiclewiththeaidofradarwaves.Inadditiontodetectingobjects,thepositionofobjectsinthexandy
directionstheradarsensorforACCStop&Gocanalsodeterminetherelativespeedofaparticularvehicle.WiththeaidoftheimagedatafromtheKAFASvideocamera,objectscanbeclearlyidentifiedas
vehiclesandtransversemovementsaslanechanges.
TheradarsensorforACCStop&Goalsousesthedrivingspeedtocalculatetheaccelerationofthe
vehiclesdrivingaheadinrelationtothesubjectvehicle.Thesevaluesarerequiredfordistancecontrol
(ranging).

5.3.2.Processingobjectdata
Theobjectdatavehicledetection,positionandmotionvariablesarealreadypreparedintheradarsensorforACCStop&Go.Individualvehiclesaresummarizedandtrackedovertimeinordertobypass
measurementfailures.Theobjectdataissubjectedtoaninitialfilteringprocessandthensummarized
again,sincepartsofthecloseandlong-distancerangesoverlap.Thisoverlapoccursinparticularin
closerange.
19

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
Withthesummarizedobjectdata,anotherfilteringprecessisdone,whichtakesintoaccountthespecialrequirementsfordistancecontrol(ranging).ThefilteredobjectdataistransmittedtoICMforassessment.

5.3.3.Assessingobjects
Todecidewhichvehicleshouldbeusedfordistancecontrol,adiagnosticstatisticiscalculatedinICM
foreachvehiclefromitsobjectdata.
Thefollowingtwokeycriteriaareincludedinthecalculation:

Positionandrelativemovementofthevehicledrivingaheadtothesubjectvehicle.Thecloser
thevehicledrivingaheadistothesubjectvehicleand/orthefasteritmovestothesubjectvehicle,thehigherthediagnosticstatistic.

Periodspentbythevehicledrivingaheadintheparticularlane.

Thevehiclewiththehighestdiagnosticstatisticisusedfordistancecontrol.Herethevehiclesarealsoclassifiedaccordingtothemotionstatus.Adistinctionismadebetweendrivingandstationaryvehicles.Forareactiontoastationaryvehicleitsobjectdatamustbeverifiedbytheimagedatafromthe
KAFASvideocamera.IftheKAFASvideocamerafails,therecanbenoreactiontostationaryvehicles.
ThedriverisinformedofthefailurebymeansofadisplayintheinstrumentclusterandaCheckControlmessage.

5.4.Controlfunctions
5.4.1.Cruisecontrol
CruisecontrolforACCStop&Gobasicallycorrespondsto(DCC)Dynamiccruisecontrol.

5.4.2.Distancecontrol(ranging)
Distancecontrol(ranging)isthecorefunctionoftheACCStop&Gosystem.ItisintegratedforACC
Stop&GoinICM.Thedrivercanselectadesireddistanceinfourstagesusingtwobuttonsonthe
multifunctionsteeringwheel.ACCStop&Gocalculatestheset-pointdistanceforthecontrolfromthis
preselection.
Theset-pointdistanceduringthejourneyisproportionaltothedrivingspeed.Atalowerdrivingspeed
andatstandstill,theproportionaldistancetothedrivingspeedisnolongerused,butinsteadvaluein
meters.Distancecontrolusesthepreparedvehicleobjectdatawiththehighestdiagnosticstatisticas
inputvariables.
Distancecontroltakesintoconsiderationthefollowingsituations(inparticular):

20

Maximumvaluesforaccelerationanddeceleration:
Themaximumvaluesforaccelerationanddecelerationbelowaround50km/h(30mph)are
dynamicvalues.Theycorrespondtotheaccelerationvalueswhichthedriverhimselfwould
useandconsiderscomfortable.Dependingonthesituation,ACCStop&Goacceleratesbya
maximumof2m/s(6.56ft/s)anddeceleratesbyamaximumof4m/s(13.1ft/s).

Prompttotakeovervehiclehandling:

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
WhenACCStop&Goisnolongerabletomaintainasafedistance,e.g.onaccountofvery
highdifferentialspeedsoraninsufficientmaximumdeceleration,twoshortwarningtones
soundandtheorangevehiclesymbolisdisplayedintheinstrumentclusterorflashesinthe
headupdisplay.Thesystemcontinuestoperformitscontrolfunctionandpromptsthedriver
totakeovervehiclehandlingandtokeeptheirdistanceaccordingly.
Ifthecollisionwarningwithbrakingfunctionisactivated,thiswillissueawarningifthe
takeoverpromptisnotfollowedandthereisanimminentdangerofcollision.Theredvehicle
symbolisthendisplayedintheinstrumentclusterorintheheadupdisplay.Forfurtherinformation,pleaserefertothechapterCollisionwarningwithbrakingfunction.

