Technicaltraining.

Productinformation.
G12DriverAssistanceSystems

BMWService
Generalinformation

Symbolsused

Thefollowingsymbolisusedinthisdocumenttofacilitatebettercomprehensionortodrawattention
toveryimportantinformation:

Containsimportantsafetyinformationandinformationthatneedstobeobservedstrictlyinorderto
guaranteethesmoothoperationofthesystem.

Informationstatusandnational-marketversions

BMWGroupvehiclesmeettherequirementsofthehighestsafetyandqualitystandards.Changes
inrequirementsforenvironmentalprotection,customerbenefitsanddesignrendernecessary
continuousdevelopmentofsystemsandcomponents.Consequently,theremaybediscrepancies
betweenthecontentsofthisdocumentandthevehiclesavailableinthetrainingcourse.

ThisdocumentbasicallyrelatestotheEuropeanversionoflefthanddrivevehicles.Someoperating
elementsorcomponentsarearrangeddifferentlyinright-handdrivevehiclesthanshowninthe
graphicsinthisdocument.Furtherdifferencesmayariseastheresultoftheequipmentspecificationin
specificmarketsorcountries.

Additionalsourcesofinformation

Furtherinformationontheindividualtopicscanbefoundinthefollowing:

Owner'sHandbook
IntegratedServiceTechnicalApplication.

Contact:conceptinfo@bmw.de

2015BMWAG,Munich

ReprintsofthispublicationoritspartsrequirethewrittenapprovalofBMWAG,Munich.

Theinformationcontainedinthisdocumentformsanintegralpartofthetechnicaltrainingofthe
BMWGroupandisintendedforthetrainerandparticipantsintheseminar.Refertothelatestrelevant
informationsystemsoftheBMWGroupforanychanges/additionstothetechnicaldata.

Informationstatus:June2015
BV-72/TechnicalTraining
G12DriverAssistanceSystems
Contents
1. Introduction............................................................................................................................................................................................................................................. 1

2. G12BusOverview...................................................................................................................................................................................................................... 2

3. KAFAS................................................................................................................................................................................................................................................................5
3.1. Detectionrange........................................................................................................................................................................................................ 6
3.2. Personrecognition...............................................................................................................................................................................................7
3.3. Roadsignrecognition.....................................................................................................................................................................................8
3.4. Lanedetection........................................................................................................................................................................................................... 8
3.5. Detectionoftheroadcondition...................................................................................................................................................... 9
3.6. Functionallimitations.......................................................................................................................................................................................9

4. OptionalEquipmentSystem............................................................................................................................................................................... 11

5. OverviewOfSensors........................................................................................................................................................................................................ 12

6. IntelligentSafety.......................................................................................................................................................................................................................14
6.1. Overviewoftheconfigurationmenu...................................................................................................................................16

7. CollisionWarning..................................................................................................................................................................................................................... 19
7.1. Functionalprinciple........................................................................................................................................................................................ 19
7.1.1. Collisionwarningwithcitybrakingfunction.......................................................................... 20
7.1.2. Pedestrianwarningwithcitybrakingfunction................................................................... 21
7.2. Warningandbrakingfunction....................................................................................................................................................... 21
7.2.1. Displays............................................................................................................................................................................................22
7.2.2. Earlywarning.......................................................................................................................................................................... 22
7.2.3. Acutewarning....................................................................................................................................................................... 22
7.2.4. Brakeintervention ......................................................................................................................................................... 23
7.3. Operation........................................................................................................................................................................................................................ 25
7.4. Limitsofthesystem..................................................................................................................................................................................... 27

8. LaneDepartureWarning............................................................................................................................................................................................ 28
8.1. Activesteeringintervention.............................................................................................................................................................. 30
8.2. Systemwiringdiagram............................................................................................................................................................................. 32
8.3. Deactivationcriteria....................................................................................................................................................................................... 34
8.4. Limitsofthesystem..................................................................................................................................................................................... 34

9. BlindSpotDetection.........................................................................................................................................................................................................35
9.1. Activesteeringintervention.............................................................................................................................................................. 37
9.2. Systemwiringdiagram............................................................................................................................................................................. 39
9.3. Limitsofthesystem..................................................................................................................................................................................... 40

10. SideCollisionWarning.................................................................................................................................................................................................. 41
G12DriverAssistanceSystems
Contents
10.1. Limitsofthesystem..................................................................................................................................................................................... 44

11. RoadSignRecognition................................................................................................................................................................................................. 45
11.1. Operation........................................................................................................................................................................................................................ 46
11.2. Limitsofthesystem..................................................................................................................................................................................... 46

12. ProactiveActiveDrivingAssistant..........................................................................................................................................................49
12.1. Operation........................................................................................................................................................................................................................ 52
12.2. Limitsofthesystem..................................................................................................................................................................................... 53

13. AlertnessAssistant.............................................................................................................................................................................................................. 54
13.1. Operation........................................................................................................................................................................................................................ 54
13.2. Limitsofthesystem..................................................................................................................................................................................... 56

14. Night Vision........................................................................................................................................................................................................................................ 57

14.1. Systemwiringdiagram............................................................................................................................................................................. 62
14.2. Operation........................................................................................................................................................................................................................ 64
14.3. Limitsofthesystem..................................................................................................................................................................................... 65

15. Cameras..................................................................................................................................................................................................................................................... 66
15.1. Surroundview......................................................................................................................................................................................................... 66
15.1.1. Automaticcameraangle....................................................................................................................................... 67
15.1.2. Sideview....................................................................................................................................................................................... 67
15.1.3. Frontcamera........................................................................................................................................................................... 67
15.1.4. PanoramaView.................................................................................................................................................................... 68
15.1.5. Reversingcamera............................................................................................................................................................ 72
15.1.6. Movingcameraangle................................................................................................................................................ 72
15.2. Overviewofexteriorcameraoperatingmenu.......................................................................................................74
15.3. Assistantfunction............................................................................................................................................................................................. 77
15.3.1. Carwashview....................................................................................................................................................................... 77
15.3.2. Sideprotection.................................................................................................................................................................... 77
15.3.3. Dooropeningangle......................................................................................................................................................78
15.4. Systemcomponents.................................................................................................................................................................................... 79
15.4.1. Reversingcamera............................................................................................................................................................ 80
15.4.2. TRSVCcontrolunit.......................................................................................................................................................81
15.5. Systemwiringdiagram............................................................................................................................................................................. 82

16. ParkDistanceControl..................................................................................................................................................................................................... 85
16.1. Systemcomponents.................................................................................................................................................................................... 85
16.2. AutoPDC....................................................................................................................................................................................................................... 86
16.3. ActiveParkDistanceControl.......................................................................................................................................................... 88
16.4. Sideprotection...................................................................................................................................................................................................... 88
G12DriverAssistanceSystems
Contents
16.5. Operation........................................................................................................................................................................................................................ 89
16.5.1. AutoPDC...................................................................................................................................................................................... 89
16.5.2. ActiveParkDistanceControl........................................................................................................................ 90
16.5.3. Acousticsignaloutput............................................................................................................................................. 91
16.6. Deactivationcriteria....................................................................................................................................................................................... 92
16.7. Limitsofthesystem..................................................................................................................................................................................... 93

17. Cross-TrafficWarning...................................................................................................................................................................................................... 94
17.1. Functionalprinciple........................................................................................................................................................................................ 94
17.2. Rearcross-trafficwarning....................................................................................................................................................................95
17.3. Frontcross-trafficwarning................................................................................................................................................................. 95
17.4. Displays............................................................................................................................................................................................................................. 96
17.5. Operation........................................................................................................................................................................................................................ 97
17.6. Limitsofthesystem..................................................................................................................................................................................... 98

18. ParkingManeuverAssistant............................................................................................................................................................................... 99
18.1. Systemcomponents.................................................................................................................................................................................... 99
18.2. Systemwiringdiagram......................................................................................................................................................................... 101
18.3. Controlunit............................................................................................................................................................................................................. 104
18.4. Functionalprinciple....................................................................................................................................................................................104
18.5. Functionalprerequisites..................................................................................................................................................................... 105
18.5.1. Measuringparkingspaces............................................................................................................................ 105
18.5.2. Suitableparkingspacesparalleltotheroadway(parallel
parking)........................................................................................................................................................................................ 106
18.5.3. Suitableparkingspacesperpendiculartotheroadway(bay
parking)........................................................................................................................................................................................ 108
18.5.4. Detectionofauniversalparkingspace..................................................................................... 111
18.6. Sideprotection..................................................................................................................................................................................................112
18.7. Operation.................................................................................................................................................................................................................... 113
18.7.1. Parkingprocedure(parallelparking).............................................................................................. 114
18.7.2. Parkingprocedure(bayparking)..........................................................................................................116
18.7.3. Deactivationcriteria................................................................................................................................................. 118
18.8. Limitsofthesystem.................................................................................................................................................................................118

19. CruiseControl........................................................................................................................................................................................................................... 120

19.1. Introduction............................................................................................................................................................................................................. 120
19.2. Cruisecontrolwithbrakingfunction...............................................................................................................................120
19.2.1. Controlfunctions..........................................................................................................................................................120
19.2.2. Activationoftheactuators............................................................................................................................ 121
19.2.3. Operation.................................................................................................................................................................................. 122
19.3. ActivecruisecontrolwithStop&Gofunction.................................................................................................... 123
G12DriverAssistanceSystems
Contents
19.3.1. Controlfunctions..........................................................................................................................................................126
19.3.2. Operation.................................................................................................................................................................................. 127
19.3.3. Systemwiringdiagram....................................................................................................................................... 132

20. SpeedLimitWarning.................................................................................................................................................................................................... 134

20.1. Operation.................................................................................................................................................................................................................... 134

21. LateralGuidanceAssistants...........................................................................................................................................................................135

22. Lane&TrafficJamAssistant........................................................................................................................................................................ 136

22.1. Functionalprinciple....................................................................................................................................................................................136
22.1.1. Hands-off-Detection............................................................................................................................................... 138
22.1.2. Functionalprerequisites................................................................................................................................... 140
22.1.3. Lanechange........................................................................................................................................................................ 141
22.1.4. Functionlogic.................................................................................................................................................................... 141
22.1.5. Steeringinterventions.......................................................................................................................................... 142
22.1.6. Operation.................................................................................................................................................................................. 143
22.1.7. Systemwiringdiagram....................................................................................................................................... 145
22.1.8. Deactivationcriteria................................................................................................................................................. 147
22.1.9. Limitsofthesystem............................................................................................................................................... 147

23. ActiveLaneKeepingAssistant................................................................................................................................................................. 148

23.1. Sidecollisionwarning............................................................................................................................................................................ 148
23.1.1. Reducedsidecollisionwarning............................................................................................................ 148
23.2. Lanedeparturewarning......................................................................................................................................................................149
23.3. Blindspotdetection................................................................................................................................................................................. 150
G12DriverAssistanceSystems
1.Introduction
TherangeofexistingassistancesystemshasbeenexpandedintheG12toincludenewinnovative
systems.Theinterplaybetweenthevariedandintelligentassistancesystemssupportsthedriverin
everyrespect;frommakingdrivingmorecomfortabletoprovidingthereassuringfeelingofsafety
onallroads.

