F10DriverAssistanceSystems

BMWService
Generalinformation

Symbolsused

Thefollowingsymbol/signisusedinthisdocumenttofacilitatebettercomprehensionandtodraw
attentiontoparticularlyimportantinformation:

Containsimportantsafetyguidanceandinformationthatisnecessaryforpropersystemfunctioning
andwhichitisimperativetofollow.

Informationstatusandnational-marketversions

TheBMWGroupproducesvehiclestomeettheveryhigheststandardsofsafetyandquality.Changes
intermsofenvironmentalprotection,customerbenefitsanddesignmakeitnecessarytodevelop
systemsandcomponentsonacontinuousbasis.Consequently,thismayresultindifferencesbetween
thecontentofthisdocumentandthevehiclesavailableinthetrainingcourse.

Asageneralprinciple,thisdocumentdescribesleft-handdrivevehiclesintheEuropeanversion.Some
controlsorcomponentsarearrangeddifferentlyinright-handdrivevehiclesthanthoseshownonthe
graphicsinthisdocument.Furtherdiscrepanciesmayarisefrommarketspecificorcountry-specific
equipmentspecifications.

Additionalsourcesofinformation

Furtherinformationontheindividualtopicscanbefoundinthefollowing:

intheOwner'sHandbook
intheintegratedservicetechnicalapplication

Contact:conceptinfo@bmw.de

2009BMWAG,Munich,Germany

ReprintsofthispublicationoritspartsrequirethewrittenapprovalofBMWAG,Munich

TheinformationinthedocumentispartoftheBMWGrouptechnicaltrainingcourseandisintended
foritstrainersandparticipants.RefertothelatestrelevantBMWGroupinformationsystemsforany
changes/supplementstothetechnicaldata.

Informationstatus:November2009
F10DriverAssistanceSystems
Contents
1. Introduction............................................................................................................................................................................................................................................. 1
1.1. BusSystemDiagram....................................................................................................................................................................................... 3

2. ActiveBlindSpotDetection.................................................................................................................................................................................... 7

3. LaneDepartureWarning................................................................................................................................................................................................. 9

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

5. ParkDistanceControl..................................................................................................................................................................................................... 13

6. ParkingAssistant.....................................................................................................................................................................................................................14
6.1. SystemComponents................................................................................................................................................................................... 14
6.1.1. SystemWiringDiagram......................................................................................................................................... 16
6.1.2. Sensors............................................................................................................................................................................................ 17
6.1.3. ParkingManoeuvringAssistant(PMA).......................................................................................... 18
6.2. ParkingProcess................................................................................................................................................................................................... 19
6.2.1. Measuringparkingspaces................................................................................................................................ 19
6.2.2. Activation.......................................................................................................................................................................................21
6.2.3. Scheduleofevents....................................................................................................................................................... 22
6.2.4. ServiceInformation....................................................................................................................................................... 26

7. SurroundView............................................................................................................................................................................................................................... 27
7.1. SideView........................................................................................................................................................................................................................ 27
7.2. TopView.......................................................................................................................................................................................................................... 28

8. DCC.................................................................................................................................................................................................................................................................... 31
8.1. Introduction................................................................................................................................................................................................................. 31
8.2. Controlfunctions................................................................................................................................................................................................31
8.2.1. Cruisecontrol.........................................................................................................................................................................31
8.2.2. Accelerationanddeceleration..................................................................................................................... 31
8.2.3. Cruisecontrolincurves.........................................................................................................................................31
8.2.4. Prioritizationoftheset-pointvalue...................................................................................................... 32
8.2.5. Interference-forceestimation....................................................................................................................... 32
8.2.6. Activationoftheactuators................................................................................................................................ 32

9. ACCStop&Go............................................................................................................................................................................................................................ 33
9.1. Introduction................................................................................................................................................................................................................. 33
9.2. SystemComponents................................................................................................................................................................................... 35
9.2.1. SystemWiringDiagram......................................................................................................................................... 37
9.2.2. SensorforACCStop&Go.............................................................................................................................. 38
9.2.3. IntegratedChassisManagement............................................................................................................44
F10DriverAssistanceSystems
Contents
9.3. Obstacle/VehicleDetectionProcess.................................................................................................................................. 45
9.3.1. Objectdetection................................................................................................................................................................ 45
9.3.2. Object-dataprocessing..........................................................................................................................................45
9.3.3. Objectevaluation..............................................................................................................................................................45
9.4. ControlFunctions............................................................................................................................................................................................. 46
9.4.1. Cruisecontrol.........................................................................................................................................................................46
9.4.2. Distancecontrol................................................................................................................................................................. 46
9.4.3. Cruisecontrolincurves.........................................................................................................................................47
9.4.4. Prioritizationoftheset-points..................................................................................................................... 47
9.4.5. Interference-forceestimation....................................................................................................................... 47
9.4.6. Activationoftheactuators................................................................................................................................ 47
9.5. OperationandDisplay............................................................................................................................................................................... 48
9.5.1. Activationanddeactivation.............................................................................................................................. 48
9.5.2. Changingthesetspeed....................................................................................................................................... 49
9.5.3. Changingthesetdistance................................................................................................................................ 49
9.5.4. Stoppingandpullingaway................................................................................................................................49
9.5.5. Behaviorinresponsetodriver'sintentiontoexitthevehicle...................... 50
9.6. MonitoringFunctions.................................................................................................................................................................................. 51

10. CollisionWarningw/BrakeApplication.......................................................................................................................................... 52
10.1. Operation........................................................................................................................................................................................................................ 52
10.2. FunctionalPrinciple....................................................................................................................................................................................... 52
10.3. WarningFunction.............................................................................................................................................................................................. 52
10.3.1. AdvanceWarning............................................................................................................................................................. 53
10.3.2. AcuteWarningwithBrakeApplicationFunction............................................................ 53
F10DriverAssistanceSystems
1.Introduction
BMWhasalwaysofferedacomprehensiverangeofdriverassistancesystems.

Thesesystemsmakeiteasierforthedrivertocontrolthevehicle,by:

providingthedriverwithinformation,
promptingthedriverhowtoactor
activelyinterveningifnecessaryinordertoensuremaximumperformanceefficiencyand
safety.

ThistraininginformationprovidesanoverviewofallthedriverassistancesystemsavailableintheF10,
includingthenewParkingAssistanceandSurroundView(withsideviewcameras)features.

TheDriverAssistancePackage(ZDA)isavailableontheF10.Thefollowingoptionsareincludedinthe
ZDApackageandtheyarenotavailableseparately:

AutomaticHighbeams
LaneDepartureWarning
ActiveBlindSpotDetection
ParkingAssistant

Note:NightVisionw/pedestriandetectionandHead-UpDisplayareavailableasseparateoptions.

F10Assistsystemoperatingunit

Index Explanation
1 ActiveBlindSpotDetection
2 Collisionwarningwithbrakeapplicationfunction
(adaptivedynamicbrakecontrolwithwarningfunction)
3 LaneDepartureWarning
4 NightVisionwithpedestriandetection
5 HeadUpDisplay

Formoreinformationontheindividualsystems,refertotheF01/F02informationbulletins:

1 SWWF01/F02
2 DCC,ACCF01/F02
3 KAFASF01/F02
4 BMWNightVision2

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F10DriverAssistanceSystems
1.Introduction
5 Head-updisplayHUD.

BMWNightVisionwithpersonrecognitionandHeadUpDisplayarenotdescribedinthisdocument,
sincethesesystemshavebeentakenoverfromtheF01/F02.

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F10DriverAssistanceSystems
1.Introduction
1.1.BusSystemDiagram

F10BusSystemDiagram

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F10DriverAssistanceSystems
1.Introduction
Index Explanation
1 Wakeablecontrolunits
2 Controlunitsauthorizedtowakeupthevehicle
3 Start-upnodecontrolunits,forstartingupandsynchronizingtheFlexRaybus
system
ACC-SEN ActiveCruiseControl-Sensor
ACSM AdvancedCrashSafetyModule
AHM Trailermodule
AL Activesteering
AMPH AmplifierHigh(highfidelityamplifier)
AMPT AmplifierTop(tophighfidelityamplifier)
BSD Bit-serialdatainterface
BCU BatteryChargeUnit(chargingunitforauxiliarybattery)
CAS CarAccessSystem
CIC CarInformationComputer
CICBasic CarInformationComputerBasic
CID CentralInformationDisplay
CON Controller
DCAN DiagnosisonControllerAreaNetwork
DDE DigitalDieselElectronics
DME DigitalMotorElectronics
DSC DynamicStabilityControl
DVD DVDchanger
EDCSHL ElectronicDamperControl,rearleftsatelliteunit
EDCSHR ElectronicDamperControl,rearrightsatelliteunit
EDCSVL ElectronicDamperControl,frontleftsatelliteunit
EDCSVR ElectronicDamperControl,frontrightsatelliteunit
EGS Electronictransmissioncontrol
EKPS Electronicfuelpumpcontrol
EMF Electromechanicalparkingbrake
EPS Electronicpowersteering
Ethernet Cableddatanetworktechnologyforlocaldatanetworks
FD Reardisplay
FD2 Reardisplay2
FLA High-beamassistant
FlexRay Fast,presetandfault-tolerantbussystemforuseinautomotiveapplications

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F10DriverAssistanceSystems
1.Introduction
Index Explanation
FRM Footwellmodule
FZD Rooffunctioncenter
GWS Gearselectorswitch
HKL Luggagecompartmentlidlift
HSR Rearsuspensionslipanglecontrol
HUD HeadUpDisplay
ICM IntegratedChassisManagement
IHKA Integratedautomaticheating/airconditioning
JBE Junctionboxelectronics
KAFAS Camera-baseddriverassistancesystem
K-Bus Bodybus
K-CAN. Bodycontrollerareanetwork
KCAN2 Bodycontrollerareanetwork2(500kBit/s)
KOMBI Instrumentcluster
LIN-Bus LocalInterconnectNetworkbus
Local-CAN LocalControllerAreaNetwork
MOST MediaOrientedSystemTransport
MOSTport MediaOrientedSystemTransportport
NVE NightVisionelectronics
PDC ParkDistanceControl
PMA ParkingManeuveringAssistant
PTCAN PowertrainCAN
PTCAN2 Powertraincontrollerareanetwork2
OBD Diagnosissocket
RSE Rearseatentertainmentsystem
SDARS Satellitetuner(US)
SMBF Frontpassengerseatmodule
SMFA Seatmodule,driver
SWW BlindSpotDetection
SZL Steeringcolumnswitchcluster
TCU TelematicControlUnit
TPMS TirePressureMonitoringSystem
TRSVC Controlunitforrearviewcameraandsideview
ULFSBX Universalchargerandhands-freeunit,interfacebox(Bluetoothtelephony)

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F10DriverAssistanceSystems
1.Introduction
Index Explanation
VDM VerticalDynamicsManagement
VM VideoModule
VSW Videoswitch
ZGM CentralGatewayModule

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F10DriverAssistanceSystems
2.ActiveBlindSpotDetection
Theactiveblindspotdetectionsystem(option5AG)ismeanttoassistthedriverduringlanechanges.
Todothis,theactiveblindspotdetectionsystemmonitorstrafficattherearandsidesofthevehicle
withtworadarsensors.Theradarsensorsarelocatedabovetherearbumpersupport.