5.4.3.Cruisecontrolwhencornering
CruisecontrolofACCStop&GoonbendsisbasedonthatofDCC.Inthecaseofanobjectlosson
thebend,itisnecessarytowaitacertainperiodoftimetoseewhethertheobjectreappearsagain
(transitioncurve).Thevehicleisacceleratedonlyiftheobjectnolongerappears.

5.5.Operationanddisplay
5.5.1.Activationanddeactivation
ActivationanddeactivationofACCStop&GoandDCCarevirtuallyidenticalasotherBMWvehicles.
ACCStop&Gocannotonlybeactivatedbythedriverduringthejourney,butalsowhenthevehicleis
atastandstill,ifthesystemdetectedanothervehiclebeforeitsownvehicle.ToactivateACCStop&
Goatstandstill,thedrivermustpressthebrakepedalandatthesametimepresstheRESbutton.The
followingconditionsmustalsobesatisfied:

Seatbeltfastenedanddoorclosed

DrivepositionDengaged

Enginerunning

Parkingbrakenotactivated

Nosystemfaultsdetected.

Thesetspeedcanbesetinarangefrom30to210km/h(18.6to130mph).ComparedtotheDCC,a
vehiclewithACCStop&Goreceivesakeypadinthemultifunctionsteeringwheel,whichalsohastwo
buttonsforsettingthedistance.

21

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go

F01/F02LCI-Steeringwheel,ACCStop&Go

Index

Explanation

Button-speedSET

Button-decreasedistance

rockerswitch-changespeed,setspeed

Button-increasedistance

Button-switchACCStop&Goon/off

Button-retrievesavedspeed(RES)

A(brief)pressoftherespectivebuttonforchangingthedistanceincreasesorreducesthedesireddistance,whichACCStop&Gousesforcontrol.Atotaloffourstagesareavailabletothedriverforthis
purpose.Intheinstrumentclustertheselectedstageofthedistanceisfaded-in.
LikeforDCC,itisalsonecessarythatthesymbolscreenmasksarecomplementedifnecessarywith
notesintheinstrumentclusterforACCStop&Go.Thesymbolscreenmasksareforexampletheset
speedandthedistancebar.Thedisplaysarefaded-inforabout3seconds.Foreachrenewedoperationthedisplayisfaded-inagainforanother3seconds.
ACCStop&Goinformationisalsoshowninthehead-updisplay.

5.5.2.Changingthedesiredspeed
ThedrivercanchangethedesiredspeedofACCStop&GoinjustthesamewayasforDCCifthesystemisswitchedon.AlsoiftheparticularvehicleisbroughttoastandstillbyACCStop&Go,thisadjustmentoptionisgiven.Theadjustablerangeofthedesiredspeedis30to210km/h(18.6to130
mph).

5.5.3.Changingthedesireddistance
Thedesireddistancecanbechangedbyabriefpressofthecorrespondingbuttoninthemultifunction
steeringwheelwhenthesystemisswitchedon.Theusualfourdistancestagesareavailableforselection,whicharerepresentedbybarsintheinstrumentcluster.Thechangeofthedesireddistanceim22

F01/F02LCIDriverAssistanceSystems
5.ACCStop&Go
mediatelyresultsinanoticeablevehicleresponseduringthejourney.Thevehicleacceleratesordeceleratesslightlyinordertoadjusttothenewdesireddistance.Atstandstillthevehicleisnotsetinmotionbythechangeofthedesireddistance.
IfACCStop&Goisoversteeredbythedriver,nochangeofthedesireddistancecanbeeffected.Duringoversteeringbythedriverthedistancebarsintheinstrumentclusterdisappear.