Theassistancesystemshelptomakethedriver'slifeeasierby:

providingthedriverwithinformation
promptingthedriverwithsuggestions
automaticallyinterveninginthedrivingprocess

ThisinformationbulletincontainsanoverviewofalltheassistancesystemsusedintheG12:

Camera-basedcollisionwarning
Collisionwarningwithcitybrakingfunction
Pedestrianwarningwithcitybrakingfunction
Roadsignrecognition
ProactiveActiveDrivingAssistant
Lanedeparturewarning
Blindspotdetection
Sidecollisionwarning
Alertnessassistant
Nightvision
Camerasystems
cross-trafficwarning
ParkDistanceControl
ParkingManeuverAssistant
Speedcontrol
Speedlimitwarning
Steeringandlanecontrolassistantincludingtrafficjamassistant
ActiveLanekeepingassistantwithactivesidecollisionprotection

Identifyingroadusersdrivingaheadaswellasdetectingobjectsandlaneedgesareamongthemost
importantprerequisitesfortheassistancesystems.Thisappliesnotonlyforthefarrangebutalsothe
closerange.

TheoptionalfunctionsavailablefortheG12areimplementedeitherascamera-basedsystemswitha
sharedcameraandintegratedcontrolunit,orassensorsystemssuchasultrasonicorradarsensors.
Evaluationsignalsprovidedbyvariouscontrolunits(forexample,fromtheAdvancedCrashSafety
Module(ACSM))arealsotakenintoconsideration.

Formoreinformationontheoperatingconceptoftheassistancesystems,pleaserefertotheOwner's
Handbook.

1
G12DriverAssistanceSystems
2.G12BusOverview

G12busoverview

2
G12DriverAssistanceSystems
2.G12BusOverview
Index Explanation
ACC Activecruisecontrol
ACSM AdvancedCrashSafetyModule
AMPT TopHi-Fiamplifier
ASD ActiveSoundDesign
BDC BodyDomainController
CON Controller
DME DigitalMotorElectronics
DME2 DigitalEngineElectronics2
DSC DynamicStabilityControl
EARSH Electricactiverollstabilizationrear
EARSV Electricactiverollstabilizationfront
EGS Electronictransmissioncontrol
EPS ElectromechanicalPowerSteering
FLA High-beamassistant
FLER FrontalLightElectronicsRight
FLEL FrontalLightElectronicsLeft
FZD Rooffunctioncentre
GWS Gearselector
HEADUNIT Headunit
HKFM Tailgatefunctionmodule
HSR Rearaxleslipanglecontrol
IHKA Integratedautomaticheating/airconditioning
KAFAS Camera-baseddriversupportsystems
KOMBI Instrumentpanel
LEM Lighteffectmanager
NFC NearFieldCommunication
NVE NightVisionElectronics
PCU PowerControlUnit
PMA ParkingManeuverAssistant
RFK Reversingcamera
RSE RearSeatEntertainment
RSL Radarsensor,left(avoidanceassistant)
RSR Radarsensor,right(avoidanceassistant)
SAS Optionalequipmentsystem
SMBF Seatmodule,passenger

3
G12DriverAssistanceSystems
2.G12BusOverview
Index Explanation
SMBFH Seatmodule,passenger,rear
SMFA Seatmodule,driver
SMFAH Seatmodule,driver,rear
SPNMHL Seatpneumaticsmodulebackleft
SPNMHR Seatpneumaticsmodulebackright
SPNMVL Seatpneumaticsmodulefrontleft
SPNMVR Seatpneumaticsmodulefrontright
SWW Blindspotdetection(primary)
SWW2 Blindspotdetection(secondary)
TCB TelematicCommunicationBox
TRSVC Toprearsideviewcamera
VDP Verticaldynamicplatform
VTG Transferbox
WCA Wirelesschargingoddmentstray
ZGM Centralgatewaymodule
1 Start-upnodecontrolunitsforstartingandsynchronizing
theFlexRaybussystem
2 Controlunitswithwake-upauthorization
3 Controlunitsalsoconnectedatterminal15WUP

4
G12DriverAssistanceSystems
3.KAFAS
AstherequirementsplacedontheKAFAScamerahaveincreasedintheG12,theexisting
monochromecamerahasbeenreplacedbyastereocamera.

KAFASstereocamera

TheKAFASstereocameraiscomposedoftwohigh-resolutionCMOSmonochromecameras,
whichareinstalledinahousingwithapproximately20cmbetweenthem.TheKAFASstereocamera
housingnowalsoservesasanequipmentholderfortheKAFAScontrolunit,whichhasmorepowerful
processors.

KAFASstereocamera

CMOScamerasarecharacterizedbytheirlowpowerconsumption,compactsizeandveryhigh
framerate.

CMOS=ComplementaryMetalOxideSemiconductor

TheKAFASstereocameraiscalibratedwithinadistanceofapproximately2kmduringdriving.

TheKAFASstereocameraisthekeyelementofthefollowingsystems:

5
G12DriverAssistanceSystems
3.KAFAS
Tailgatewarning
Collisionwarningwithcitybrakingfunction
Pedestrianwarningwithcitybrakingfunction
Lanedeparturewarning
Roadsignrecognition.

TheKAFASstereocameraplaysasupportingroleinthefollowingsystems:

ActiveCruiseControlwithStop&Go(ACC)
Steeringandlanecontrolassistantincludingtrafficjamassistant
Activelanekeepingassistantwithactivesidecollisionprotection

3.1.Detectionrange
Duetodifferencesinperspectivebetweentheleftandrightopticalpathofthecamera,thestereo
cameraisabletomeasurethedistancetoanobjectandnowalsoitsheightaboveroadlevel.

Whilethemonochromecameramerelyestimatesdistances,thestereocameracandeterminethe
distancetoanobjectfairlyaccuratelytowithinapproximately20to30cmfromapproximately
40maway.

KAFASstereocameradetectionrange

6
G12DriverAssistanceSystems
3.KAFAS
Inprinciple,theevaluationelectronicsintheKAFASstereocamerausethesameeffectasisusedina
humantocreatespatialvision.Thisisknownastheparallaxshiftbetweentwoimages.

TheKAFASstereocameranotonlyenablesthepositionofanobjecttobedetermined,butalsoits
movementanddirectionofmovement.Foreverypixelofadetectedobject,thedirectionofmovement
onthehorizontal,verticalandlongitudinalaxiscanbedetermined.

TheKAFASstereocamerahasadetectionrangeofuptoapproximately40maheadofthevehicleand
uptoapproximately5minfrontofthevehicleontherightandleft.Theoveralldetectionrangeofthe
KAFASstereocameraisapproximately500m.

3.2.Personrecognition
TheKAFASstereocameracapturesthesceneinfrontofthevehicleanddetectsentirerearviewsof
movingandstationaryvehiclesinthefieldofviewusingimageprocessing.TheKAFASstereocamera
alsoensuresthatdrivinglaneinformation,vehiclepositionsandmovementsaredeterminedatthe
sametime.

WiththeaidoftheimagedatafromtheKAFASstereocamera,objectscanbeclearlyidentifiedas
vehiclesandtheirtransversemovementsaslanechanges.TheKAFASstereocameraalsodetects
peopleandcyclists.

ExampleofpedestrianrecognitionbytheKAFASstereocamera:pedestrianapproachingfromthesidestepsintotheroadandispartiallyhidden

Thetwoseparateopticalpathsarealsobeneficialinchallengingconditions,forexampledifficult
lightingconditions,wherethereislowcontrastbetweentheimageandbackgroundorwhenseveral
objectsarecloselylineduponeaftertheother.

Thankstotheredundantimagedetectionofthestereocamera,itisnowpossibletoreliablydetect
obstaclesanddeterminetheirsizefromasingleimage.

7
G12DriverAssistanceSystems
3.KAFAS
3.3.Roadsignrecognition
TheKAFASstereocameraisalsoresponsiblefordetectingtopspeedlimitationroadsigns.
Thedetectionofnoovertaking/overtakingpermittedsignsormarkingsisalsoimplementedin
theG12.

3.4.Lanedetection
TheKAFASstereocamerainstalledinthemirrorbaseoftheinteriormirroronthewindshieldmonitors
theareainfrontofthevehicle.

KAFASstereocamera

Index Explanation
1 KAFASstereocamera
2 Rainlightsolar-condensationsensor
3 Photosensorforelectrochromicinteriormirror

TheKAFASstereocamerarecordstheroadwayuptoapproximately40maheadofthevehicleand
uptoapproximately5mtotherightandleftofthevehicle.Theimagedataisthenevaluatedbythe
KAFAScontrolunitintegratedintheKAFASstereocamera.Usingimageprocessing,thecontrolunit
searchestheimagesrecordedbytheKAFASstereocameraforlaneandroadmarkings.

Theappearanceoftheroadmarkingscanvaryconsiderablyintheimagedependingonthecountry,
typeofroadorthecurrentambientconditions.Thesystemcandetectawiderangeofroadmarkings
andtypesofmarkings.Foralanemarkingtobeevaluated,theKAFASstereocameraandtheKAFAS
controlunitmustfirstbeabletoclearlyidentifyit.Alanemustalsohaveanaveragewidthgreaterthan
2.5mforittobeevaluated.

8
G12DriverAssistanceSystems
3.KAFAS
3.5.Detectionoftheroadcondition
TheKAFASstereocameraintheG12alsodetectstheroadcondition.

InvehicleswiththeExecutiveDriveProoptionalequipment(OE2VS),thedatacollectedisused
toadaptthechassisandsuspensionsettingtotheroadconditionbychangingvarioussetting
parametersintheDynamicDrive(ARS)andElectronicDamperControl(EDC)andtailoringthe
interactionwiththetwo-axleairsuspension.