Youcanseethecomponentsthatmakeuptheactiveblindspotdetectionsysteminthefollowing
graphic.

F10activeblindspotdetectionsystemcomponents

Index Explanation
1 Exteriormirrors
2 CarAccessSystem
3 Steeringwheelwithvibrationactuator
4 Junctionbox(junctionboxelectronicsandfrontpowerdistributionbox)
5 Radarsensor,right
6 Radarsensor,left
7 IntegratedChassisManagement
8 Driverassistancesystemsoperatingunit
9 CentralGatewayModule
10 Footwellmodule
11 Steeringcolumnswitchcluster

Thesystemcandetecttrafficsituationsthatcouldbedangerousorresultinacollisionifyourvehicle
changeslanes.Thedriverisfirstinformedbyawarninglightintheexteriormirrors.

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F10DriverAssistanceSystems
2.ActiveBlindSpotDetection
Ifthedriverintendstochangelanesinthissituationandindicatesthisbyoperatingtheturnindicator,
thedriveriswarnedbyavibratingsteeringwheelandaflashingwarninglightintheexteriormirror.

F10activeblindspotdetectionsystemintheexteriormirror

Formoreinformationontheactiveblindspotdetectionsystem,refertotheF01/F02trainingmaterial
availableonTISandICP.

Note:Thesystemisnotasubstituteforthedriversassessmentofthetrafficsituation.Intheeventofa
warning,donotturnthesteeringwheelwithunnecessaryforce,asthiscouldcausethevehicletovier
andlosecontrol.

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F10DriverAssistanceSystems
3.LaneDepartureWarning
Thelanedeparturewarning(option5AD)warnsthedriverintheeventthatthevehicledeviates
fromthelaneitiscurrentlytravelingwithoutthedriver'sintention.Forthisfunctiontoworkproperly
recognizableroadandlanemarkingsshouldbepresentanddetectedbythesystem.TheKAFAS
controlunitperformsanevaluationoftheimagesrecordedbytheforward-pointingvideocamera,
locatedneartherear-viewmirrorbase.

Althoughthedrivercontinuestohavefullresponsibilityfordrivingthevehicle,thesystemisonly
designedtoassistthedriverincaseofalapseofattention.

Thissystemiswillonlyoperateasintendedonhighways,majorroadsandwellmaintainedcountry
roads.Therefore,warningsareonlygivenatspeedsofover70km/h/43mph.

Thedriveractivatesthesystemusingthelanedeparturewarningbuttoninthedriverassistance
controlpanel(totheleftofthesteeringcolumn).

Thefollowinggraphiccontainsthecomponentsofthelanedeparturewarningsystem.

F10Lanedeparturewarningsystemcomponents

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F10DriverAssistanceSystems
3.LaneDepartureWarning
Index Explanation
1 Junctionbox(junctionboxelectronicsandfrontpowerdistributionbox)
2 Head-updisplay(HUD)
3 CarInformationComputer(CIC)
4 CentralInformationDisplay(CID)
5 Videocamera
6 Instrumentcluster
7 Steeringcolumnswitchcluster(SZL)
8 IntegratedChassisManagement(ICM)
9 Driverassistancesystemsoperatingunit
10 Camera-baseddriversupportsystems(KAFAS)controlunit
11 Footwellmodule(FRM)
12 CentralGatewayModule(ZGM)
13 CarAccessSystem(CAS)

Note:Formoreinformationregardingthelanedeparturewarningsystem,refertotheF01/F02training
materialunderKAFASsystem.

Thissystemisnotasubstituteforthedriversassessmentoftheroad'scourseortrafficsituation.In
theeventofawarning,donotturnthesteeringwheelwithunnecessaryforce,asthiscouldcausethe
vehicletovierandlosecontrol.

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F10DriverAssistanceSystems
4.High-beamAssistant
Thehigh-beamassistantFLA(option5AC)assiststhecustomerwiththeuseofthehigh-beam
headlights.Dependingonthetrafficsituation,prevailingambientlightconditionsandwhichvehicle
lightsareon,theFLAautomaticallyswitchesthehigh-beamheadlightsonoroffandtherebyassistsor
relievesthedriverofhavingtooperatethehigh-beamheadlights.

Highbeamcanstillbeswitchedonandoffmanuallyasusual.Thedriveralwayshasthecapability,and
theobligation,tooverridethesystemwheneverthesituationisrequired.

IntheF10,thehigh-beamassistantoptioncanonlybeorderedwiththeZDADriverAssistance
Package

Lanedeparturewarningandthehigh-beamassistantfunctionsarecombinedintheKAFAS
controlunitandsharethesamevideocamera.

TheFLAvideocameraisasimplifiedimagesensorthatcandetectlightcolorandintensity.

F10High-beamassistantdisplayandbutton

Index Explanation
1 Steeringcolumnstalk
2 High-beamassistantbutton
3 Displaywhenhigh-beamassistantactivated
4 Displaywhenhigh-beamheadlightson

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F10DriverAssistanceSystems
4.High-beamAssistant
Formoreinformationonthehigh-beamassistantsystem,refertotheF01/F02trainingmaterialunder
KAFASSystemavailableonTISandICP.

Thehigh-beamassistantisnotasubstituteforthedriversdecisionofwhentousethehigh-beam
headlights.Forsafetyreasons,alwaysmanuallydipthehigh-beamheadlightswhenconfrontedwith
oncomingtraffic.

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F10DriverAssistanceSystems
5.ParkDistanceControl
TheParkDistanceControlPDC(option508)assiststhedriverwhenmaneuveringinandoutofparking
spaces.Acousticsignalsandavisualdisplayindicatethecurrentdistancetoanobstacle.ThePark
DistanceControloftheF10issimilartotheF01/F02/F07andusesthemeasureddatafromfour
ultrasonicsensorsonboththefrontandrearbumper.

PDCisactivatedwhenreverseisengagedorthePDCbuttonispressed.ThePDCbuttonislocated
nexttotheelectronicgearselector/switch.

Theaudibleandvisualdistancewarningsaretheresultsofdistancemeasurementsandareprovided
tothedriverviathespeakersystemandbydisplaysintheCIDrespectively.

F10DistancewarningdisplayintheCID

FormoreinformationontheParkDistanceControlsystem,refertotheF01/F02trainingmaterialunder
PDC,TRSVC,availableonTISandICP.

ThePDCisnotasubstituteforthedriversassessmentofthetrafficsituation.Thedrivermustalways
obtainadirectviewofthesituationallroundthevehicleinordertoassessthetrafficsituation.Failure
toexerciseduediligenceinthiswaycouldresultinanaccidentriskonaccountofroadusersorobjects
notlocatedwithinthedetectionrangeofthePDC.Loudsoundsoutsideandinsidethecarcanrender
thePDCsignalinaudible.

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F10DriverAssistanceSystems
6.ParkingAssistant
ForthefirsttimeinaBMWvehicle,asystemisbeingintroducedintheF10thatassiststhedriver
whenperformingaparallelparkingmaneuver.ParkingAssistantisavailableasoptionalequipment
(option5DP)inconjunctionwiththeoptionalParkDistanceControl(option508).

ParkingAssistantmakesiteasiertomaneuverthevehicleintoparkingspacesparalleltotheroadway.
Thesystemmeasurespotentialparkingspaces(onbothsidesoftheroad)whendrivingbythem
atspeedslessthan35km/h/22mph,regardlessofwhetherparkingassistanthasbeenactivated
ornot.Whenaparkingspace1.2mlargerthanthevehiclelengthisdetectedandthesystemhas
beenactivated,thespaceisshowntothedriverinthecentralinformationdisplay.Thedriverremains
responsiblefortheaccelerationandbrakingofthevehiclewhiletheparkingassistantsystemtakes
overonlythesteeringfunctionandthePDCmonitorsthedistancesandobstacles.Thedriverisled
throughtheparallelparkingprocesswithdetailedinstructionsforactiondisplayedontheCIDand,
whereapplicable,additionalacousticwarningsandacknowledgementsareissued.

TheParkingAssistantsystemdoesnotrelievethedriverofpersonalresponsibility.

Thedriverisstillresponsibleformonitoringtheparkingspaceandtheparkingprocess.Thedriver
shouldinterveneifnecessaryinordertoavoidanypotentialaccident.

6.1.SystemComponents

F10Systemcomponentsoftheparkingassistantsystem

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F10DriverAssistanceSystems
6.ParkingAssistant
Index Explanation
1 DigitalMotorElectronicsorDigitalDieselElectronics
2 Parkingassistantultrasonicsensorintheauxiliaryturnindicator
3 Junctionbox(junctionboxelectronicsandfrontpowerdistributionbox)
4 CarInformationComputer
5 CentralInformationDisplay
6 Instrumentcluster
7 Centerconsoleoperatingunitandcontroller
8 ParkingManoeuvringAssistant(PMA)
9 IntegratedChassisManagement(ICM)
10 Steeringcolumnswitchcluster
11 CarAccessSystem
12 Footwellmodule
13 DynamicStabilityControl
14 Electromechanicalpowersteering
15 ParkDistanceControlsensors

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F10DriverAssistanceSystems
6.ParkingAssistant
6.1.1.SystemWiringDiagram

F10Systemwiringdiagramfortheparkingassistantsystem

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F10DriverAssistanceSystems
6.ParkingAssistant
Index Explanation
1 Parkingassistantultrasonicsensors
2 DynamicStabilityControl(DSC)
3 ElectromechanicalPowerSteering(EPS)
4 DigitalMotorElectronics(DME)
5 JunctionboxJBwithjunctionboxelectronics
6 Luggagecompartmentjunctionbox
7 ParkingManoeuvringAssistant(PMA)
8 Trailermodule(AHM)NotforUS
9 IntegratedChassisManagement(ICM)
10 Parkbuttoninthecenterconsole
11 Controller(CON)
12 CarInformationComputer(CIC)
13 CentralInformationDisplay(CID)
14 Instrumentcluster(KOMBI)
15 Steeringcolumnswitchcluster(SZL)
16 CentralGatewayModule(ZGM)
17 Footwellmodule(FRM)
18 CarAccessSystem(CAS)

6.1.2.Sensors
Thetwoultrasonicsensorsofparkingassistantareintegratedinthesidemarkerturnsignalindicators
(installedinthefrontfenders).