5.5.4.Stoppingandstarting
Ifthevehicleaheadstops,ACCStop&Goalsodeceleratesuntilatafullstop,wherebyasafedistance
tothevehicleaheadisobserved.Ifthevehicleaheadstartsmovingagainwithin3seconds,theF01/
F02LCIalsostartsupwithoutinterventionbythedriver.Ifthevehicleremainsstationaryforlonger
than3seconds,theF01/F02LCInolongerstartsupautomatically.Instead,ACCStop&Goindicates
tothedriverintheinstrumentclusterthattheycanstartdrivingagain.Assoonasthedriveracknowledgesthissignalbypressingtheacceleratorpedalorbypressingabuttononthesteeringwheel,the
vehicleissetinmotionagain.
Intheeventofextremeexternalconditions,suchasasharpinclineforexample,theACCStop&Go
maynolongerbeabletodriveoff.Inthiscase,thebrakepressurerequiredtoholdthevehicleisbuilt
upagain.Thesystemremainsinthisstateuntilthedriverswitchesitofforperformsthestartingprocesshim/herselfmanually.Thisdoesnotrepresentafault,butasituationinwhichthelimitsfortheoperatingrangeofACCStop&Gohavebeenexceeded.

5.5.5.Behaviorwhendrivergetsoutofthevehicle
ACCStop&GoreliablydeceleratesthevehicletostandstillwithhelpoftheDSChydraulicsandstops
itthere.Withoutthesupplyofelectricalenergy,theDSChydraulicsisnotablehowevertomaintainthe
brakeforcerequiredforstoppingforalongperiod.
Ifthedriverleavesthevehicleinstandstillwhenthesystemisactive,ACCStop&Goisdeactivated
andthevehicleispermanentlykeptinstandstillwithhelpoftheparkinglockofthetransmission.
Thesignalsoftheseatbeltbucklecontact(driver)andofthedoorcontact(driver'sdoor)areevaluatedtodetectthedriver'sintentiontoexitthevehicle.Aseatoccupancydetectionsignal(driver'sseat)
isnotusedintheF01/F02LCI.

5.6.Monitoringfunctions
ICMmonitorsthesystemnetworktotheeffectthatalltheparticipatingsubsystemsareoperational,all
theinputsignalsrequiredforthefunctionarevalid,andtheelectronicsoftheparticularcontrolunitare
fault-free.Whentroubleshootingitisimportanttoincorporatenotonlyindividualcomponents,butalso
participatingsystemsfromthesystemnetwork.
Ifthereisafaultintheradarsensorsystem,thefunctionisdeactivatedcompletely.IfthevideoinformationfromtheKAFAScontrolunitfails,thefunctionwillonlycontinuetobeavailablewithlimitedeffect.InbothcasesthedriverisinformedofthefailurebymeansofadisplayintheinstrumentclusterandaCheckControlmessage.Anactivationwillonlybepossibleagainwhenthefaultisnolonger
present.

23

F01/F02LCIDriverAssistanceSystems
6.CollisionWarningw/BrakeApplication
ThecollisionwarningwithbrakeapplicationfunctionisasupplementfunctiontoACCStop&Go
andusesitssensorsystemandcomponents.Itisanintegralpartof(option5ATEnhancedActive
CruiseControl)whichcanonlybeorderedincombinationwiththeoptionalZDA(DrivingAssistance
Package).
Thecollisionwarningalertsthedriverofapossibledangerofcollisionandprovidesassistanceinanemergencyintheformofanautomaticbrakeintervention.
BycombiningtheradarandKAFASimagedatathebrakingdecelerationofthebrakingfunctionisincreasedupto8m/s(26.2ft/s).Thisisapplieddifferentlyforthelower(50km/h/30mph)andupper
(>50km/h/30mph)speedrangesasbrakingisnowdoneintwostages.

6.1.Operation
6.1.1.Vehicleswithcollisionwarningw/oNightVision
Thecollisionwarningwithbrakingfunctionisautomaticallyactivatedaftereachenginestartviathe
START/STOPbutton.
WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,thecollision
warningwithbrakingfunctionisdeactivatedoractivated:

Collisionwarningdeactivated:LEDabovethebuttonisoff.

Collisionwarningactivated:LEDabovethebuttonlightsup.

ThestatusofthecollisionwarningwithbrakingfunctionisadditionallydisplayedintheCID.Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarninginthree
stages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetimeofthe
earlywarningissavedforthecurrentdriverprofile.