Detectionofroadbumpswiththehelpofthestereocamera

Objectscannowbedealtwithactivelyinsteadofreactively,andthereforemoreeasily,atspeedsof
approximately15to100km/h.

Thestructureofthevehiclemoveslessvertically,asthevehicledrivesinharmonywiththeroad.
Bumpsarelessnoticeableforthedriver.

3.6.Functionallimitations
ThefunctionoftheKAFASstereocameraandthusthefunctionofthecorrespondingassistance
systemsmaybeimpairedduetothephysicallimitsoftheopticalsystems,forexampleinthe
followingsituations:

Heavyfog,rain,sprayorsnow
Stronglightinthecameralens
IfthefieldofviewoftheKAFASstereocameraorthewindscreenisdirty
Ontightbends
Ifboundarylinesaremissing,worn,poorlyvisible,convergingordiverging,ornot
clearlyrecognizable,asmaybethecasewhenroadworksarebeingcarriedout
Ifboundarylinesarecoveredbysnow,ice,dirtorwater
Ifboundarylinesarecoveredbyobjects

9
G12DriverAssistanceSystems
3.KAFAS
Ifdrivingatcloseproximitytoavehicledrivingahead
Ifthewindscreeninfrontoftheinteriormirrorismistedover,soiledorcoveredbystickers,e.g.
taxdiscs,etc.
Upto10secondsafterdrivingreadinessisactivatedviathestart/stopbutton
DuringthecalibrationprocessfortheKAFASstereocameraimmediatelyaftervehicledelivery
oracamerachange

ExampleoflimitsoftheKAFASstereocamera

Duetofunctionallimitationsandsystemrestrictionsitmaytranspirethatwarningsandordersarenot
issued,areissuedtoolateorareunwarranted.Therefore,beattentiveinordertobeabletoactively
interveneatanytime.Otherwise,thereisariskofanaccident.

10
G12DriverAssistanceSystems
4.OptionalEquipmentSystem
Thefamiliaroptionalequipmentsystem(SAS)controlunitisalsousedintheG12andprovidesarange
ofdriverassistancefunctions.

Possiblefunctions:

Tailgatewarning
Collisionwarningwithcitybrakingfunction
Pedestrianwarningwithcitybrakingfunction
DynamicBrakeControl
Distanceinformation
DynamicCruiseControl
ActivespeedcontrolwithStop&Gofunction
Lane&trafficjamassistant
Speedlimit
Blindspotdetection
Lanedeparturewarning
Cross-trafficwarning
ParkingManeuverAssistant
ProactiveActiveDrivingAssistant

G12optionalequipmentsystem(SAS)controlunit

11
G12DriverAssistanceSystems
5.OverviewOfSensors
ThegraphicbelowprovidesanoverviewofthemainsensorsusedintheG12fortheassistance
systemsandshowstheirinstallationlocations.

G12overviewofsensors

12
G12DriverAssistanceSystems
5.OverviewOfSensors
Index Explanation
1 Controlunitforradarsensor,right(RSR)
2 KAFASstereocamera
3 Blindspotdetection,right(primary)
4 Blindspotdetection,left(secondary)
5 Controlunitforradarsensor,left(RSL)
6 ActiveCruiseControl(ACC)(FRR)
7 NightVisioncamera

13
G12DriverAssistanceSystems
6.IntelligentSafety
Duetotheeverincreasingamountoftrafficonourroads,assistancesystemsinvehiclescontinueto
gaininimportance.Theyassistthedriveronhighways,single-laneroadsandinurbanenvironments.

Urbantrafficisjustoneareathatpresentsaneverincreasingnumberofchallenges.Cardriversmust
beconstantlyawareofcyclistsandpedestrians.Systemssuchasthepedestrianwarningwithcity
brakeactivationarehelpfulinthisrespect.NightVisioncanassistthedriverwhendrivingonsingle-
laneroadswithadjacentwoodland(deercrossings,etc.).ThelanedepartureandBlindspotdetection
aswellasthesidecollisionwarningprovideevenmoresafetyintraffic.Accidentscanbeavoided
throughautomaticbrakeinterventions,activesteeringinterventionsoracombinationofboth.

Dependingonthevehicleequipment,IntelligentSafetyconsistsofoneorseveralsystems,whichcan
helptoavoidapotentialcollision.ThefollowingsystemsareofferedintheG12:

Tailgatewarningwithbrakingfunction
Pedestrianwarningwithcitybrakingfunction
NightVisionwithpersonandanimalrecognition
Lanedeparturewarning
Blindspotdetection
Sidecollisionwarning

TheIntelligentSafetybuttonenablestheassistancesystemstobeoperatedcentrally.Thismeansthe
systemscanbeswitchedonoroffusingabuttonandthesubmenucanbecalleduptopersonalizethe
settings.

G12IntelligentSafetybutton

Index Explanation
1 IntelligentSafetybutton

14
G12DriverAssistanceSystems
6.IntelligentSafety
Pressbutton

The"IntelligentSafety"menuisdisplayedonthecentralinformationdisplay(CID).Settings
canbemadeusingthecontroller.TheindividualsettingsarestoredfortherespectiveID
transmitterused.

Pressandreleasebutton

WhenallIntelligentSafetysystemsareswitchedon:
IntelligentSafetysystemsareswitchedoffindividuallydependingontheindividualsetting.
WhenallIntelligentSafetysystemsarenotswitchedon:
AllIntelligentSafetysystemsareswitchedon.

Pressbuttonforanextendedperiod

AllIntelligentSafetysystemsareswitchedoff.

G12statusindicatorlight(IntelligentSafetybutton)

Index Explanation
A AllIntelligentSafetysystemsareswitchedon
B SomeIntelligentSafetysystemsareswitchedofforsub-functionsettingshave
beenchanged
C AllIntelligentSafetysystemsareswitchedoff

TheIntelligentSafetysystemsareautomaticallyactiveaftereachenginestartviatheSTART-STOP
button.

15
G12DriverAssistanceSystems
6.IntelligentSafety
6.1.Overviewoftheconfigurationmenu
ThesystemisoperatedbypressingtheIntelligentSafetybuttonandusingamenutoconfigurethe
IntelligentSafetysystemsontheCentralInformationDisplay(CID).

G12IntelligentSafetyconfigurationmenuoverview

16
G12DriverAssistanceSystems
6.IntelligentSafety
Index Explanation
1 "IntelligentSafety"configurationmenu
2 "ALLON"selection
3 "INDIVIDUAL"selection
4 "ConfigureINDIVIDUAL"
5 "ALLOFF"selection
6 Noteforthedriver:inthisexamplenotalloftheIntelligentSafetysystems
couldbeactivated.
7 Noteforthedriver:thecoloredcircleshowsthedrivertheactivationstatusof
theIntelligentSafetysystems.Thecolorofthecirclechangesalwaysmatches
thecoloroftheIntelligentSafetybuttonindicatorlight.

"ALLON"

AllIntelligentSafetysystemsareswitchedon.Thebasicsettingsareactivatedforthesub-
functions,forexamplethewarningtimesetting.TheIntelligentSafetybuttonlightsupgreen.

"INDIVIDUAL"

TheIntelligentSafetysystemsareswitchedoninaccordancewiththeindividualsettings.
Dependingonthevehicleequipment,theIntelligentSafetysystemscanbeconfigured
individually.
TheindividualsettingsareactivatedandstoredfortherespectiveIDtransmitterused.

G12IntelligentSafety("ConfigureINDIVIDUAL"selection)

Index Explanation
1 "IntelligentSafety"
2 "ConfigureINDIVIDUAL"

17
G12DriverAssistanceSystems
6.IntelligentSafety

G12IntelligentSafety"INDIVIDUAL"configurationmenu(settingsoptions)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Pedestrianwarningactive"
3 "DynamicMarkerLight"
4 "Collisionwarning"(selectedsetting:Early)
5 "Lanedeparturewarning"(selectedsetting:Always)
6 "Steeringintervention"
7 "Blindspotdetection"(selectedsetting:Medium)

Assoonasasettingischangedinthemenu,allthesettingsthedriverhaspreviouslyconfiguredare
activated.TheIntelligentSafetybuttonlightsuporange.

"ALLOFF"

AllIntelligentSafetysystemsareswitchedoff.TheIntelligentSafetybuttondoesnotlightup.

18
G12DriverAssistanceSystems
7.CollisionWarning
Thecamera-basedcollisionwarningispartoftheActiveDrivingAssistantoptionalequipment
(OE5AS)intheG12andisimplementedusingtheKAFASstereocamera.

ThecollisionwarninginthenewBMW7Seriescontainsthefamiliar"Collisionwarningwithcity
brakeactivation"andthe"Pedestrianwarningwithcitybrakeactivation"functions.

InvehicleswiththeActiveCruiseControlwithStop&Gofunctionoptionalequipment(OEZN7),
thecruisecontrolradarsensorisalsousedtocontrolthecollisionwarning.

VehicleswiththeActiveDrivingAssistantPlusoptionalequipment(OE5AT)havetheActiveCruise
ControlwithStop&Gofunctionoptionalequipment(OEZN7)integratedasstandard.

IfthevehicleisnotequippedwiththeActiveDrivingAssistant(OE5AS)orActiveDrivingAssistant
Plus(OE5AT)optionalequipment,butdoeshavetheActiveCruiseControlwithStop&Gofunction
optionalequipment(OEZN7),thecustomeralsoreceivesacollisionwarning.However,inthiscase
thepedestrianwarningisnotincluded.

Thesystemwarnsthedriverinsituationswhereacollisionisimminent.Theearlywarning,avisual
signal,isissuedfirsttodrawthedriver'sattentiontothesituation.Ifthesituationbecomesmore
critical,anacuteearlywarningintheformofavisualandacousticsignalisissued.Thenatureofthe
warningissuchthatthedrivercanstillpreventacollisionprovidingheactsquickly.

7.1.Functionalprinciple
TheKAFASstereocameracapturesthesceneinfrontofthevehicleanddetectsentirerearviews
ofmovingandstationaryvehiclesinthefieldofviewusingimageprocessing.

InvehicleswiththeActiveCruiseControlwithStop&Gofunctionoptionalequipment(OEZN7),in
additiontotheKAFASstereocameraimagedata,informationfromtheradarsensorisalsoevaluated.