Thefunctionofthesetwoultrasonicsensorsissimilartothefunctionoftheultrasonicsensorsof
theParkDistanceControl(PDC).Ultrasonicpulsesaresentoutandechoimpulsesarereceived.The
signalsareevaluatedbytheParkingManoeuvringAssistant(PMA)controlunit.Thisisusedalongwith
thedistanceinformationfromtheDynamicStabilityControltocalculatethelengthandwidthofthe
parkingspace.

TheultrasonicsensorscommunicatewiththeparkingassistancecontrolunitviaaLIN-Bus.

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F10DriverAssistanceSystems
6.ParkingAssistant

F10Installationlocationoftheparkingassistantultrasonicsensorinthesidemarker

Index Explanation
1 Parkingassistantultrasonicsensorinthesidemarkerturnsignalindicator

Thesensorhasahorizontalopeningangleof+-10andaverticalopeningangleof+-60.Ithasa
rangeofapproximately4.5m.

F10parkingassistantultrasonicsensorintherightsidemarkerturnsignalindicator

Index Explanation
1 Parkingassistantultrasonicsensor

6.1.3.ParkingManoeuvringAssistant(PMA)
TheParkingassistantcontrolmoduleorParkingManoeuvringAssistant(PMA)islocatedinthe
luggagecompartmentbehindthebattery(beneaththetrunklatchmechanism).Itevaluatesthesignals
fromthesensorsandtherebydeterminespotentialparkingspaces.Italsocalculatestheoptimumpath
intoaparkingspaceandmonitorstheparkingprocess.Itactivatestheelectromechanicalsteeringvia
theICM.

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F10DriverAssistanceSystems
6.ParkingAssistant

F10InstallationlocationofParkingManoeuvringAssistant(PMA)

Index Explanation
1 ParkingManoeuvringAssistant(PMA)

6.2.ParkingProcess

6.2.1.Measuringparkingspaces
Ataspeedofupto35km/h/22mphandamaximumdistanceof1.5m/5ft.fromtherowofparked
vehicles,theParkingManoeuvringAssistant(PMA)determinessuitableparkingspacesusingthe
wheelspeedandthesensordatafromtherespectiveultrasonicsensor.Theparkingspacelengthis
determinedfromthedistancetravelledbasedonthedistancesignalsandfromthesensordatafrom
theultrasonicsensors.Thewidthoftheparkingspaceisdeterminedusingthesensordatafromthe
ultrasonicsensor.

F10Parkingspacemeasurement

Thefollowingpreconditionsareplacedontheparkingspace:

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F10DriverAssistanceSystems
6.ParkingAssistant
Theparkingspacemustbebetweentwoobjectseachwithaminimumlengthofabout
1.5meters(5feet).
Theminimumwidthoftheparkingspacemustbeabout1.5meters(5feet).
Theminimumlengthoftheparkingspacemustbeatleastthelengthofyourvehicleplus
about1.2meters(4feet).

Therequirementsfortheparkingspaceandtheopeninganglesoftheultrasonicsensorcanbeseen
inthefollowinggraphic.

F10Requirementsfortheparkingspace

Index Explanation
1 Maximumdistancetotherowofparkedvehicles:1.5m(5ft.)
2 Horizontalopeningangleoftheultrasonicsensor:10,rangeapproximately
4.5m(14.8ft.)
3 Vehicleorobjectlengthatleast1.5m(5ft.)
4 Lengthoftheparkingspace,vehiclelengthplusapproximately1.2m(4ft.)
5 Vehicleorobjectlengthatleast1.5m(5ft.)

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F10DriverAssistanceSystems
6.ParkingAssistant

F10Parkingspacemeasurement

Index Explanation
1 Yourvehicle
2 Vehicleinfrontofparkingspace
3 Verticalopeningangleoftheultrasonicsensor:60,rangeapproximately4.5
m(14.8ft.)

6.2.2.Activation
Basicallytherearetwooptionsforactivatingparkingassistant:

Activationviatheparkbuttoninthecenterconsole
Activationvia"shiftingintoreversegear"andthenoperatingthecontroller.

Activationviatheparkbutton

Foractivationviatheparkbutton,theparkingdisplayappearsinthecentralinformationdisplay.As
soonasaparkingspacehasbeenfound,thedriverneedsonlytoshiftintoreversegeartousethe
parkingassistantsystem.

F10Parkingdisplaywiththeparkingassistantactivated,andsearchingforaparkingspacetotherightandleft.

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F10DriverAssistanceSystems
6.ParkingAssistant
Index Explanation
1 Activationstatusofparkingassistant(inactivatedmode)
2 Statusoftheparkingspacesearch(insearchmode)
3 Potentialparkingspacetotheright

Activationby"shiftingintoreversegear"

Whenyoushiftintoreversegear,theparkingdisplayappearsinthecentralinformationdisplay;
however,theparkingassistantisnotyetactivated.Eveninthisstate,parkingspacesarealreadybeing
measuredand,whereapplicable,displayed.Toparkusingthesystem,thecontrollermustbeoperated.

F10Parkingdisplaywhenparkingassistantisnotactivated,withparkingspacefoundtotheright

Index Explanation
1 Suitableparkingspace

6.2.3.Scheduleofevents
Thesequencedescribedhereiswiththeparkingassistantisalreadyactivated.

TheParkingAssistantsystemdoesnotrelievethedriverofpersonalresponsibilitywhenparking.

Forsafetyreasons,thedrivermustalwaysmonitortheparkingspaceandtheparkingprocessand
interveneifnecessary.

TheParkingAssistantassiststhedriverinsearchingforasuitableparkingspace.Ifasuitableparking
space(vehiclelengthplus1.2m/4ft.)hasbeenfoundwhiletravellingforwards,thedriverisdirectedto
thisparkingspacebyablue-litparkingspaceonthecorrespondingsideofthevehicleandtheblue-lit
Pinthecentralinformationdisplay.Theparkingprocesswithparkingassistantcanonlybecarried
outinreverse.

Byusingtheturnindicator,the"parkingspacesearch"displayor"suitableparkingspace"onthe
oppositesidedisappearsfromthecentralinformationdisplay.Parkingspacesonthissidecontinueto
bemeasuredinthebackground.

Ifaparkingspacehasbeenfoundonthepassengerside,thedrivercanusetheparkingassistantto
maneuverintotheparkingspacewithoutusingaturnsignal.Youcandriveintoaparkingspaceonthe
driver'ssideonlybyusingtheleftturnsignal.

Ifaparkingspacehasbeenfoundandthedriverdoesnotuseaturnsignalindicator,thecentral
informationdisplaypromptsthedrivertodoso.

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F10DriverAssistanceSystems
6.ParkingAssistant

F10parkingassistant,parkingspacefound

Index Explanation
1 Statusoftheparkingspacesearch(suitableparkingspacedetected)
2 Suitableparkingspace

Afterasuitableparkingspacehasbeenfoundandthevehiclehasreachedapositionfromwhichitcan
beparked,thedriverispromptedtostopthevehicle.

F10parkingassistantpromptstostopthevehicle.

Index Explanation
1 Symbolforactionprompt(tostopthevehicle)
2 Pleasestopthevehicletostartparkingmaneuver.

Afterthevehiclehascometoacompletestop,thedriverispromptedtoshiftintoreverseandlet
goofthesteeringwheel.Ifthedrivergrabsthesteeringwheelduringtheparkingprocess,parking
assistanceisterminated.Ifneedbe,theparkingprocesscanlaterberesumed.Thusthedrivercan
endtheparkingprocessatanytime.

ThePMAcontrolunitcalculatesanoptimumpathfortheparkingprocess.Thesteering,andthus
thetransversecontrol,istakenoverbyactivatingtheelectromechanicalpowersteering(EPS)viathe
IntegratedChassisManagement(ICM).Communicationbetweenthecontrolunitstakesplaceviathe
FlexRaydatabus.

F10parkingassistantpromptsthedrivertoselectreverse.

Index Explanation
1 Pleaseengagereversegearandremovehandsfromthesteeringwheel.

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F10DriverAssistanceSystems
6.ParkingAssistant
Oncethedriverhasshiftedintoreverseandletsgoofthesteeringwheel,theparkingprocesscanbe
startedwiththeparkingassistant.Theparkingassistanttakesoverthecontrolofsteeringoncethe
vehicleisshiftedintoreverse.Thisisindicatedbyasteeringwheelsymbolinthecentralinformation
display.The"Driveslowlyinreverseandbrake"promptappearsinthecentralinformationdisplay.

F10parkingassistantpromptsthedrivertodriveinreverse.

Index Explanation
1 Carefullyreverseandbrakemanually.

Whilethevehicleismoving,thedrivermustcontinuouslyobservethetrafficandthatwhatis
happeningaroundthevehicle.Duringtheparkingprocess,Theparkingassistantonlytakesoverthe
steeringofthevehicle,thedriverisstillresponsibleforacceleratingandbrakingandthussafelydriving
thevehicle.

F10Parkingprocess

Whiledrivinginreverse,thedriveriscontinuouslyshowntheparkingdisplayinthecentralinformation
display.ThepathduringtheparkingprocessiscontinuouslymonitoredbythePMAandcorrectedif
necessary.

F10parkingassistant,parkingdisplayduringtheparkingprocess

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F10DriverAssistanceSystems
6.ParkingAssistant
Intheeventthattheparkingassistantdoesnotmakeitintotheparkingspaceinonetry,itprompts
thedrivertodriveforwardsuponreachingacertainprecalculatedpoint.Insomecases,thesensor
datafromtheParkDistanceControlwillalsobeusedtodothis.Thepromptappearsinthecentral
informationdisplayandanacousticsignalisemitted.Theprompttochangedirectionsrepeatsuntil
thevehicleiscompletelyintheparkingspace.

F10parkingassistantpromptfordrivingforwards

Index Explanation
1 Carefullydriveforwardandbrakemanually.