6.1.2.VehicleswithcollisionwarningandwithNightVision
Thecollisionwarningwithbrakingfunctionisautomaticallyactivatedaftereachenginestart
viatheSTART/STOPbutton.
WhentheIntelligentSafetybuttonispressedinthedriverassistsystemoperatingfacility,theinformationpagesforthecollisionwarningandpedestriandetectionfunctionsareshownintheCID.Thedrivercandeactivateoractivatethecollisionwarningwithbrakingfunctionandpedestriandetectionfrom
here.
Inaddition,whenthecollisionwarningisactivatedthedrivercansetthetimeoftheearlywarningin
threestages.Thelatesettingcorrespondstothepointoftheacutewarning.Thesettingofthetime
issavedforthecurrentdriverprofile.
WhentheLEDabovetheIntelligentSafetybuttoninthedriverassistsystemoperatingfacilitylights
up,atleastonefrontprotectivefunctionisactivated.

24

F01/F02LCIDriverAssistanceSystems
6.CollisionWarningw/BrakeApplication
6.2.Operatingprinciple
Thesystemwarnsofapossiblecollisionfromaspeedofaround15km/h(9.3mph)initiallywithanearlywarningandthenifthedangerpersistswithanacutewarning.
Thecollisionwarningisalsoavailablewhencruisecontrolisdeactivated.
Stationaryaswellasmovingvehiclesaretakenintoconsideration.
Inadditiontothewarnings,thevehicle'sbrakesarepreparedforemergencybrakingandtheactivation
thresholdsofthebrakeassistantaredecreased.Inanemergencyanautomaticbrakeinterventionis
performedbythesystem.

Intheeventofadeliberateforwardcollisionwithavehicle,thesystemsensitivityisreduced
andthusthewarningsarenotdisplayed.

6.3.Warningfunction
Thewarningfunctionisdividedintotwostages.Itappearsintheinstrumentclusterorintheheadup
display.

F01/F02LCI-Collisionwarningintheinstrumentcluster

F01/F02LCI-Collisionwarningintheheadupdisplay

Index

Explanation

Stage1:Earlywarning,vehicleinred

Stage2:Acutewarning,flashingvehicleinredandacousticwarningsignal
25

F01/F02LCIDriverAssistanceSystems
6.CollisionWarningw/BrakeApplication
6.3.1.Earlywarning
Theearlywarningisissued,forexample,intheeventofanimminentdangerofcollisiononaccountof
ahighdifferentialspeedtothevehicledrivingaheadandintheeventofaverysmalldistancetothevehicledrivingaheadorstationaryvehicle.
Theearlywarningisindicatedbyavehiclepermanentlyilluminatedinredintheinstrumentclusteror
inthehead-updisplay.
ThetimeoftheearlywarningcanbeconfiguredintheCID.Whenthelatesettingisselected,the
timeoftheearlywarningcorrespondstothatoftheacutewarning.

6.3.2.Acutewarning
Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimmediatedangerofacollisionwhenthevehicleisapproachingthevehicledrivingaheadatrelativelyhighdifferential
speed.Thepointatwhichtheacutewarningisissuediscalculatedinsuchawaythatacollisioncan
onlybeavoidedbyimmediateemergencybrakingorbyanevasivemaneuver.
Theacutewarningissuesapromptforinterventionandisusuallysupportedintheeventofadangerof
collisionbyatwo-stagebrakeintervention.Brakeinterventionislimitedintimetoabout3secondsand
mustendwhenbyvehiclehasbeendeceleratedbyaround50km/h(30mph).Thisavoidsadditional
dangersforthefollowingtraffic.
Inthelowerspeedrangeupto50km/h(30mph)brakeinterventionisappliedinitiallywithabrake
forceof5m/s.Whenthetargetobjectisverifiedbythecameradata,brakeinterventionisappliedafterabout0.5secondsatmax.8m/s(26.2ft/s).Thevehiclecanthereforebebrakedtoafullstopin
thelowerspeedrange50km/h(30mph).
Atadrivingspeedinexcessof50km/h(30mph)brakeinterventionisappliedinitiallywithabrake
forceof4m/s(13.1ft/s).Whenthetargetobjectisverifiedbythecameradata,brakeinterventionis
appliedafterabout0.5secondatmax.6m/s(19.6ft/s).
Atadrivingspeedinexcessof210km/h(130mph)thespeedreductionislimitedto10km/h(6.2
mph).
Brakeinterventionisalsoappliedwhenthedriverfailstodepressthebrakepedalsufficiently.
BrakeinterventionisappliedonlywhenDynamicStabilityControl(DSC)isswitchedon.
Anacutewarningisindicatedtothedriverbyaredflashingvehicleintheinstrumentclusterandinthe
head-updisplay.Inaddition,anacousticwarningsignalissounded.