G12schematicdiagramofthemonitoringranges

19
G12DriverAssistanceSystems
7.CollisionWarning
Index Explanation
a Closerange
b Longdistance
1 KAFASstereocameradetectionrange
2 Detectionrangeoftheradarsensor

Thecorrespondingwarningstages"earlywarning"and"acutewarning"areoutputincriticalsituations
onthebasisofthecalculatedpositions,distancesandrelativespeedsofothervehicles.Fortheearly
warningthebrakesofthevehiclearepreparedforemergencybrakingandtheactivationthresholdsof
theDynamicBrakeControlarereduced.Ifthedrivermakestheconsciousdecisiontodriveupclose
tothevehicleahead,warningswhichmayotherwisebedistractingcanbepreventedbyreducingthe
sensitivityofthesystem.

7.1.1.Collisionwarningwithcitybrakingfunction
Thecollisionwarningwithcitybrakeactivation(CityCollisionMitigationoptionOEZN3)addsabrake
activationfunctiontothecamera-basedcollisionwarningfromaspeedofroughly5km/huptoa
maximumspeedof80km/h.Ifthereisstillnoresponsefromthedriverinthisspeedrangeafteran
acutewarningisissued,thevehicleisdeceleratedatamaximumrateof4m/s.

ExampleofvehicleidentificationbyKAFAScamera

Index Explanation
1 Vehicleinsamelane
2 Vehicleindifferentlane

Thedurationofthebrakeinterventionislimitedtoapproximately1.5seconds.Additionaldangersfor
thetrafficbehindarethereforeavoided.

20
G12DriverAssistanceSystems
7.CollisionWarning
7.1.2.Pedestrianwarningwithcitybrakingfunction
Thepedestrianwarningwithcitybrakingfunction(DaytimepedestriandetectionOEZN2)isdesigned
topreventpossiblecollisionswithpedestriansinurbanareasorreducetheeffectsofanaccident.The
systemwarnsofapossiblecollisionwithpedestriansfromaspeedofapproximately10km/huptoa
maximumspeedof60km/handassiststhedriverwithabrakeinterventionshortlybeforeacollision.

TheKAFASstereocameracapturesthesceneinfrontofthevehicleanddetectspedestriansinthe
fieldofviewusingimageprocessing.

ExampleofpersonrecognitionbyKAFAScamera

Basedonthecalculatedpositions,distancesandthemovementofthedetectedpedestrians,anacute
warningisissuedincriticalsituations.Anearlywarningisnotavailableforthepedestrianwarningwith
citybrakingfunction(OEZN2).

Withanacutewarningthevehicleisdeceleratedbyroughly4m/s.Thedurationofthebrake
interventionislimitedtoapproximately1.5seconds.Additionaldangersforthetrafficbehindare
thereforeavoided.

7.2.Warningandbrakingfunction
Theoperatingprincipleofthecollisionwarningisbasedonadetectionandwarningalgorithm.
Machinevisiondetectspedestriansandvehiclesinthedetectionrangeofthecamera.Ifthereisa
riskofacollision,awarningsymbolisshownintheinstrumentcluster(KOMBI),orintheHead-Up
DisplayforvehicleswiththeHead-UpDisplaystandardequipment(OE610).Thewarningfunctionis
dividedintotwostages.Thenextprobablemovementofanobjectisdeterminedbasedonthecurrent
movementofthedetectedobjectand,takingintoaccountthemovementoftheobject,acollision
riskisidentified.Ifasituationisevaluatedascriticalbythewarningalgorithm,awarningisissuedand
brakingisintroducedbasedonamultistagewarningconcept.Thewarningsandbrakeinterventions
differforpedestriansandvehicles.

21
G12DriverAssistanceSystems
7.CollisionWarning
7.2.1.Displays

Symbol Explanation
Earlywarning:

Vehiclesymbollightsupred
Increasedistanceandbrakeif
necessary

Acutewarning:

Vehiclesymbolflashesredandasignal
sounds
Requestforinterventionbybrakingand
evasiveaction,ifrequired

Acutewarning:

Personsymbolflashesredandasignal
sounds
Requestforinterventionbybrakingand
evasiveaction,ifrequired

7.2.2.Earlywarning
Occasionswhenanearlywarningisissuedincludewhenthereisacollisionriskbecausethevehicle
drivingaheadisbeingdrivenatamuchslowerspeedand/orifthedistancetoadrivenorstationary
vehicleaheadisextremelyshort.

Anearlywarningisindicatedbyavehiclesymbolwhichlightsupredintheinstrumentcluster(KOMBI)
orHeadUpDisplay.Theearlywarningisonlyissuedforvehiclesandnotforpedestrians.

Thepointatwhichtheearlywarningisissuedcanbeconfiguredinthe"IntelligentSafetysystems
menuonthecentralinformationdisplay(CID).

Thecollisionwarningisdependentonthevehicle'sowndrivingspeed.Thedistancemeasuredforthe
collisionwarningissignificantlylowerthanthelegallyrequiredminimumdistance.Itisthereforethe
responsibilityofthedrivertoadheretothelegalminimumdistance.

7.2.3.Acutewarning
Theacutewarningisissuedbythesystemaslateaspossibleandonlyifthereisanimminentdanger
ofacollisionwhenthevehicleisapproachingthevehicledrivingaheadatarelativelyhighdifferential
speedorifthereisanimminentdangerofacollisionwithapedestrian.Thetimeoftheacutewarning
ismeasuredsothatacollisioncanonlybeavoidedbyimmediateemergencybrakingorbyswerving.
Theacutewarningthereforecannotbedeliberatelybroughtaboutormonitoredbythedriver.The
acutewarningisissuedforvehiclesandpedestrians.

22
G12DriverAssistanceSystems
7.CollisionWarning
Ifthevehicleisapproachingthevehicledrivingaheadorapedestrianataverylowspeed,anacute
warningisnotissuedevenwhenthedistanceisverysmall.Thisintentionaldrivingsituationonly
triggerstheearlywarning.Thiswaytherearefewermeaninglessandannoyingacutewarningsissued
bythesystem.

Theacutewarningcannotbedeactivatedseparately.Thetimingoftheacutewarningalsocannotbe
adjusted.Iftheacutewarningisnottobeissued,the"collisionwarning"frontprotectivefunctionmust
bedeactivated.

Ifanacutewarningisissued,thisisindicatedtothedriverbyaredflashingvehiclesymbolorared
flashingpersonsymbolintheinstrumentcluster(KOMBI)orHead-UpDisplay.Inaddition,anacoustic
warningsignalissounded.

Theacutewarningforpedestriansisissuedwithinaspeedrangeofapproximately10km/hto60km/h.
Theacutewarningforvehiclesisissuedatspeedsaboveapproximately5km/h.

Whentheacutewarningisissued,thebrakesystemisalsopreconditionedinordertoachievequicker
andsharperdeceleration.Withthesemeasuresthedriveralsoreceivesspecificsupportatthesame
timeasthewarninginordertobeabletorespondeffectively.

Theacutewarningdoesnotrelievethedriverofhisresponsibilitytoadaptthespeedanddrivingstyle
tothetrafficconditions.

7.2.4.Brakeintervention
Withthecamerabased,collisionwarningw/citycollisionmitigation(OEZN3includedwithOE5AS);
Ifthedrivernolongerhastheoptiontoavoidtheaccidentwithhisownresponse,automaticbrake
interventioniseffectedasalaststep.Thebrakeinterventioniseffectedatabrakeforceofabout4m/
s(camerabased)andcanhavetheeffectofavoidingacollisionuptoadifferentialspeedofabout
18km/h.Athigherdifferentialspeedstheimpactspeedisreducedbyasmalleramount.Justlikethe
drivercansupporttheeffectofthesystem,healsohastheoptionofoverridingandthuscancelling
theautomaticpanicbrakingatanytimewithasteeringwheelmovement(avoidancemaneuver),by
acceleratingorwithasharpbrakeintervention.

Withthecameraandradarbased,collisionwarningsystem(includedwithOE5AT);Ifthedriverno
longerhastheoptiontoavoidtheaccidentwithhisownresponse,automaticbrakeinterventionis
effectedasalaststep.Thebrakeinterventioniseffectedatabrakeforceofabout8m/s(camera/radar
based)andcanhavetheeffectofavoidingacollisionuptoadifferentialspeed(delta)ofabout30km/
h.

Therefore,bothsystemscanbringcartoastop,thedifferenceisthatyouaremorelikelytoseethis
happenina5ATcarthena5AScar.Thisiswhy5ASisreferredtoascitycollisionMITIGATION
becausethisisthemorelikelyusecaseasopposedtoAVOIDANCEwith5AT.

Thebrakeinterventioniseffectedforpedestriansinthespeedrangebetween10and60km/handfor
vehiclesinthespeedrangebetween5and60km/h.

Forabrakeinterventiontobepossible,theDynamicStabilityControl(DSC)mustbeswitchedon.

23
G12DriverAssistanceSystems
7.CollisionWarning
Timeplanforcollisionwarningwithcitybrakingfunction(OEZN3)

Thetimeplanofthewarningsandbrakingisdemonstratedinthefollowinggraphic.Ifanavoidance
measurebythedriverisdetected,thereisnobrakeintervention.

Timeplanforthecollisionwarning

Index Explanation
1 Collisionwarning("early")
2 Collisionwarning("late")
3 Acutewarning(acousticwarningsignal,brakesystemispre-filledandbrake
assistantsareadapted)
4 Brakingat4m/sisappliedwiththe5AScitybrakeactivation(onlybetween5
and60km/h)and8m/swiththe(5AT)camera/radarbasedsystem
5 KAFASstereocameradetectionrange

24
G12DriverAssistanceSystems
7.CollisionWarning
7.3.Operation
ThecollisionwarningandpedestrianwarningareswitchedonandoffviatheIntelligentSafetybutton.

G12IntelligentSafetybutton

Index Explanation
1 IntelligentSafetybutton

Thepointatwhichtheearlycollisionwarningisissuedcanbeconfiguredinthe"IntelligentSafety
systems"menuonthecentralinformationdisplay(CID).

25
G12DriverAssistanceSystems
7.CollisionWarning

G12IntelligentSafetyviewontheCID(collisionwarningwithcitybrakeactivation)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Collisionwarning"(selectedsetting:Early)
3 "Collisionwarning"(settingsoptions:Early,Medium,Late)

Theacutewarningcannotbedeactivatedseparately.Thetimingoftheacutewarningalsocannot
beadjusted.Iftheacutewarningisnottobeissued,the"collisionwarning"frontprotectivefunction
mustbedeactivated.ThecollisionwarningcanbeswitchedoffbyholdingdowntheIntelligentSafety
button.