Aftertheparkingprocesshasbeencompletedandthevehicleiscompletelyintheparkingspace,
thedriverreceivesanacousticsignalandinformationinthecentralinformationdisplay.Theparking
assistantisthendeactivated.

F10parkingassistantcompletionoftheparkingprocess

Index Explanation
1 Parkingcompleted,pleasesecurethevehicle.

Theparkingprocessiscancelledinthefollowingcases:

Maximumparkingspeedof10km/h(6mph)exceeded
Incorrectselectionofturnsignalindicator(forexampleleftinsteadofright)
Thedriverturnsthesteeringwheel
Adoorisopened
Incorrectgearselection
DSCdetectsaslip.

EachofthesereasonsforcancellingtheprocessisdocumentedinthefaultmemoryoftheParking
ManoeuvringAssistant(PMA)withaninfoentry.Consequently,thisisnotasystemfault,butincorrect
operationbytheuser.Afteracancellation,thesystemcheckstoseewhetheritispossibletoresume
theparkingprocess.Thedrivercanimmediatelyresumetheparkingprocesswhereappropriate.

25
F10DriverAssistanceSystems
6.ParkingAssistant
6.2.4.ServiceInformation

NotesforService

AfterreplacingthePMAoranultrasonicsensor,nospecialstart-upisrequired.However,eachtimethe
start-upprocessbegins,thecontrolunitcheckswhetherthesensorsoftwareiscompatiblewiththe
controlunitsoftware.Intheeventthattheyarenotcompatible,acorrespondingfaultcodeissetinthe
PMAcontrolunit.Inthiscase,the"Updatesoftwareoftheultrasonicsensors"servicefunctionmust
becarriedout.

ThePMAmonitorsitselfforfaultsand,ifnecessary,makesthecorrespondingfaultentries.In
exceptionalcases,thisisnotalwayspossible.Thecontrolunitcannotdetectiftheultrasonicsensors
(includingthesealingring)areincorrectlyinstalledorclipped,orifthesidewallintheareaofthe
ultrasonicsensorsisdamaged.

Thiscanleadtothefollowingcustomercomplaintswithoutfaultentries:

Smallparkingspacesareonlyrarelydetected
Whileparking,thevehicledrivesveryclosetoorveryfarfromthevehicleinfrontoftheparking
space
Aftertheparkingprocess,thevehicleiseitherfarfrom,veryclosetooronthecurb
Thevehicleiscrookedintheparkingspace.

Inthiscase,theultrasonicsensorsmustbecheckedforcorrectinstallationanddamageontheside
wallintheareaoftheultrasonicsensorsmustberuledout.

Parkingassistantrelievesthedriverintworespects.First,fromthetaskofestimatingthesizeofa
parkingspaceanddecidingbasedonthiswhetherthespaceislargeenough.Second,fromthetask
ofsteeringintothespaceonhisorherown.Brakingandacceleratingthevehiclestillremainsthe
responsibilityofthedriver.Whilesearchingforaparkingspaceandparking,thedriverispresented
withallrelevantinformation,fromtheresultsoftheparkingspacemeasurement,totheparking
assistantstatusandcorrespondinghandlinginstructions,tothedistancestootherobjects,e.g.viathe
PDCimageinanintegrateddisplay.Thismakesitparticularlyeasytomonitortheparkingprocessand
simultaneouslycontrolthevehicle.

26
F10DriverAssistanceSystems
7.SurroundView
ASurroundViewoftheentirevehiclecanbedisplayedintheCIDwiththecombinationoftheSide
ViewandTopViewcamerassystems(option5DL).ItcanonlybeorderedaspartoftheZCECamera
Package,inconjunctionwiththerearviewcamera(option3AG)andParkDistanceControl(option
508).

TheSideViewandTopViewsystemscannolongerbeorderedindividually.

7.1.SideView
TheSideViewCamerafunctionwasfirstintroducedinaBMWwiththeF01/F02andisnowinstalledin
theF10.Thisfeaturemakesiteasierforthedrivertopullintoroadsortightintersectionsinwhichthe
driver'sviewtothesideisobstructed.Thefunctionisimplementedbytwodigitalcamerasinstalledon
therightandleftfrontwheelarches.

ThedrivercanactivatetheSideViewusingabuttoninthecontrolpanelnexttothegearselectorlever
orwiththeiDrivecontroller.

F10SideViewdisplayintheCID

Index Explanation
1 Splitscreenimagesfromthebumpercameras
2 Imagefromthebumpercameraintheleftwheelarch
3 Imagefromthebumpercameraintherightwheelarch
4 Projectedfrontofvehicle,viewtoleft
5 Projectedfrontofvehicle,viewtoright

ThevideocameraimagesareshownintheCIDinasplitscreendisplayupto30km/h,.Likethetop
andrearviewcameras,thetwobumpercamerassendtheirsignalstotheTRSVCcontrolunitviaLVDS
datalines.ThesignalsarethenforwardedviaCVBS(compositevideo)linestothevideoswitch(VSW)
andtotheCIC.TheCICtransmitstheimagedataviaLVDSdatalinestotheCIDwhereitisdisplayed.

27
F10DriverAssistanceSystems
7.SurroundView
SideViewCamera(option5DK)canonlybeinstalledinconjunctionwiththerearviewcamera(option
3AG)andispartoftheZCECameraPackage.

FormoreinformationontheSideViewCamerasystem,refertoF01/F02trainingmaterialunder"PDC,
TRSVCavailableonICPandTIS.

Thedrivermustalwaysobtainadirectviewallroundthevehicleinordertoassessthedrivingsituation.
Failuretodosocouldresultinanaccident,incasepedestriansorobjectsarefoundbeyondthe
viewingrangeofthebumpercameras.

7.2.TopView
TheTopViewfunctionfamiliarfromtheF07isalsoofferedintheF10.Itisincludedintheoptional
equipmentaspartoftheZCECameraPackage.

WiththeTopViewfunction,twoexteriormirrorcamerasshowthedriveraviewofthesidesofthe
vehiclefromabove.TheimageisdisplayedontheCID.Thisenablesthedrivertoseeareasaroundthe
vehiclethatarenotdirectlyvisiblebothwhenparkingandwhendrivingslowly.

F10Exteriormirrorcamera

Index Explanation
1 Exteriormirrorcamera

ThedrivercanactivatetheTopViewusingabuttoninthecontrolpanelnexttothegearselectoror
withthecontroller.

TopViewusesboththeexteriormirrorcamerasandtherearviewcameratogeneratetheimage.

Likethesideandrearviewcameras,thetwotopviewcamerassendtheirsignalstotheTRSVCcontrol
unitviaLVDSdatalines.

Thedriverisshowntheturning-circleandtrackinglinesalreadyfamiliarfromtherearviewcamera
systemonpreviousvehicles.

28
F10DriverAssistanceSystems
7.SurroundView

F10TopView

Index Explanation
1 Obstacle
2 Obstaclewarning

ThePDCinformationisusedtowarnthedriverofanobstaclebothaudiblyandvisuallyintheCID.

F10TopViewwithtrackinglineandturning-circleline

29
F10DriverAssistanceSystems
7.SurroundView
Index Explanation
1 Turning-circleline
2 Trackingline

Theturning-circlelineshowsthetightestpossibleturningcircleonalevelroadsurface.

Whenthesteeringwheelisturned,onlyoneturning-circlelineisdisplayed.

Thetrackinglineisofassistanceforestimatingthespaceneededforparallelparkingandmanoeuvring
onlevelroads.

Thetrackinglinedependsonthesteeringangleandchangescontinuouslyinresponsetomovements
ofthesteeringwheel.

Thedrivermustalwaysobtainadirectviewallroundthevehicleinordertoassessthedrivingsituation.
Failuretoexerciseduediligencecouldresultinanaccidentinvolvingotherroadusersorobjects
outsideoftheviewingrangeofthecameras.

30
F10DriverAssistanceSystems
8.DCC
8.1.Introduction
ThecruisecontrolwithbrakingfunctionhasbeenusedinmanyBMWmodelssincetheBMW3Series
(E9x).Itisalsocalled"DynamicCruiseControl"(DCC)andinstalledintheF10asstandard.Itrelieves
theburdenonthedriveronquietroadsbymaintainingaconstantspeedregardlessoftheresistance
tovehiclemotion(gradient,payload).Despitethesupportofferedbythisandothersystems,thedriver
invariablybearsfullandsoleresponsibilityforcontrolofthevehicle.Thedrivercanbrakeoraccelerate
atanytimetooverridetheDCCfunction.

DCCalsooffersthedrivertheoptionofadjustingthesetspeedinsmallorlargeincrements,whichis
thensetandmaintainedbythesystembycontrollingpoweroutputandbraking.Thebrakesarealso
controlledduringsteepdownhilldrivingifsufficientdecelerationisnotachievedbyenginedrag-torque
alone.

ThecruisecontrolwithbrakingfunctionisimplementedintheF10withintheICMcontrolunit.

8.2.Controlfunctions

8.2.1.Cruisecontrol
Cruisecontrolcomputesatargetaccelerationortargetdecelerationonthebasisofthesetspeed
inputbythedriverandthecar'sactualspeed.

8.2.2.Accelerationanddeceleration
Thedrivercanspecifythesetspeedoraccelerationbyusingtherockerswitchonthemultifunction
steeringwheel.

8.2.3.Cruisecontrolincurves
Thisfunction,alsoknownas"lateralaccelerationcontrol",isdesignedtopreventthelateral
accelerationforcesgeneratedbycorneringfromrisingaboveacertainlevelofperceivedcomfort
whenthecarisbeingdrivenwiththecruisecontrolengaged.Drivingspeedandyawrateareusedto
computeafigureforlateralacceleration.Thisvalueiscomparedtoaspeed-dependentlimitvaluein
ordertoachievethefollowing,seeminglycontradictoryobjectives:

ifthedrivertakescompletecontrol,disruptiveandoverlyrestrictedinterventionsareavoided,
evenifthecarisdrivenathighspeed.
Mostcaroccupantsfindhighlateralaccelerationuncomfortablesousefulinterventions
andaperceptiblerestrictionondynamichandlingathigherspeedsareappliedunderthese
circumstances.

Theoutputvariablefromcorneringspeedcontrolisalsoaset-pointforlongitudinalacceleration.