Theacutewarningdoesnotrelievethedriveroftheirresponsibilitytoadapttheirdriving
speedandstyletotheroadandtrafficconditionsandtomaintaintheprescribedsafetydistance.
Brakeinterventioncanbecancelledbypressingtheacceleratorpedalorbyapplyingaclearsteering
wheelmovement.
Thecollisionwarningwithbrakingfunctionmustbedeactivated(intowingsituations)inordertoavoid
malfunctions.
26

F01/F02LCIDriverAssistanceSystems
6.CollisionWarningw/BrakeApplication
ThebrakingfunctionisdeactivatedwhenDynamicStabilityControl(DSC)orDynamicTractionControl
(DTC)isdeactivated.
IftheKAFASvideocamerafails,brakeinterventionisappliedonlywithabrakeforceofmax.4m/s
(13.1ft/s)andsolelyinresponsetodetectedmovingorstoppedvehicles.Inthecaseofvehicles
whichwerealreadystationarywhentheyenteredtheradarsensor'sdetectionrange,thereisnobraking.Iftheradarsensorfails,thecollisionwarningwithbrakingfunctionisdeactivatedcompletely.In
bothcasesthedriverisinformedofthefailurebymeansofadisplayintheinstrumentclusteranda
CheckControlmessage.

Systemlimitationsmeanthatwarningsmay(undercertaincircumstances)notbeissuedor
areissuedtoolateorwithoutauthorization.Thedrivermustalwaysremainalertandobservantsothathe/shecanactivelyinterveneatanytimetoavoidtheriskofanaccident.

6.4.History
Thecollisionwarningwithbrakingfunction(formerlyknownastheadaptivebrakeassistant)wasintroducedforthefirsttimein2007withtheE60LCI.Thetablebelowdescribesthevariousdevelopment
stages,theirfeaturesandtheirinitialimplementationinBMWmodels.
Features

Adaptive
brakeassistant

Adaptive
brakeassistant
withwarningfunction

Collision
warning
withbrakingfunction

Collision
warning
withbrakingfunction
Latestgeneration

03/2007
E60LCI

08/2009
F01

01/2010
F10

07/2012
F01/F02LCI

Pre-pressurizingof
brakesystem

Adaptationofbrake
assistant

Initialimplementation

Earlyandacutewarnings
inresponsetomoving/stoppedtargets
inresponsetostationarytargets
Braking
inresponsetomoving/stoppedtargets
inresponsetostationarytargets

27

F01/F02LCIDriverAssistanceSystems
6.CollisionWarningw/BrakeApplication
Features

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

28

Adaptive
brakeassistant

Adaptive
brakeassistant
withwarningfunction

Collision
warning
withbrakingfunction

Collision
warning
withbrakingfunction
Latestgeneration

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

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

F01/F02LCIDriverAssistanceSystems
7.DistanceRangingInformation
Distanceranginginformationutilizesthesensorsystemandcomponentsoftheactivecruisecontrol
(ACCStop&Go).
ThusitisanintegralpartoftheoptionalequipmentEnhancedActiveCruiseControl(option5AT),
availableonlywithZDADrivingAssistancePackage
WhenACCStop&Goisdeactivated,thedistanceranginginformationnotifiesthedriveriftheirvehicle
istooclosetothevehicledrivingahead.Herethedistancecanbesmallerthanaminimumdistancerequiredbylaw.Thedistanceranginginformationisremovedassoonasthedistanceisincreasedagain.
Theindicationappearsonlyintheheadupdisplay.ThedisplaycanbedeactivatedviatheCID.

F01/F02LCI-Distanceranginginformationintheheadupdisplay

Thedistanceranginginformationsymbolisonlydisplayedinthefollowingsituations:

ACCStop&Goisdeactivated

ranginginformationisactivated

thevehicleisbeingdrivenfasterthan70km/h(43.4mph)

thedistanceistoosmallforseveralseconds.

Distanceranginginformationdoesnotrelievethedriveroftheirresponsibilitytoadapttheir
drivingspeedanddrivingstyletotheroadandtrafficconditionsandtomaintaintheprescribedsafetydistance.

29

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