Itisalsonotpossibletoconfigureordeactivatethepedestrianwarningseparately.The"collision
warning"frontprotectivefunctionmustbealsodeactivatedbyholdingdowntheIntelligentSafety
buttoninordertodeactivatethepedestrianwarningfunction.

G12IntelligentSafetyviewontheCID(pedestrianwarningwithcitybrakeactivation)

26
G12DriverAssistanceSystems
7.CollisionWarning
Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Pedestrianwarningactive"
3 Noteforthedriver:"Pedestrianwarningcannotbeconfigured."

7.4.Limitsofthesystem
Rangeofdetection

Thecollisionwarninghasalimitedcapacityfordetection.

Asaresult,incorrectordelayedwarningsmayoccur.Itispossiblethefollowingvehiclesarenot
detected:

Aslowvehiclewhendrivingoffathighspeed
Vehiclesthatsuddenlyswerveordeceleraterapidly
vehicleswithanunusualrearvieworwithinsufficientlyvisiblerearlights
Partiallyconcealedvehicles
Two-wheeledvehiclestravellingahead.

Functionallimitations

ThefunctionoftheKAFASstereocameraandthusalsothefunctionofthecorrespondingassistance
systemsmaybeimpairedinthefollowingsituations,forexample:

Heavyfog,rain,sprayorsnow
Insufficientlight
Stronglightinthecameralens
IfthefieldofviewoftheKAFASstereocameraorthewindscreenisdirty
Onsharpbends
Withpedestriansuptoapproximately80cminheight
Upto10secondsaftertheenginestartviatheSTART-STOPbutton
DuringthecalibrationprocessfortheKAFASstereocameraimmediatelyaftervehicledelivery
oracamerachange

Duetofunctionallimitationsandsystemrestrictionsitmaytranspirethatwarningsandordersarenot
issued,areissuedtoolateorareunwarranted.Therefore,beattentiveinordertobeabletoactively
interveneatanytime.Otherwise,thereisariskofanaccident.

27
G12DriverAssistanceSystems
8.LaneDepartureWarning
ThelanedeparturewarningisanelementoftheoptionalequipmentActiveDrivingAssistant(SA5AS)
andtheoptionalequipmentActiveDrivingAssistantPlus(SA5AT).

Thelanedeparturewarningdetectslanemarkingsfromaspeedofapproximately70km/handwarns
thedriveragainstunintentionallyleavingthelane.

TheinformationrequiredaboutusableroadwayandlanemarkingsisprovidedbytheKAFASstereo
camera.Basedonthecalculatedpositions,laneedgesandcurvesinrelationtotherelativepositionof
thedriver'svehicle,acorrespondingwarningisissued.

Ifthedrivercrossesthelanemarkingunintentionally(withoutusingtheturnindicator)orleavesthe
roadboundary,heiswarnedbythesteeringwheelvibratinggentlyandhastheopportunitytoreact
accordingly.Thevibrationinthesteeringwheelcanbecomparedtothevibrationeffectwhendriving
overaprofiledroadmarking.

Inthesettingsmenuthedrivercansetthedesiredstrengthofthevibrationwarningonthesteering
wheelviatheiDrive.

G12steeringwheelvibrationsettingsmenuonCID

Index Explanation
1 Steeringwheelvibrationmenu
2 Additionalnoteforthedriver
3 "Strong"
4 "Medium"
5 "Light"

Ifthedriverusestheturnindicatorwhenmovingacrosstoanotherlane,thelanedeparturewarning
recognizesthatthisisanintentionallanechangeandawarningisnotissued.

ThelanedeparturewarningcanbeconfiguredindividuallyintheIntelligentSafetysystemsubmenu.

28
G12DriverAssistanceSystems
8.LaneDepartureWarning

G12IntelligentSafetyviewontheCID(lanedeparturewarning)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Lanedeparturewarning"(selectedsetting:Always)
3 "Lanedeparturewarning"(settingsoptions:Always,Reduced,Off)

Theindividualsettingsappliedbythedriveraresavedforthedriverprofilecurrentlyinuse.

Displaysintheinstrumentcluster(KOMBI)

Symbol Explanation
Atleastonelaneboundaryhasbeendetected
andwarningscanbeissued.

29
G12DriverAssistanceSystems
8.LaneDepartureWarning
8.1.Activesteeringintervention
Invehicleswiththesidecollisionwarning(includedinActiveDrivingAssistantPlusoptionalequipment
OE5AT),thedriverisassistedbyanothermeasureknownas"activesteeringintervention".

Ifthedriverdoesnotreacttothewarningissuedbythelanedeparturewarningsystemandcrosses
thelanemarking,heisassistedtostayinlanebyabriefactivesteeringintervention.

G12activesteeringintervention

G12lanedeparturewarning(activesteeringintervention)

Theactivesteeringinterventioncanbefeltonthesteeringwheel,butcanbeoverriddenbythedriver
atanytime.Ifthedriverdoesoverridetheintervention,theactivesteeringinterventioniscancelled.

The"steeringintervention"forthelanedeparturewarningcanbeswitchedonandoffintheiDrive
menuinvehicleswiththesidecollisionwarningbymakingthefollowingselectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"IntelligentSafety"
"Steeringintervention"

TheconfigurationmenucanbeaccessedquicklybypressingtheIntelligentSafetybutton.

30
G12DriverAssistanceSystems
8.LaneDepartureWarning

G12IntelligentSafetyviewontheCID(lanedeparturewarningwithactivesteeringintervention)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Steeringintervention"(switchingthesteeringinterventionforlanedeparture
warningonandoff)

Steeringinterventionsarenotinitiatedwhenthetrailersocketisinuse,suchaswhenatrailerisbeing
towedorabicyclecarrierismounted.

31
G12DriverAssistanceSystems
8.LaneDepartureWarning
8.2.Systemwiringdiagram

G12ActiveDrivingAssistantPlus(OE5AT)/lanedeparturewarningsystemwiringdiagram

32
G12DriverAssistanceSystems
8.LaneDepartureWarning
Index Explanation
1 Controlunitsforradarsensor,left(RSL)(sideradarsensor
forthefrontleftsidecollisionwarning)
2 ActiveCruiseControl(ACC)
3 Controlunitsforradarsensor,right(RSR)(sideradarsensor
forthefrontrightsidecollisionwarning)
4 ElectronicPowerSteeringEPS
5 Fuseforpowerdistributionbox,frontright
6 Electronictransmissioncontrol(EGS)
7 Diagnosticsocket
8 CANterminator
9 Signalunit(LED)inrightmirrorglass
10 BodyDomainController(BDC)
11 CANterminator
12 AdvancedCrashSafetyModule(ACSM)
13 Blindspotdetection,right(primary)
14 Blindspotdetection,left(secondary)
15 Seatbeltbuckleswitch,driver
16 Steeringcolumnswitchcluster(SZL)
17 Driver'sdoorlockswitch
18 IntelligentSafetybutton
19 Instrumentpanel(KOMBI)
20 ControllerCON
21 HeadUpDisplay(HUD)
22 Switchblockfordriver'sdoor
23 Centralinformationdisplay(CID)
24 HeadUnitHigh2(HU-H2)
25 Audiocontrolpanel
26 Controlunitforoptionalequipmentsystem(SAS)
27 Signalunit(LED)inleftmirrorglass
28 CANterminator
29 Rain-light-solar-condensationsensor(RLSBS)
30 KAFASstereocamera
31 DynamicStabilityControl(DSC)
32 DigitalMotorElectronics(DME)
33 KAFASstereocameraheating

33
G12DriverAssistanceSystems
8.LaneDepartureWarning
8.3.Deactivationcriteria
Thelanedeparturewarningisavailableataspeedrangefrom70to210km/h.

Awarningisnotissuedinthefollowingsituations:

Whenthedriverusestheturnindicator
Inroadworks
Whenthelanewidthislessthan2.60m

Thewarningiscancelledinthefollowingsituations:

Automaticallyafterapproximately3seconds
Assoonasthedrivermovesbackintohisownlane
Iftheturnindicatorisused
Whensharpbrakingorsteeringmaneuversaremadeand
whentheDynamicStabilityControl(DSC)intervenes.

8.4.Limitsofthesystem
Thefunctionofthesystemmaynotbeavailableormayonlybeavailabletoalimitedextentinthe
followingsituations:

heavyfog,rainorsnow
atsharpbendsoronnarrowroadways
ifboundarylinesarecoveredbysnow,ice,dirtorwater
ifboundarylinesarecoveredbyobjects
ifboundarylinesaremissing,worn,poorlyvisible,convergingordiverging,
ornotclearlyrecognizable,suchaswhendrivingthroughroadworks

Thesystemdoesnotreplacethepersonalassessmentoftheroadandthetrafficsituation.Thelane
departurewarningisonlyintendedtoassistthedriver.Whenactivelanedeparturewarningsare
issued,thesteeringwheelshouldnotbemovedthroughanyunnecessarilyheavy-handedactions.

34
G12DriverAssistanceSystems
9.BlindSpotDetection
TheBlindspotdetectionsystemcandetecttrafficsituationsthatcouldposeariskifthedriver
changeslane.Thesetrafficsituationsincludevehiclesapproachingquicklyfrombehindorvehicles
inthedriver'sblindspot.

Thedrivermayfinditdifficulttojudgethesesituations,especiallywhenitisdark.Theradarsensors
detectvehiclesintheblindspotandworkeffectivelyregardlessofthelightingconditions.Inaddition,
theyareabletoreliablydetectsuchsituationsuptoadistanceofapproximately70mawayand
irrespectiveoftheweatherconditions.

G12vehicledetectionusingradarsensors(Blindspotdetection)

Whenavehicleisapproachingquicklyormovesintotheblindspotofthedriver'svehicle,thesystem
assiststhedriverbycorrectlyjudgingthesituation.Ifthelanenexttothedriver'svehicleisoccupied,
theradarsensorsdetectthevehiclesintheneighboringlane.

Thecontrolunits(radarsensors)fortheBlindspotdetection(SWW)arelocatedundertherear
bumper.