31
F10DriverAssistanceSystems
8.DCC
8.2.4.Prioritizationoftheset-pointvalue
Aset-pointvalueisselectedashighest-priorityset-pointfromthesetoflongitudinal-accelerationset-
pointsobtainedfromtheabove-mentionedcontrolfunctions;thisselectionissituation-dependent.
Signalfilteringisappliedtopreventsuddenjumpswhenthesystemswitchesfromtheset-points.

8.2.5.Interference-forceestimation
Anaccelerationordecelerationforcehastobecalculatedsothattheprioritizedlongitudinal
accelerationcanbeimplementedusingtheactuators.Example:whenthecarisdrivinguphill
thepropulsiveforcesneededinordertoachieveagivenlongitudinalaccelerationarehigherthan
whenthecaristravellingonaflatsurface.Decelerationasthecarascendsagradient,ontheother
hand,requireslessbrakingforcethanisthecaseontheflat.Iftheseforcesaretobecomputed
correctly,exactvaluesarerequirednotonlyforthegradient,butalsoforthemassofthevehicle,rolling
resistance,dragandotheracceleratingforces.Thereisnoadequatesystemofsensorsforallthese
interferingforces,soanestimatedvalueisderivedfromacomparisonofthefollowingtwovariables:

actualmotionvariablesofthevehicle
expectedmotionvariablesofthevehicle,forecastonthebasisofthedrivingandbraking
forcescurrentlyapplied.

Themagnitudeoftheinterferenceforceestimatedinthiswayistakenintoaccountbyadditionor
subtractioninthesubsequentprocessingofthelongitudinal-accelerationset-point.

8.2.6.Activationoftheactuators
Drivingforcesand/orbrakingforceshavetobeappliedinordertoachievethelongitudinalacceleration
computedbythecontrolfunctionsandtherebycompensatefortheactinginterferenceforces.Usually
aset-pointisgivenforthedrivetraintoacceleratethevehicle.Intheexceptionalcircumstancesthat
applygoingdownasteephill,itmightalsobenecessarytoapplythebrakesinordertolimitthe
accelerationtoacertainvalue.

Ifthevehicleneedstobedecelerated,firstthemagnitudeofthedrivetrain'spotentialdeceleration
percentageisdetermined,andthusthebrakingeffectoftheengineandtransmission.Thisvalue
issenttotheDigitalMotorElectronicsortheDigitalDieselElectronicsandelectronictransmission
control.Ifthedrivetrainisunabletoachievethisvaluealone,theadditionallyrequiredvalueissentto
theDynamicStabilityControl.

Ifthebrakesareperceptiblyactuatedtoachievethedesireddegreeofvehicledeceleration,thecar's
brakelightsarealsoactuated.

32
F10DriverAssistanceSystems
9.ACCStop&Go
9.1.Introduction
TheoptionalActiveCruiseControlwithStop&Gofunction(ACCStop&Go)offersoptimum
assistancetothedrivernotonlyinsmoothlyflowingtrafficbutalsointrafficjamsituations.

TheActiveCruiseControlwithStop&Gofunction(option5DF)canbeorderedonlyinconjunction
withanautomatictransmission(option205oroption2TB).

ThepurposeofACCStop&Goistorelievethestrainonthedriver,therefore,furtherenhancing
comfortandconvenience.

TheconnectionbetweentheACCStop&Goequipmentandthenavigationsystem(asontheE60)is
nolongernecessaryasfromtheintroductionoftheF10.IntheE60,thenavigationdatawasrequired
inordertoswitchofftheshort-rangeradarsensorsoftheACCStop&Gointhevicinityofradio
astronomicaltelescope/stations.TheradarwavesofthenewACCStop&Gosensorsnolonger
disruptfunctionoftheseradiotelescopes,andthereforetheynolongerneedtobeswitchedoffintheir
vicinity.

ActiveCruiseControlwithStop&Gofunctionisasystemdesignedtoeasethestrainonthedriver,
butitisbynomeansintendedasasystemthatcanrelievethedriveroftheobligationtoexercisedue
diligenceatalltimes.Thedriverbearsfullresponsibilityatalltimesforusingthesysteminapractical
way.Itisself-evidentthatthedrivermustremainfullyawareoftrafficconditionsatalltimes;this
systemsimplymakesiteasierforthedrivertodojustthat.

ActiveCruiseControlwithStop&Gofunctionisdesignedtooperatefromhighspeedsdowntoa
completestandstill.Speedanddistancefromthevehicleinfrontareautomaticallycontrolledinthis
speedrange.

F10ActiveCruiseControl

ActiveCruiseControlregulatesspeedwhentheroadaheadisclearandswitchesautomaticallyto
distancecontrolwhenthesensorforACCStop&Godetectsaslowermovingvehicleinthelane
ahead.InthiswayActiveCruiseControlnotonlyassiststhedriveronlittle-usedroads,butalsoin
heavytraffic.ActiveCruiseControltakesovertheroutineofacceleratingandbrakingforprecision
adjustmentofdistanceandspeedtosuitotherroadusers.

33
F10DriverAssistanceSystems
9.ACCStop&Go

F10ActiveCruiseControl

TheStop&GofunctionoftheActiveCruiseControlbringsthevehicletoacompletestopifnecessary.
Ifthevehicleaheadbeginstomoveagainafterhavingstopped,thedriverisnotified.Topullaway
again,thedriverhastoacknowledgethismessage.Thepulling-awayprocessiscontrolledfully
automaticallybyACCStop&Goonlyifthedurationofthestandstillisveryshort.

ThiswayACCStop&Goassiststhedrivernotonlyinflowingtraffic,butalsointrafficjamsituations.
However,isnotsuitedforuseinurbanareasfornegotiatingjunctionsortrafficlights.

ThefollowingaspectsoftheACCStop&Goassistsystemareconsideredinmoredetailhere:

Systemcomponents
Informationregardingthevicinityofthecarinfront
Controlfunctions
Operationanddisplay
Behaviorinresponsetodriver'sintentiontoexitthevehicle
Monitoringfunctions.

34
F10DriverAssistanceSystems
9.ACCStop&Go
9.2.SystemComponents

F10SystemcomponentsforACCStop&Go

Index Explanation
1 Junctionbox(junctionboxelectronicsandfrontpowerdistributionbox)
2 CrashSafetyModule
3 CarInformationComputer
4 CentralInformationDisplay
5 Rainlightsolar-condensationsensor
6 Instrumentcluster
7 Steeringcolumnswitchcluster
8 IntegratedChassisManagement
9 Driverassistancesystemsoperatingunit
10 CentralGatewayModule
11 Footwellmodule
12 DynamicStabilityControl

35
F10DriverAssistanceSystems
9.ACCStop&Go
Index Explanation
13 CarAccessSystem
14 Electronictransmissioncontrol
15 SensorforACCStop&Go
16 DigitalMotorElectronicsorDigitalDieselElectronics
17 HeadUpDisplay

36
F10DriverAssistanceSystems
9.ACCStop&Go
9.2.1.SystemWiringDiagram

F10SystemwiringdiagramforACCStop&Go

37
F10DriverAssistanceSystems
9.ACCStop&Go
Index Explanation
1 SensorforACCStop&Go
2 DigitalMotorElectronicsorDigitalDieselElectronics
3 Junctionboxelectronics
4 FuseforthesensorforACCStop&Gointhefrontdistributionbox
5 IntegratedChassisManagement
6 Seatbeltbucklecontact,driver'sseat
7 Multifunctionsteeringwheel
8 Steeringcolumnswitchcluster
9 Driverassistancesystemsoperatingunit
10 Doorswitch,driver'sdoor
11 Footwellmodule
12 CentralGatewayModule
13 DynamicStabilityControl
14 Electronictransmissioncontrol
15 Rainlightsolar-condensationsensor
16 CentralInformationDisplay
17 CarInformationComputer
18 Controller
19 Instrumentcluster
20 HeadUpDisplay
21 CrashSafetyModule

9.2.2.SensorforACCStop&Go
ThesensorforACCStop&Goisaradar-basedsensorfordetectingtheareaaheadofthevehicle.
Boththeshortandlongrangearedetectedbyasensorusinginternalelectronicandmechatronic
measures.Thetransmissionfrequencyis7677GHz.

Thesensorsendsoutfocusedelectromagneticwaves.Theechoesreflectedfromobjectsarereceived
andevaluatedbythesensor.Inthisway,thesensorcangaininformationaboutobjectsinfrontofit.
Thisinformationincludessize,distanceandthespeed.

38
F10DriverAssistanceSystems
9.ACCStop&Go

F10SensorforACCStop&Go

Thesensorislocatedbehindaremovablegrilleonthefrontapron.

F10Installationlocationofsensor

Index Explanation
1 SensorforACCStop&Go
2 Removablegrille

Inordertoachievealowoverallheightforthesensor,complexmeasureshavebeentakeninsidethe
sensor.Thereisacontinuouslyrotatingrollerinsidethesensor.Therollerhasvariousmouldingsand
emitselectromagneticwaveswithvariouscharacteristics,dependingontherangetobedetected.
Thusboththeshortandlongrangearedetectedwitheachrevolutionoftheroller.Therollerturnsat
900rpmusingabrushlessmotor.Sincethesensorbecomesfunctionalonlyuponreachingthisspeed,
incoldtemperatures,itcansometimestakeacertaintimeforthesensortobecomeavailable.The
coverofthesensoriscoatedwithatransreflectivelayer.Thisispermitsthepenetrationandpassage
ofwavesatacertainangletoallowbeamstoenterandexit.Thebeamsareledthroughthewaveguide

39
F10DriverAssistanceSystems
9.ACCStop&Go
andreflectedonthetransreflectivelayer.Atashallowerangle,itisreflectiveinordertoguidebeams
withinthehousingtothevariouscomponents.Theystrikethemirror,uponwhichthewaveshave
theirphaserotatedandarereflected.Thentheyleavethehousingthroughthetransreflectivelayer.If
thesebeamsstrikeobjects,theyarereflectedfromtheseandtravelbacktothesensor.Thebeams
arecapturedandmeasuredinthewaveguide.Theevaluationelectronicswithinthesensorevaluates
thesebeamsandforwardsdetectedobjectsviatheCANbustotheIntegratedChassisManagement.

F10Schematicstructureofthesensor

Index Explanation
1 Transreflectivelayer
2 Mirrors
3 Roller(phase-controlledradar)
4 Waveguide(antenna)

F10StructureofthesensorforACCStop&Go.