G12Blindspotdetection(SWW)(radarsensors)

ThecontrolunitfortheBlindspotdetection(SWW)(primary)isinstalledontherightandthecontrol
unitfortheBlindspotdetection(SWW2)(secondary)isinstalledontheleft.

Whenavehicleisdetectedandthesystemisactivated,thedriverisinformedofthesituationbyan
unobtrusiveindicatorintheexteriormirror.Byhavingthisinformationbeforemakingalanechange
maneuver,thedrivercanconfidentlyprepareforthelanechangeandavoidcriticalsituationsfrom

35
G12DriverAssistanceSystems
9.BlindSpotDetection
theoutset.

TheBlindspotdetectionindicatorsarelocatedintheexteriormirrorglass.

G12signalunit(LED)inmirrorglass

Ifthedriverintendstomakealanechangeinwhatthesystemdetectstobeacriticalsituation,and
demonstratesthisintentionbyusingtheturnindicator,thesecond,moresevere"warning"isissued.
Thecorrespondingindicatorintheexteriormirrorflasheswithhighintensityandthesteeringwheel
startstovibrate.Thiswarnsthedriverusingtheexactoperatingelementthathemustusetomakethe
dangeroussituationsafe.Toavoidapotentialcollision,thedrivermuststeerthevehiclebackintohis
ownlane.

TheBlindspotdetectioncanbeconfiguredindividuallyintheIntelligentSafetysystemsubmenu.

36
G12DriverAssistanceSystems
9.BlindSpotDetection

G12IntelligentSafetyviewontheCID(Blindspotdetection)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Blindspotdetection"(selectedsetting:Medium)
3 "Blindspotdetection"(settingsoptions:Early,Medium,Late,Off)

9.1.Activesteeringintervention
Dependingonthesettinginthe"IntelligentSafety"menu,abriefactivesteeringinterventionis
initiatedbythesystemthatassistsinmovingthevehiclebackintotheoriginallane(vehicleswiththe
sidecollisionwarning(includedintheActiveDrivingAssistantPlusoptionalequipmentOE5AT)).

G12Blindspotdetection(activesteeringintervention)

ThecorrespondingBlindspotdetectionindicatorflashesintheexteriormirroratthesametime.

Thesteeringinterventionisinitiatedwithinaspeedrangeofbetween70km/hand210km/h.

Theactivesteeringinterventioncanbefeltonthesteeringwheel,butcanbeoverriddenbythedriver
atanytime.Ifthedriverdoesoverridetheintervention,theactivesteeringinterventioniscancelled.

37
G12DriverAssistanceSystems
9.BlindSpotDetection
The"steeringintervention"fortheBlindspotdetectioncanbeswitchedonandoffintheiDrivemenu
invehicleswiththesidecollisionwarningbymakingthefollowingselectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"IntelligentSafety"
"Steeringintervention"

TheconfigurationmenucanbeaccessedquicklybypressingtheIntelligentSafetybutton.

G12IntelligentSafetyviewontheCID(Blindspotdetectionwithactivesteeringintervention)

Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Steeringintervention"(switchingthesteeringinterventionforBlindspot
detectiononandoff)

38
G12DriverAssistanceSystems
9.BlindSpotDetection
9.2.Systemwiringdiagram

G12ActiveDrivingAssistant(OE5AS)/Blindspotdetectionsystemwiringdiagram

39
G12DriverAssistanceSystems
9.BlindSpotDetection
Index Explanation
1 DynamicStabilityControl(DSC)
2 KAFASstereocameraheating
3 KAFASstereocamera
4 Rain-light-solar-condensationsensor(RLSBS)
5 Steeringcolumnswitchcluster(SZL)
6 IntelligentSafetybutton
7 Audiocontrolpanel
8 AdvancedCrashSafetyModule(ACSM)
9 BodyDomainController(BDC)
10 Fuseforfrontrightpowerdistributionbox
11 Signalunit(LED)inrightmirrorglass
12 CANterminator
13 Fuseforrearrightpowerdistributionbox
14 Blindspotdetection,left(secondary)
15 Blindspotdetection,right(primary)
16 Switchblockfordriver'sdoor
17 Signalunit(LED)inleftmirrorglass

9.3.Limitsofthesystem
Thefunctionofthesystemmaynotbeavailableormayonlybeavailabletoalimitedextentinthe
followingsituations:

heavyfog,rainorsnow
atsharpbendsoronnarrowroadways
ifthebumperisdirty,iceduporstickersareplacedoverit
ifthespeedoftheapproachingvehicleismuchhigherthanthedriver'sspeed

40
G12DriverAssistanceSystems
10.SideCollisionWarning
Thesidecollisionwarningispartoftheactivelanekeepingassistantwithactivesidecollision
protection.Theactivelanekeepingassistantwithactivesidecollisionprotectionispartofthescopeof
supplyoftheActiveDrivingAssistantPlusoptionalequipment(OE5AT).Thesidecollisionwarningis
notavailableseparately.

Thesidecollisionwarningassiststhedriverinavoidingapotentialsidecollision.

Ifanobjectwithwhichthevehiclecouldpotentiallycollide,suchasavehicleoracrashbarrier,is
detectedtothesideofthedriver'svehicle,thedriverisassistedinavoidingthepotentialcollision.

Fourradarsensorsmonitortheareanexttothevehicleandfunctionregardlessofthelighting
conditionsandlargelyirrespectiveoftheweatherconditions.

G12vehicledetectionusingradarsensors(sidecollisionwarning)

Ifthereisariskofacollision,thecorrespondingindicatorflashes(dependingonwhichsidetherisk
relatesto,leftorright)intheexteriormirrorwithhighintensityandthesteeringwheelstartstovibrate.

G12signalunit(LED)inmirrorglass

Anactivesteeringinterventionistheninitiated,whichassiststhedriverinmovinghisvehicleback

41
G12DriverAssistanceSystems
10.SideCollisionWarning
toasafeareawithinhisownlane.

G12sidecollisionwarningwithactivesteeringinterventionintheeventofapotentialsidecollision

Thesteeringinterventionisinitiatedwithinaspeedrangeofbetween70km/hand210km/h.

Theactivesteeringinterventioncanbefeltonthesteeringwheel,butcanbemanuallyoverriddenby
thedriveratanytime.

Radarsensors

TherearradarsensorsareBlindspotdetection(SWW)sensors.

G12Blindspotdetection(SWW)(radarsensors)

Twoadditionalradarsensorsareusedforthefrontsidecollisionwarning.

G12sidecollisionwarning(radarsensors)

42
G12DriverAssistanceSystems
10.SideCollisionWarning
Functionalprerequisites

Aprerequisitefortheactivationofthesidecollisionwarningwithsteeringinterventionisthatthe
lanemarkingsmustbedetectedbytheKAFASstereocamera.

Ifthelanemarkingsarenotdetectedorifthedriverisdrivingwithinthespeedrangeof30km/h
to70km/h,onlythereducedsidecollisionwarningisactive.Thewarningfunctionsintheformof
theflashingindicatorintheexteriormirrorandthevibrationofthesteeringwheelcontinuetobe
implemented.

Withthereducedsidecollisionwarningthereisnoactivelateralguidanceofthevehicle.Inthiscase
thedriverisonlywarnedbyasinglesteeringwheelpulseontheoppositesideofthewheeltothe
danger.

ThesidecollisionwarningcanbeswitchedonandoffintheiDrivemenubymakingthefollowing
selectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"IntelligentSafety"
"SideCollisionWarning"

TheconfigurationmenucanbeaccessedquicklybypressingtheIntelligentSafetybutton.

G12IntelligentSafetyviewontheCID(sidecollisionwarning)

43
G12DriverAssistanceSystems
10.SideCollisionWarning
Index Explanation
1 "ConfigureINDIVIDUAL"
2 "Sidecollisionwarning"
3 "Sidecollisionwarning"(switchingthesidecollisionwarningwithsteering
interventiononandoff)

Itisnotpossibletoswitchoffthesteeringinterventionforthesidecollisionwarningseparately.

Thesidecollisionwarningautomaticallyactivatesitselfagainafterthevehiclemovesoffifthefunction
wasswitchedonatthetimeofthelastengineshutdown.

10.1.Limitsofthesystem
Thefunctionofthesystemmaynotbeavailableormayonlybeavailabletoalimitedextentinthe
followingsituations:

heavyfog,rainorsnow
atsharpbendsoronnarrowroadways
ifthebumperisdirty,iceduporlabelsareplacedoverit
Ifdrivingatcloseproximitytoavehicledrivingahead
ifthespeedoftheapproachingvehicleismuchhigherthanthedriver'sspeed

44
G12DriverAssistanceSystems
11.RoadSignRecognition
TheSpeedLimitInformationoptionalequipmenthasbeenexpandedtoincludethedisplayofmost
legalsigns(i.e.normalspeedlimitsigns,schoolsigns,constructionsigns)andwillbereferredtoas
roadsignrecognitionfromnowoninthisdocument.Currenttopspeedlimitationsandnoovertaking
signsaredetectedbytheroadsignrecognitionsystemanddisplayedintheinstrumentclusterorthe
HeadUpDisplayintheformofroadsignsymbols.

Topspeedlimitationsymbolshownintheinstrumentcluster

Index Explanation
1 Roadsignrecognition(example:adetectedtopspeedlimitationisdisplayed)

Thedisplayofroadsignsisbasedontheevaluationofdatafromthenavigationsystemandthe
evaluationofimagedatarecordedbytheKAFASstereocamera.

TheKAFASstereocameradetectsroadsignsattheedgeoftheroadandalsothevariabledisplaysof
gantrysigns.Roadsignscontainingadditionalinformation,e.g."Inwetconditions",arealsodetected
andsynchronisedwithvehicle-internaldata,e.g.therainsensor,anddisplayeddependingonthe
situation.

Thesystemalsotakestheapplicabletimerestrictionsidentifiedintoaccount,e.g."between10.00
pmand6.00am".Thecurrenttimeoftheon-boardclockisusedforthis.Thesystemtakesthe
informationstoredinthenavigationsystemintoaccountanddisplaysexistingtopspeedlimitations
onsectionsofroadwithoutsignage.

Roadsignrecognition(SpeedLimitInformation)ispartoftheActiveDrivingAssistantoptional
equipment(OE5AS)intheG12.

Thesystemdoesnotrelievethedriverofpersonalresponsibilityforcorrectlyjudgingthevisibilityand
trafficsituation.Thedriverissolelyresponsibleforthevehicleandthespeedatwhichitisdriven.

45
G12DriverAssistanceSystems
11.RoadSignRecognition
11.1.Operation
TheroadsignrecognitioncanbeswitchedonandoffintheiDrivemenu.bymakingthefollowing
selectionviathecontroller:

"MyVehicle"
"Systemsettings"
"Displays"
"InstrumentCluster"
Applydesiredsettings.

11.2.Limitsofthesystem
Roadsignsfortopspeedlimitationsthatdonotcomplywiththelegalstandard,particularlythose
withoutcircularframes,arenotalwaysdetected.Thesamealsoappliesfortrafficsignswhicharefully
orpartiallycoveredbylabels,dirtorvegetation.Longdistancestotheroadsign,highdrivingspeeds
andpoorweatherconditions,particularlyatnight,makeitmoredifficultforthesystemtorecognize
roadsignsreliably.Toensurethecurrenttopspeedlimitationsaredisplayedasaccuratelyaspossible,
thedataofthenavigationroadmapshouldbeup-to-date.

Thefunctionalityoftheroadsignrecognitionmaybeimpairedinthefollowingsituationsandmaylead
toincorrectinformationbeingdisplayed:

heavyfog,rainorsnow
ifsignsarecoveredbyobjects
Ifdrivingatcloseproximitytoavehicledrivingahead
Stronglightinthecameralens
ifthewindscreeninfrontoftheinteriormirrorismistedover,soiledorcoveredbystickers,etc.
asaresultofincorrectdetectionbythecamera
ifthetopspeedlimitationsstoredinthenavigationsystemareincorrect
inareasnotcoveredbythenavigationsystem
intheeventofdeviationsfromthenavigation,e.g.duetomodifiedroadlayouts
whenovertakingbusesortruckswithspeedlimitstickers
ifroadsignsdonotcorrespondtothestandard
whencalibratingthecameraimmediatelyaftervehicledelivery.

Supplementarysignrecognition

Onlyadditionalcharacterswithsymbols(icons)canberecognizedbythesystem,suchas"inwet
weather","inrain/snow","truck"or"trailer",etc.Textnotesonadditionalcharacterscangenerallynot
bereadorinterpreted.

46
G12DriverAssistanceSystems
11.RoadSignRecognition
Additionalinformationisrequestedbythesystemfromthevehicleelectricalsystembeforedisplaying
speedlimitsornoovertakingsignswithrestrictivevalidity.Forexample,for"inwetweather"signsthe
statusofthewiperisevaluatedorfor"infrost/snow"thetemperaturevalueoftheoutsidetemperature
sensorisevaluated.

Temporalrestrictionsofthespeedlimitornoovertakingsigncanonlybeevaluatedcorrectlyifthe
validitydurationisstoredinthenavigationmapandtheclockissetcorrectlyinthevehicle.Otherwise,
thespeedlimitorthenoovertakingsignisdisplayedascurrentlyvalid.

Thetrailersignalforvehiclesintrailertowingisnotevaluatedforthedisplayofspeedlimitsasthe
speedlimitsforvehicleswithtrailerarespecifictothenationalmarketanddependentonthetrailer
type.

Otheradditionalcharactersarenotrecognized.Thespeedlimitorthenoovertakingsignisthen
displayedascurrentlyvalidwithouttheinterpretationoftheadditionalcharacter.

Roadsignsonparallel,branching-offormergingroadsandonexits

Parallelroadsarenotrecognized,neitherbytheKAFASstereocameranorwiththehelpofthe
navigationmap.Signsontheseroadscanberecognizedanddisplayedasspeedlimitsorno
overtakingforthecurrentroad.

Speedlimitsandnoovertakingsignsforforkingoremergingroadsaregenerallyalsoassumedand
displayedforthecurrentroad.

Speedlimitsforexitsoffhighwayswithorwithoutanarrowasanadditionalcharacteraregenerally
evaluatedcorrectlyandsuppressedinthedisplayifdrivenpast.Thisisonlythecaseifthedataonthe
navigationmapisup-to-date.

Inthecaseofgantrysignsonthehighwaywithdifferent,lane-dependentspeedlimits,thespeedlimit
whichisclosesttothevehicle'slaneisdisplayed.Thereisnoadaptationofthedisplayafteralaterlane
change.

Informationsignsintheroadsignsurroundings

Informationsignswithspeedlimitsornoovertakingstipulations,suchasatbordercrossingpoints
withinformationonthedifferentlegalmaximumspeedsforsingle-laneroadsandhighways,maybe
incorrectlyrecognizedascurrentlyvalidanddisplayed.Thesameappliestoinformationsignswith
differentcolorconfigurations,forexampleforminimumorrecommendedspeeds.

Stickersonvehicles

Stickerswithaspeedlimitonvehiclesaheadorovertaken,suchastrucks,buses,trailersor
constructionmachinery,etc.,maybeincorrectlyrecognizedasacurrentlyvalidspeedlimitand
displayed.

Town/citylimits

Ifthesignfortheentrancetoavillage/townisnotclearlyrecognizedandthedatafromthenavigation
mapisnotup-to-date,thespeedlimitattheentrancestoandexitsfromvillages/townsmaybe
displayedincorrectly.

Legalchanges

Iflegallyprescribedmaximumspeedschange,thentheseareonlyavailableafterasoftwareupdate.
Upuntiltheupdatetheoriginal,currentbutnolongervalidspeedlimitsaredisplayed.

47
G12DriverAssistanceSystems
11.RoadSignRecognition
Generalnoovertakingsigns

Noovertakingsignsareonlydisplayedifthesearealsosignsposted.Generalnoovertaking
stipulations,forexamplethatapplyatlevelcrossingsoraremarkedbyacontinuouswhitelineonthe
roadway,arenotdisplayedunlessanadditionalsignispresent.

Thesystemdoesnotreplacethepersonalassessmentofthetrafficsituation.Duetosystem
restrictionsandfunctionallimitations,itmaytranspirethatwarningsandordersarenotissued,are
issuedtoolateorareunwarranted.Theroadsignrecognitionsupportsthedriveranddoesnotreplace
thehumaneye.

48
G12DriverAssistanceSystems
12.ProactiveActiveDrivingAssistant
TheproactiveActiveDrivingAssistantpointsouttothedrivertheidealtimeatwhichtoreleasethe
acceleratorinordertoreduceconsumption,thusenablingthedrivertosavefuel.

Datafromthenavigationsystemisevaluatedasthebasisforthecalculation.Usingthisdata,sections
ofroadaheadthatrequireareductioninspeedcanbedetectedingoodtime.

Relevantsectionsofroadare:

Intersections
Bends
Crossroads
Roundabouts
Entrancestotowns
Topspeedlimitations
Highwayexits

TheproactiveActiveDrivingAssistantfunctionisavailableintheG12inconjunctionwiththe
NavigationSystemProfessionaloptionalequipment(OE609).

Toensurethecoastingfunctionisusedtoitsfullpotential,theproactiveActiveDrivingAssistanttakes
intoaccountwhethercoastingiscurrentlypossibleandadaptsthetimethattheinformationisissued
accordingly.TheproactiveActiveDrivingAssistantactivelycancelscoastingifitispossibletoreacha
sectionofroadaheadincoastingoverrunmode.

TheproactiveActiveDrivingAssistanthelpsdriverswhoarenotfamiliarwiththerouteorareatodrive
moreefficiently.

Display

G12proactiveActiveDrivingAssistantdisplaysintheinstrumentcluster

AnindicatorintheinstrumentclusterorHead-UpDisplay(onlywithoptionalequipmentOE610)alerts
thedriverthatheisonasectionofroadrelevantfortheproactiveActiveDrivingAssistantandgives
himtheoptiontoreactaccordingly.

ThedrivercanactivateordeactivatetheindicatorintheHead-UpDisplayseparately.

49
G12DriverAssistanceSystems
12.ProactiveActiveDrivingAssistant
Thealertisissuedevenifthesectionofroadaheadcannotyetbeseenbythedriver.Thisinformation
isdisplayedintheinstrumentclusterorHead-UpDisplay(optionalequipmentOE610)untiltheroad
sectionisreached.Ifthevehicleisdeceleratedconsiderablybeforereachingtheroadsection,the
indicatorgoesoutbeforethesectionisreached.

ProactiveActiveDrivingAssistantsymbolintheinstrumentclusterandHead-UpDisplay

Themaximumlengthofroadsectionthatcanbedisplayedisrestrictedtoapproximately1500m.

Anadditionalsymboldisplaysthedetectedroadsectionintheinstrumentcluster.

Displayintheinstrument Displayincentral Explanation

cluster(additionalsymbol) informationdisplay
Corneringsituationonthe
route

Roundaboutontheroute

Stretchofroadwithbends

Speedlimitontheroute

Inthedrivingstyleanalysisdisplayonthecentralinformationdisplayinformationisshownwhena
correspondingroadsectionliesahead.

50
G12DriverAssistanceSystems
12.ProactiveActiveDrivingAssistant

Drivingstyleanalysisdisplayincentralinformationdisplay

Index Explanation
1 "Drivingstyleanalysis"menu
2 Efficiencyofdrivingstyletableofvalues
3 Forecasttableofvalues
4 Accelerationtableofvalues
5 DisplayofECOPROtips
6 Symbolizedroadroute

Inthedrivingstyleanalysisviewthedriveralsohastheoptionofdisplayinginformationonhisdriving
style.

TheECOPROdrivingstyleanalysisdisplayconsistsofasymbolizedroadrouteandatableofvalues.
Theroadsymbolizestheefficiencyofthedrivingstyle.Themoreefficientthedrivingstylethe
smoothertheroute.Thetableofvaluescontainsstars.Themoreefficientthedrivingstyle,themore
starsthereareinthetableandthequickerthebonusrangeincreases.

ECOPROnotesaredisplayedduringthejourneyassupportforanefficientdrivingstyle.

51
G12DriverAssistanceSystems
12.ProactiveActiveDrivingAssistant
12.1.Operation
TousetheproactiveActiveDrivingAssistant,ECOPROmodeorECOPRO+modemustbeactivated
viathedrivingexperienceswitch.

G12switchblockwithdrivingexperienceswitch

TheproactiveActiveDrivingAssistantcanbeswitchedonandoffintheECOPROconfiguration
menu.