40
F10DriverAssistanceSystems
9.ACCStop&Go
Index Explanation
1 Mirrors
2 Connector
3 Waveguide(antenna)
4 Roller

Note:Thecoverofthesensoriscoatedwithatransreflectivelayerthatispermitsthe
penetrationandpassageofwavesatacertainangletoallowbeamstoenterandexit.Ata
shallowerangle,itisreflectiveinordertoguidebeamswithinthehousingtothevarious
components.

ThesensorforACCStop&GoisconnectedbyawaterproofplugconnectiontothesensorCAN,
terminal15N,andground.ThesensorforACCStop&Goreceivesitspowersupplyviaterminal15N,
soitisswitchedonandoffwiththissupply.Terminal15Nistappedoffatthefrontfusecarrier.There
isafaultmemoryinthesensorforACCStop&Go.Thefaultmemorycanbereadoutindiagnosisvia
IntegratedChassisManagement.Ifthesensorisdefective,replaceitandcalibratethenewsensor.

Thefollowinggraphicshowstheworkingrangeofthesensorwithalargeopeningangleforshort
rangeandasmallopeningangleforlongrangedetection.

F10Receptionareaofthesensor

Index Explanation
1 Short-rangesensing
2 Long-rangesensing
3 Distanceatwhichtheshort-rangeradarcandetectobjectsoverthefullwidth
ofathree-lanehighway(approx.10.5m)
4 Rangeofshort-rangeradar(approx.50m)
5 Distanceatwhichthelong-rangeradarcandetectobjectsoverthefullwidthof
athree-lanehighway(approx.40m)
6 Rangeofradar(approx.200m)

Thesensorusesthedataontheobjectsdetectedtocalculatetheirspeedsrelativetoourcar.These
dataarepre-processedinthesensor,preparedforpost-processingandfiltered.

41
F10DriverAssistanceSystems
9.ACCStop&Go
IfACCStop&Gobringsthecartoastandstillonaccountofanobjectithasdetected,theACCsensor
switchestoareduced-powermode(FCCrequirement).Whendrivingresumesorautomaticdriveoff
isactive(setspeedLEDinthespeedreadingisgreen),itisswitchedbacktonormalpower.Shortand
longrangearepermanentlyscannedandthedetectedobjectsarecombined.

ThefollowingisanoverviewoffaultsthatcanoccurwhenusingtheACCStop&Go.

IftheACCStop&GoSensorisdirty
Thesensorcannolongerfunctionreliablyiftheantennaisobscuredbysnow,slushorice.If
thisconditionisdetected,acorrespondingsignalissenttoIntegratedChassisManagement
(ICM)andtheACCStop&Gofunctionisdeactivatedasaresult.ACheckControlmessage
informsthedriveraboutthisspecialcase.AtthesametimeafaultentryisstoredintheACC
sensor.
Externaldisruptionofradar-signalprocessing
Radarsensorsusedbyotherautomobilemanufacturerscandisruptthesignalevaluation
oftheACCsensor.Ifsuchaproblemisdetected,theACCStop&Goisdeactivated.Itcan
beswitchedonagainbythedriverassoonasthecarisfarenoughawayfromthevehicle
causingtheinterference.ThisfaultisstoredinthefaultmemoryoftheIntegratedChassis
ManagementandoftheACCsensor.Thisdoesnot,however,necessitateanyrepair
measures.Instead,thecustomershouldbeinformedofthecauseofthefault,whichis
externalinterference.
Temporaryfaults
Thepotentialcausesofthistypeoffaultincludecommunicationfaults,overvoltage,
undervoltageandthermaloverloadsintheACCsensor.Inthesecases,itisnecessaryto
proceedasinstructedbythetestplaninthediagnosticsystem.DonotreplacetheACC
sensoruntilthetestschedulepromptsyoutodoso.
Controlunitfault
IftheACCsensorisaffectedbyacontrolunitfault,theonlywaytorectifythefaultistoreplace
thedefectivesensor.
MisalignedSensor
TheinteractionbetweentheACCStop&GosensorandtheIntegratedChassisManagement
candetectmisalignmentcausedbyanaccident(e.g.bybumpingsomethingwhileparkingor
beingbumpedwhenparked).Ifthecomputedmaladjustmentdriftexceedsacertainthreshold
theACCStop&Gofunctionisswitchedoff.Afaultentryindicatesthecauseofthefault.To
correctthefault,observetheinstructionsinthediagnosticsystemandRepairInstructions.

IftheACCStop&Gosensorisreplaced,thediagnosissystemmustbeusedtoperformastart-up
proceduretoinitializethesensor.Inthecourseofthestart-upprocedure,theinstallationpositionis
enteredinthenewlyinstalledsensoranditisadjusted.Anadjustmentmayalsoberequiredafteran
accidentwithoutdamagetothesensor.

Note:Alwaysfollowproperrepairinstructions.

ItisessentialtoobservethefollowingimportantnotesinordertoadjusttheACCStop&Gosensor
properly:

42
F10DriverAssistanceSystems
9.ACCStop&Go
Makesurethemeasurementsetupisexactlyinaccordancewiththerepairinstructions
Parkthevehicleonaperfectlysmooth,levelsurface
ConnecttheISTAdiagnosissystem
MakesurethatthereflectorforadjustingtheACCStop&Gosensoriscorrectlypositioned
Performtheadjustmentinaccordancewiththeactionplanindiagnosis
Completetheadjustmentandclearfaultmemory,etc.

Note:TheACCStop&Gosensormustnotbeadjustedmechanically.Onlythehousingcanbe
mechanicallyaligned,thefineadjustmentoccurswithinthesensor.

Extracaremusttakenwhiledoingrepairworkonthefrontendofthesevehicles.Ifthebumpersupport
isdeformedoriftherearescratchesonthecoveroftheACCStop&Gosensor,thereisapossibility
ofthesensorfailingtoworkcorrectly.Itisessentialtofollowtherepairinstructionswhendealingwith
thesecomponents.

F10SettingtheACCStop&Gosensor

Index Explanation
1 Reflector,right
2 Slottedcover,right
3 Laserpointerright
4 Longitudinalaxisofthevehicle
5 Laserpointer,left

43
F10DriverAssistanceSystems
9.ACCStop&Go
Index Explanation
6 Slottedcover,left
7 Reflector,left
8 Reflectorforadjustment
9 SensorforACCStop&Go

9.2.3.IntegratedChassisManagement
YouwillfindaprecisedescriptionoftheIntegratedChassisManagement(ICM)intheF01driving
stabilitycontroltrainingmaterialavailableonTISandICP.Thepresentdocumentprovidesabrief
overviewandcoverspointsofinterestrelatingtothetopicsfeaturedhere.

TheIntegratedChassisManagementintheF10calculatesforthecontrolfunctions,sensordata
andvehiclevaluesthatinfluencethelongitudinalandtransversedynamics.TheIntegratedChassis
Managementalsoincludesthecontrolfunctionsof"Cruisecontrolwithbrakingfunction"and"Active
CruiseControlwithStop&Gofunction"aswellas"Collisionwarningwithbrakeapplicationfunction".
Micro-mechanicalsensorsthatsupplysignalsforthedrivedynamicssystemsarealsoincorporated
intoIntegratedChassisManagement.

TwodifferentversionsoftheIntegratedChassisManagementareusedintheF10.Abasicversionfor
vehicleswithoutACCStop&Goandahigh-endversionforvehicleswiththeoptionalACCStop&Go
equipment(orforvehicleswithactivesteering).

Thehigh-endversiondiffersfromthebasicversioninthefollowingways:

Largermicroprocessor(neededforthecalculationsinvolvedinActiveCruiseControl)
Redundantsensorsforlateralaccelerationandyawrate.

Thecontrolunithasa54-pinplugbywhichthepowersupply,sensors,actuatorsandbussystemsare
connected.Northecontrollerhousingortheplugconnectorarewaterproof.Thisisnotnecessaryasit
isinstalledontheinsideofthevehicle.

TheFlexRayiscarriedtotheIntegratedChassisManagementfromthecentralgatewaymoduleand
onfromtheretotheDigitalMotorElectronics.TheIntegratedChassisManagementisbasedonthe
FlexRay,thereforeitisnotanendnode.Thisiswhyitdoesnothaveaterminatingresistorforthe
FlexRay.

AnotherbussystemisconnectedtotheIntegratedChassisManagementinadditiontotheFlexRay.
TheSensorCANisusedexclusivelyforcommunicationbetweentheIntegratedChassisManagement
andtheACCStop&Gosensor.Ittransmitstrafficconditioninformationthathasbeendetectedbythe
sensor.

TheSensorCANoperateswithatransmissionspeedof500kBit/s.Therearetwoterminalresistorsfor
theSensorCAN,eachwith120ohms.OneofthemislocatedintheIntegratedChassisManagement,
thesecondterminalresistorisintegratedintheACCsensor.

TheIntegratedChassisManagementisinstalledinthecenterconsolebehindthesensorfortheCrash
SafetyModule.Thismeansthatthecontrolunitanditsintegratedsensorsystemareideallypositioned
(withregardtodrivingdynamics)nearthevehicle'scenterofgravity.Themountingpointsonthe
bodyarepreciselydeterminedandaremeasuredwhenthevehicleismanufacturedandmustnotbe
replacedwithanyothermountingpoints.

44
F10DriverAssistanceSystems
9.ACCStop&Go
9.3.Obstacle/VehicleDetectionProcess
TheACCStop&Gofunctionrequiresinformationonothervehiclesinfrontofthecar.Thisisgained
usingtheACCsensorandprocessedintheIntegratedChassisManagement.

Todoso,theelectronicsproceedasfollows:

Objectdetection
Object-dataprocessing
Objectevaluation

9.3.1.Objectdetection
DetectingthepresenceofvehiclesinfrontofthecarisoneofthemostimportantfunctionsofActive
CruiseControl.TheintroductionoftheStop&Gofunctionentailsextendingthisfunctionalityto
includenotonlylong-rangedetectionbutalsoshort-rangedetectionrightthroughtotheareadirectly
infrontofthecar'sfrontbumper.Thisisnecessary,sincethevehiclewilltravelveryclosetothevehicle
infrontofit,(seethe"Distancecontrol"section).TheACCStop&Gosensorscanstheshortand
longrangeaheadofthevehicleusingradarwaves.Aswellasdetectingobjects,theACCsensoralso
determinesthepositionoftheobjectsinthexandydirectionsandcomputestheirspeedrelativeto
ourvehicle.TheACCsensorusesthisrelative-speedinformationtocomputetheaccelerationofthe
objectsrelativetothecar.Thesevaluesareneededfordistancecontrol.

9.3.2.Object-dataprocessing
InitialprocessingoftheobjectdatavaluesforpositionandmotiontakesplacerightintheACCsensor.
Individualobjectsaregroupedandtrackedintimeinordertobridgemeasurementgaps.Theinitial
filteringoftheobjectdataalsotakesplaceatthisstage.Thesecondstepoftheprocesstakesplacein
IntegratedChassisManagement.There,theobjectdatafromtheACCsensorarecombined,because
thelong-rangeandshort-rangefieldsoverlap.Thisoverlapmainlyoccursinshort-rangedetection.
Thecombinedobjectdataaresubjectedtofurtherfiltration,whichtakesintoaccountthespecial
requirementsfordistancecontrol.

9.3.3.Objectevaluation
Inordertodecidewhichobjectistobeusedfordistancecontrol,anevaluatorvalueiscalculatedfor
eachobject.

Thefollowingarethetwomostimportantcriteriaforthiscalculation:

Positionandmovementoftheobjectrelativetoourvehicle.Theclosertheobjectistoour
vehicleand/orthefasteritisapproaching,thehighertheevaluatorvalue.
Presenceoftheobjectinourlane.Theradarsensorscannotdetecttheactuallaneorthe
lanemarkingsonthesurfaceoftheroad.Theinformationfromthecamera-basedsystem
installedfortheLaneDepartureWarningsystemisnotyetavailableforACCStop&Go.
Therefore,ACCStop&Gocomputesaprobablecourseforthelaneaheadofthecar.While
thecarisonthemove,variablesareusedinthisprocessthatdescribethemotionofthecar
andthepositionofmotionlessobjectsdetectedbythesensors.Ifthecarisatastandstill,
computationisbasedprimarilyonanalysisofthesignalfromthesteeringanglesensor.This

45
F10DriverAssistanceSystems
9.ACCStop&Go
meansthatsteeringwheelmovementswhilethecarisatastandstillproducechangesinthe
lanecalculatedbytheACCStop&Gofunctionandhaveacorrespondingeffectonevaluation
ofthedetectedobjects.

Theobjectwiththehighestevaluatorvalueisusedfordistancecontrol.Inthisstepinprocessing,
theobjectsarealsoclassifiedbytheirevaluationstatus.Adistinctionisdrawnbetweenmoving
andstationaryobjects.Thecontrolalgorithmhasaspecialwayoftreatingobjectswhichhavebeen
classifiedasstationaryafterfirstbeingdetected.

9.4.ControlFunctions

9.4.1.Cruisecontrol
CruisecontrolintheACCStop&GosystemworksbasicallyinthesamewayasintheDCCsystem.

9.4.2.Distancecontrol
DistancecontrolisthecorefunctionoftheACCStop&GosystemandisintegratedintoIntegrated
ChassisManagement.Twobuttonsonthemultifunctionsteeringwheelenablethedrivertoselect
adesireddistancefromoneoffourstages.TheACCStop&Gosystemusesthispreselectionto
calculatetheset-pointdistancetobeusedincontrol.

F10Distancecontrol

Index Explanation
A Set-pointdistance
B Vehicledrivingspeed
1 Set-pointdistance,vehicleonthemove,inproportiontodrivingspeed
2 Set-pointdistance,vehicleatstandstill,constant
3 Resultingset-pointdistancefromtheproportions

46
F10DriverAssistanceSystems
9.ACCStop&Go
Theset-pointdistancewiththecaronthemoveisproportionaltodrivingspeed(1).Atlowdriving
speedsandatastandstill,theproportionaldistancetothedrivingspeedisnolongerusedforACC
Stop&Go,butinsteadafixedvalueinmetres(2).Distancecontrolusestheprocesseddataforthe
objectwiththehighestevaluatorvalueasitsinputvariables.

Distancecontroltakesthefollowingsituationsinparticularintoaccount:

Maximumvaluesforaccelerationanddeceleration:
ThemaximumvaluesforaccelerationanddecelerationoftheACCStop&Gosystembelow
approx.50km/h/31mpharedynamicvalues.Theycorrespondtotheaccelerationvalues
whichthedriverpersonallywoulduseandsenseascomfortable.Dependingonthesituation,
2
ACCStop&Goacceleratesatamaximumofuptoapproximately2m/s anddeceleratesat
2
maximumofuptoapproximately4m/s .
Congested-trafficstability:
Inverytighttrafficandatverylowdrivingspeeds,thereisanincreasedriskofcollisionsfrom
sharpaccelerationandbraking.ThereforetheACCStop&Godistancecontrollerisdesigned
todecelerateasearlyaspossible,butnotmorethanthevehicleahead.Infollowingmode,
2
thesystemcandecelerateatamaximumofupto2.5m/s ,duringastoppingprocedureata
2
maximumofupto4m/s .

9.4.3.Cruisecontrolincurves
TheACCStop&Gosystem'scruisecontrolincurvesisbasedonthecounterpartfunctioninDynamic
CruiseControl.Thescopehasbeenextendedtoincludethelateraldetectionrangeofthesensor
forACCStop&Go.Ifanobjectislostinturningacurve,thesystemwaitsawhiletoseewhetherthe
objectreappears(alternatingcurve).Accelerationbeginsonlywhenitdoesnotreappear.

9.4.4.Prioritizationoftheset-points
Set-pointprioritizationintheACCStop&GosystemisbasicallythesameasintheDynamicCruise
Controlsystem.Theonlymajordifferenceistheinclusionofanextracontrolset-pointfromthe
distancecontrolfunction.

9.4.5.Interference-forceestimation
Interference-forceestimationasimplementedintheACCStop&Gosystemisbasedonthe
counterpartfunctioninDynamicCruiseControl.However,aconsiderabledegreeofoptimizationis
necessary,sinceinaccuraciesintheinterference-forceestimationbecomemuchmoreperceptible
inthelowrangeofdrivingspeeds(lessthan30km/h/20mph)thanathigherdrivingspeeds.
Consequently,theestimationprecisionisbetterthanthatoftheDynamicCruiseControlsystemand
thereactiontochangesininterferenceforcesisfaster.

9.4.6.Activationoftheactuators
Exceptforthesituationthatapplieswhenthevehicleisatastandstill,theactivationoftheactuatorsin
theACCStop&GofunctionisthesameasthatinDynamicCruiseControl.

47
F10DriverAssistanceSystems
9.ACCStop&Go

WhenACCStop&Gocausesbrakeintervention,thebrakelightsarealsoactivated.

9.5.OperationandDisplay

9.5.1.Activationanddeactivation
ACCStop&GoandDynamicCruiseControlareactivatedanddeactivatedinnearlythesameway.
ThedriverisabletoactivateACCStop&Gonotonlywhilethevehicleisinmotion,butalsowhenit
isstationary,ifthesystemhasdetectedanothervehicleaheadofit.ToactivateACCStop&Goata
standstill,thedriverhastodepressthebrakepedalandsimultaneouslypresstheSET(ifpreset)or
RESbutton.

Thefollowingadditionalconditionsmustalsobesatisfied:

Seatbeltbuckledanddoorclosed
DrivepositionDengaged
Enginerunning
Parkingbrakemustnotbeactivated
ACCStop&GoSensoroperational
Theremustbenosystemfaultpresent.

IfthestatusofDynamicStabilityControlbeforehandwasDTCorDSCOff,(intheF10)itswitches
onassoonasACCStop&Goisactivated.Ifthevehiclewaspreviouslyoperatedinsport+mode,it
automaticallyswitchestosportmode.DynamicStabilityControlalwaysswitchesautomaticallyto
its"Normal"status.IfDynamicStabilityControlissettoDTCorDSCOffwhileACCStop&Gois
operating,theACCStop&Gofunctionisautomaticallydeactivated.

ACCStop&GocannotbedeactivatedbymeansoftheON/OFFbuttonwhilethevehicleisstationary
unlessthebrakepedalisdepressedatthesametime.

TheadjustmentrangeforsetspeedintheF10is30km/hto180km/h(20mphto115mph).
ComparedtoDCC,avehiclewithACCStop&Gohasakeypadonthemultifunctionsteeringwheel
thatadditionallyfeaturesarockerswitchformakingdistanceadjustments.

F10ACCStop&Gosteeringwheel

48
F10DriverAssistanceSystems
9.ACCStop&Go
Index Explanation
1 SETbuttontoactivate
2 Buttonforreducingthedistance
3 Rockerswitchtochangethesetspeed
4 Buttonforincreasingthedistance
5 ButtontoactivateordeactivateACCStop&Go
6 RESbuttontoresumeastoredspeed

Brieflypressingtherespectivebuttontochangethedistanceincreasesordecreasesthedesired
distanceusedbyACCStop&Goforitscontrolprocess.Atotaloffourincrementsareavailabletothe
driver.Theselecteddistancestageisfadedintotheinstrumentpanel.

AswithDynamicCruiseControl,thedisplaysymbolsforACCStop&Goaresupplementedasneeded
bynotesdisplayedintheinstrumentpanel.Thedisplaysymbolsare,forexample,thesetspeedand
thedistancebars.Thestatusindicatorsaredisplayedforapprox.3seconds.Eachtimethedriver
operatesacontrol,thesymbolreappearsandremainsvisibleforanother3seconds.

Inaddition,ACCStop&GoinformationisdisplayedintheHeadUpDisplay.

9.5.2.Changingthesetspeed
WhenACCStop&Goisswitchedon,thedrivercanchangethesetspeedinthesamewayaswith
theDynamicCruiseControlsystem.Thisadjustmentcanbemadeevenwhenthecarisbeingheld
stationarybytheACCStop&Gosystem.Theadjustmentrangeforsetspeedis30to180km/h(20to
115mph).

9.5.3.Changingthesetdistance
Thedesireddistancecanbechangedbybrieflypressingthecorrespondingbuttononthe
multifunctionsteeringwheelwiththesystemswitchedon.Thedriverhastheusualchoiceoffour
distancestages,symbolizedbybarsintheinstrumentpanel.Changingthesetdistancewhilethecar
isonthemoveimmediatelyproducesaperceptiblereactionbythevehicle.Thecaracceleratesor
deceleratesslightlytotakeupthenewsetdistance.Makingthischangewhileatastandstilldoesnot
setthecarinmotion.

IfthedriveroverridesACCStop&Go,thedesireddistancecannotbechanged.Whenthedriver
overridesthesystem,thedistancebarsintheinstrumentpaneldisappear.

9.5.4.Stoppingandpullingaway
Eventhoughthe"distancecontrol"functionworksinprinciplerightdowntoaspeedofzero(complete
standstill),thesystemincorporatesadditionalsoftwarefunctionsthatcontrolthestoppingandpulling
awayprocedures.Itistheirjobtocontrolthedrivetrainandthebrakesinsuchawaythatthedriver
andothervehicleoccupantsperceivedrivingasathoroughlycomfortableandenjoyableexperience.
Inaddition,itwouldbeunacceptableforthevehicletobepermittedtorollbackwardduringthese
processes.

49
F10DriverAssistanceSystems
9.ACCStop&Go
Inordertomeettheserequirements,drivetrainandbrakesareactuatedsimultaneouslyandunder
precisioncontrolintheprocessesofstoppingandpullingaway.Thisisverymuchthesameaswhat
thedriverdoeswhenusingtheparkingbrakeandtheacceleratorpedaltopullawayonanuphill
gradientwithoutallowingthecartorollbackward.

Underextremeexternalcircumstances,forexampleonaparticularlysteepuphillgradient,ACCStop
&Gomightnotbeabletosetthecarinmotion.Ifthishappensthebrakingpressurenecessaryto
holdthecarstationaryisappliedandthesystemremainsinthisstateuntilthedriverswitchesitoff
orassumesfullmanualcontrolforpullingaway.Thisisnotafault;instead,itrepresentsasituationin
whichthelimitsdefiningtheoperatingrangeofACCStop&Gohavebeenexceeded.

ThemaximumlevelofsupportandassistancethataStop&Gosystemcouldofferthedriverwould
betheabilitytoundertakeallactionsfromstoppingthroughtopullingawayinfullyautomaticmode.
Thetechnicalimplementationofthisisafunctionthatautomaticallybringsthecartoacompletestop,
butautomaticallydrivesoffonlyifthevehicleremainsmotionlessbriefly.Ifthecarisatastandstillfor
longerthanafewseconds,ACCStop&Godoesnotattemptautomaticpullingaway.Instead,ACC
Stop&Gosendsthedriverasignalintheinstrumentpanelthatithasrecognizedadriveoffsituation,
butwillnotsetthecarinmotionunlessthedriverconfirmsthissignalbyoperatingacontrol.

Thisacknowledgementofthedrive-offpromptensuresthatthedriverisfullyawareofthetraffic
situationevenafteraprolongedstopintraffic.BecauseevenwithACCandtheStop&Gofunction,the
driverremainsfullyandsolelyresponsibleforcontrolofthevehicleandtheuseoftheassistanceand
supportfunctionsathisorherdisposal.

ACCStop&Gousesstandstillmanagement,afunctionofDynamicStabilityControl(DSC)forlonger
stops.Standstillmanagementincorporatesarollingdetectionfunction.Rollingdetectionensures
thatthebrakingpressureneededtokeepthevehiclestationaryisincreasedwhennecessary(if
anyunintentionalmovementisdetectedbythevehicle).Standstillmanagementalsomonitorsthe
stoppingprocedureandisawareofABSaction(ifitisusedinbringthecartoastop).Inthiscase,a
slipdetectorisactivatedwhilethevehicleisatastandstilltoreducethepressureatanindividualwheel
brake.Ifawheelatwhichbrakepressurehasbeenreducedstartstoturn,standstillmanagement
identifiesthecarisslidingandtheACCStop&Goisswitchedoff,brakepressureisrelievedatall
wheelbrakesandthedriverisnotifiedbyaCheckControlmessage.Relievingthebrakepressureat
allfourwheelsturnsaslideintoasituationinwhichthecarisagainsteerable.Ofcourse,thedriver
canstilldeceleratethevehiclebacktoastandstillbydepressingthebrakepedal,iftheroadconditions
permit.

9.5.5.Behaviorinresponsetodriver'sintentiontoexitthevehicle
ACCStop&GousestheDSChydraulicstoslowthevehiclereliablytoahaltandkeepitstationary.
Withoutasupplyofelectricity,theDSChydraulicsare,however,unabletoindefinitelymaintainthe
brakingforcenecessarytokeepthevehiclestationary.TheF10isequippedwithanelectronicparking
brake(EMF).

TheEMFiscapableofholdingthevehiclestationaryinthefollowingsituations:

incertainfailureeventsoftheDynamicStabilityControl,
ifthedrivergetsoutor
theengineisswitchedoff.

Theabilityoftheelectronicparkingbraketoholdthevehicleisacomfortenhancementforsituations
inwhichthevehicleisatastandstill.IntheF10,thelockfunctionoftheelectronicparkingbrakeis
activatedautomaticallywheneverthedriverisabouttoexitthevehiclewithACCStop&Gostillactive.

50
F10DriverAssistanceSystems
9.ACCStop&Go
Thedriver'sintentiontoexitthevehicleisdetectedbythesignalsoftheseatbeltbucklecontact
(driver'sside)anddoorcontact(driver'sdoor).Asignalfromtheseatoccupancydetector(driver's
seat)isnotusedintheF10forthisfunction.

WhilethevehicleisbeingheldstationarybyACCStop&Go,theDSCunittakesoverallmonitoring
andcontrolprocesses.TheDSCalsocontrolsthesystem'sbehaviorinresponsetothedriver's
intentiontoexitthevehicle.ForACCStop&Go,thisisverysimilartothatimplementedfortheDSC
internalAutomaticHoldfunction.

ACCStop&Goisdeactivatedautomaticallyif,fromthebussignalsitreceives,itdetectsthatthe
parkingbrakefunctionhasbeenactivated.Nowthevehicleisstillheldstationarybutbytheparking
brakefunctioninstead.

9.6.MonitoringFunctions
IntegratedChassisManagementmonitorsthesystemnetworktoverifythatallparticipatingsub-
systemsareoperational,allinputsignalsrequiredforoperationarevalid,andtheelectronicsofthe
nativecontrolunitareinfullworkingorder.Whentroubleshootingthissystem,itisimportanttoinclude
allparticipatingsystemsinthesystemnetworkandnotjusttheindividualcomponents.Ifafault
occurs,thefunctionisshutdowncompletely.AstatusindicatorintheinstrumentpanelandaCheck
Controlmessagenotifythedriverthatthesystemisnotavailable.Reactivationisnotpossibleuntilthe
faultisnolongerpresent.

51
F10DriverAssistanceSystems
10.CollisionWarningw/BrakeApplication
WiththeoptionalACCStop&Goequipment(option5DF)intheF10,thecustomerautomatically
receivesthecollisionwarningwithbrakeapplicationfunction.Itsharesthesensorsystemandsystem
componentswithACCStop&Go.

10.1.Operation
Thecollisionwarningwithbrakeapplicationfunctionisswitchedonoroffwiththedriverassistance
systemcontrolpanel.

Uponswitchingonthefunction,adisplayopensinthecentralinformationdisplay.Herethedrivercan
configurethetimeoftheadvancewarningintwostages,ordeactivate/reactivatetheadvancewarning.
Thesettingselectedbythedriverismaintainedonakey-specificbasisviaaterminalchange.

F10driverassistancesystemcontrolpanel.

Index Explanation
1 ActiveBlindSpotDetection
2 Collisionwarningwithbrakeapplicationfunction(adaptivebrakeassistant)
3 LaneDepartureWarning
4 NightVisionwithpedestriandetection
5 HeadUpDisplay

10.2.FunctionalPrinciple
Thesystemwarnsofapossibledangerofcollisionintwostagesatspeedsofapprox.15km/h/10mph
orhigher.

Thecollisionwarningisalsoavailablewhenthecruisecontrolisdeactivated.

Stationaryormovingobjectsaretakenintoconsiderationonlyiftheyareinthedetectionrangeofthe
sensorforACCStop&Go.

Ifyoupurposelyapproachanobject,thecollisionwarningcomeslatertoavoidunwarrantedwarnings.

10.3.WarningFunction
Thewarningfunctionisdividedintotwostages.Itisdisplayedintheinstrumentpaneland,if
equipped,intheHeadUpDisplay.

52
F10DriverAssistanceSystems
10.CollisionWarningw/BrakeApplication

Collisionwarninginthehead-updisplay

Index Explanation
A 1ststage:advancewarning,redsymboldepictingacar
B 2ndstage:acutewarning,redflashingsymboldepictingacar

10.3.1.AdvanceWarning
Theadvancewarningcomese.g.ifthereisanapparentdangerofcollisionorifthereisverylittle
distancetothevehicledrivinginfront.

Theadvancewarningissignalledbyared-litvehicleintheinstrumentpaneland,ifequipped,inthe
HeadUpDisplay.

10.3.2.AcuteWarningwithBrakeApplicationFunction
Theacutewarningcomesifthereisanimminentdangerofcollision,wheneverthevehicleapproaches
anotherobjectwitharelativelyhighspeeddifference.

Ifthereisanacutewarning,thedriverisshownaredflashingvehicleintheinstrumentpaneland,
ifpresent,intheHeadUpDisplay.Additionally,anaudiblewarningsignalsounds.Thedriveris
promptedtobrakeand,whereappropriate,totakeevasiveaction.

Theacutewarningpromptsyoutointerveneand,ifthereisadangerofcollision,usuallyassistswith
brakeintervention.
2
Thebrakeinterventionhasamaximumbrakeforceof3m/s andisonlyforalimitedtime.Brake
interventionoccursonlyinthecaseofdetectedobjectsthataremovingorhavestopped.Inthecase
ofobjectsthatwerealreadystillwhentheyenteredthedetectionrangeofthesensor,thereisno
braking.

Thesystemcannotbrakethevehicletoastandstill.

BrakeinterventionoccursonlyiftheDynamicStabilityControlisswitchedon.

Note:Theacutewarningdoesnotrelievethedriveroftheresponsibilityforadjustingthespeedand
drivingstyletothetrafficconditions.

53
F10DriverAssistanceSystems
10.CollisionWarningw/BrakeApplication
Thebrakeinterventioncanbecancelledbydepressingtheacceleratorpedalorbyanactivesteering
wheelmovement.

Whentowingorbeingtowed,switchoffthecollisionwarningwithbrakingfunctioninordertoavoid
malfunctions.

ThebrakeapplicationfunctionisdeactivatediftheDynamicStabilityControlDSCorDynamicTraction
ControlDTCisdeactivated.

Duetosystemlimitations,itcanhappenthatwarningsareissuedwithoutcause,toolateornotatall.
Forsafetyreasons,youmustbeattentiveinordertobeabletotakeactionatanytime.

54
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