G12ECOPROviewintheCIDsettingsmenu

Tocallupthedisplayofthedrivingstyleanalysis,makethefollowingselectionviathecontroller:

"MyVehicle"
"Technologyinaction"
"Drivingstyleanalysis"

52
G12DriverAssistanceSystems
12.ProactiveActiveDrivingAssistant

DrivingstyleanalysisviewontheCID

TheproactiveActiveDrivingAssistantcanbeusedwhentherouteguidanceiseitheractiveor
inactive.Whentherouteguidanceisnotactive,themostlikelyrouteisusedforevaluation.However,
thecalculationcanbeperformedmoreaccurately,andthereforemoreefficiently,whentheroute
guidanceisactive.

Thereliabilityofthesystemdependsontheup-to-datenessandqualityofthenavigationdata.

12.2.Limitsofthesystem
TheproactiveActiveDrivingAssistantisnotavailableinthefollowingsituations:

Speedbelow50kph
Temporaryandvariabletopspeedlimitation,suchasonbuildingsites
Qualityofnavigationdatainsufficient
Cruisecontrolactive
Trailertowing

53
G12DriverAssistanceSystems
13.AlertnessAssistant
Theattentivenessassistanthelpstoavoidaccidentscausedbytirednessonlong,monotonous
journeys.ItispartoftheActiveProtectionequipment(OE5AL)includedinthebasicequipment.

Achangeinthedriver'sdrivingbehaviorisperceivedbytheattentivenessassistant.Intheevent
ofincreasinginattentivenessorifthedriveristired,thealertnessassistantshowsadisplay
recommendingthatthedrivertakeabreakasaCheckControlmessageinthecentralinformation
display(CID).

Thealertnessassistantisautomaticallyactiveaftereachenginestartfromaspeedofroughly70km/h.
Ifthesystemisactive,adrivingbehaviorprofileiscreatedatthebeginningofajourney.Thefollowing
criteriaaretakenintoconsideration:

Personaldrivingstyle,forexamplethesteeringbehavior
Drivingconditions,forexamplethetimeorjourneyduration
Breaksduringalongjourney
Journeyduration.

13.1.Operation
Ifthechangeddrivingbehaviordiffersmarkedlyfromthetaught-indrivingbehaviorofthealertness
profile,thealertnessassistantshowsabreakrecommendationinthecentralinformationdisplay(CID).

Whilethedisplayisshownonthecentralinformationdisplay(CID)thefollowingsettingscanbe
selectedusingthecontroller:

"Donotaskagain"
"Placestostop"
"Remindmelater"(inthiscasethebreakrecommendationappearsagainafterajourney
durationof20minutes).

Thebreakrecommendationisonlydisplayedonceduringanuninterruptedjourney(exceptwhen
"Remindlater"isselected).

Afterabreakanewbreakrecommendationisnotshownduringthenext45minutesofthejourney.
Thesystemisresetifabreakislongerthan50minutesorifthebreaklastslongerthanthelastdriving
time.Thedrivingbehaviorisre-taught.

TheattentivenessassistantcanbeswitchedonandoffintheiDrivemenu.Thedrivercanalsosetthe
levelofsensitivityinthismenu

bymakingthefollowingselectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"AttentivenessAssistant"
Selectdesiredsettings.

54
G12DriverAssistanceSystems
13.AlertnessAssistant

AlertnessassistantdisplayontheCID

Index Explanation
1 "AttentivenessAssistant"menu
2 Additionalnoteforthedriver
3 "Sensitive"
4 "Standard"
5 "Off"

Thesettingsdifferfromoneanotherasfollows:

Selectedsetting Explanation
"Sensitive" Thebreakrecommendationisissuedearlier
(significantlymoresensitiveorinotherwords
earlieroutputcomparedtothe"Standard"
setting).
"Standard" Thebreakrecommendationisissuedwitha
definedvalue(inthesamewayasforBMW
modelsuptonow).
"Off" Abreakrecommendationisnotissued.

55
G12DriverAssistanceSystems
13.AlertnessAssistant
13.2.Limitsofthesystem
Thefunctionalitymaybeimpairedinthefollowingsituationsandnowarningoranincorrectwarning
maybeissued:

Iftheclockissetincorrectly
Ifthespeedispredominantlybelowapproximately70km/h
Ifthedriveradoptsasportydrivingstyle,forexamplerapidaccelerationorfastcornering
Inactivedrivingsituations,forexamplefrequentlanechanges
Poorroadcondition
Strongcrosswind.

Thesystemdoesnotrelievethedriverofpersonalresponsibilityforcorrectlyjudginghisphysical
condition.Increasinginattentivenessorfatiguemaynotbedetectedatallorintime.

56
G12DriverAssistanceSystems
14.NightVision
IntheG12theNightVisionsystemisavailableintheformofBMWNightVisionwithpersonandanimal
recognitionoptionalequipment(OE6UK).

NightVisiondetectspeopleandanimalsinoptimumconditionsatnightuptoadistanceof
approximately100mawayandthereforeassiststhedriverespeciallyondarkanddifficultstretches
ofroad,suchaswhendrivingonsingle-laneroadswithadjacentwoods.

Inpotentiallydangeroussituations,thesystemwarnsthedriverofpeopleandanimalsontheroad.

TheNightVisioncameraintegratedintheBMWradiatorgrillerecordstheareainfrontofthevehicle
andsendsthedatatotheNightVisionelectronics(NVE).

G12NightVisioncamera

Heatingisswitchedontoavoidiceformingonthecameraattemperaturesbelow5C.

TheimagedataisanalyzedbytheNightVisionelectronicscontrolunitandthecorrespondingimage
informationissenttotheheadunitviatheColorVideoBlankingSignal.

G12NightVisionelectronics(NVE)controlunit

57
G12DriverAssistanceSystems
14.NightVision
Hotobjectswithoutlinesthatresemblepeopleoranimalsaredetectedbythesystemandcanbe
displayedonthecentralinformationdisplayifnecessary.

G12NightVisiondetectionrange

Index Explanation
1 NightVisioncameradetectionrange
2 NightVisioncameraimageshowingdetectedperson(displayonthecentral
informationdisplay)
3 NightVisioncameraimageshowingdetectedanimals(displayonthecentral
informationdisplay)

Objectdetectionrange

Personrecognition:uptoabout100m
Recognitionoflargeanimals:uptoabout150m
Recognitionofmedium-sizedanimals:uptoabout70m

NightVisiondetectspeopleanddeterminestheirpositionanddistancefromthevehicle.Takinginto
accountthedrivingspeedandsteeringangle,thesystemcalculateswhetherthereisapotentialrisk
anddisplaysawarningsign(earlywarning)intheinstrumentclusterandintheHead-UpDisplay,if
present.

Incriticalsituationsawarningsignalalsosounds(acutewarning).

Thewarningthresholdvaluesarealsodependentonwhetherthepersonortheanimalismovingor
standingstill.Thisishighlightedinthefollowinggraphic.

Earlywarning

Theearlywarningiseffectedifapersonoranimalisdetectedinsidethewarningrange.Theearly
warningshows,dependingonthelocationofthepersonoranimal,apersonoranimalinyellowwhich
islocatedinsidetheactuallaneorismovingintothelane.Animalsfromacertainheightcan
bedetected,forexampledeer.

58
G12DriverAssistanceSystems
14.NightVision

G12NightVisionwarningranges(earlywarning)

Index Explanation
A Minimumdistanceabout8m
B Maximumdistanceforearlywarningofpedestriansabout100m
(thelengthdependsonthedrivingspeed)
1 DetectionrangeoftheNightVisioncamera(openingangleabout24)
2 Acutewarningrangewhenapersonisdetected
3 Warningrange,earlywarning(personontheroadway)
4 Warningrange,earlywarning(personcrossestheroadway)

Acutewarning

Theacutewarningisonlyeffectedinthecaseofimmediatedangerofacollision.Thetimeoftheacute
warningismeasuredsothatacollisioncanonlybeavoidedbyimmediateemergencybrakingorby
swerving.Withtheacutewarningthebrakesofthevehiclearepreparedforemergencybraking.

TheacutewarningintheinstrumentclusterandintheHeadUpDisplayshowsaredflashingperson
oranimalsymbolontheroadway.Inaddition,anacousticwarningsignalissounded.

59
G12DriverAssistanceSystems
14.NightVision

G12NightVisionwarningranges(acutewarning)

Index Explanation
A Maximumdistanceforearlywarningofanimalsabout160m(thelength
dependsonthedrivingspeedandthesizeoftheanimaldetected)
B Maximumdistanceforacutewarningofanimalsabout100m(thelength
dependsonthedrivingspeedandthesizeoftheanimaldetected)
1 DetectionrangeoftheNightVisioncamera(openingangleabout24)
2 Acutewarningrangewhenananimalisdetected
3 Earlywarningrange(thewidthofthedetectionrangedependsonthe
sizeoftheanimalandhowitismoving)

Displayinthecentralinformationdisplay(CID)

ThepedestrianoranimalwarningiseffectedirrespectiveoftherepresentationoftheNightVision
cameraimageinthecentralinformationdisplayCID.

Thewarningisnolongershownonthecentralinformationdisplay,butinsteadonlyappearsinthe
instrumentclusterandontheHeadUpDisplay.IftheNightVisioncameraimageisactive,identified
pedestriansandanimalsareshowninyellow.

NightVisioncameraimageonthecentralinformationdisplayshowingdetectedpeople

60
G12DriverAssistanceSystems
14.NightVision

NightVisioncameraimageonthecentralinformationdisplayshowingdetectedanimals

61
G12DriverAssistanceSystems
14.NightVision
14.1.Systemwiringdiagram

G12NightVisionsystemwiringdiagram

62
G12DriverAssistanceSystems
14.NightVision
Index Explanation
1 NightVisioncamera
2 FrontalLightElectronics,Left(notusedwiththeUSNVEsystem)
3 FrontalLightElectronics,Right(notusedwiththeUSNVEsystem)
4 NightVisionElectronics
5 BodyDomainController(BDC)
6 FuseintheBodyDomainControllerBDC
7 CANterminator
8 Fuseforrearrightpowerdistributionbox
9 CANterminator
10 ControllerCON
11 HeadUnitHigh2
12 CentralinformationdisplayCID
13 Audiocontrolpanel
14 IntelligentSafetybutton
15 LightoperatingunitwithintegratedbuttonforNightVision
16 InstrumentpanelKOMBI
17 CANterminator

63
G12DriverAssistanceSystems
14.NightVision
14.2.Operation
NightVisionisautomaticallyswitchedoneverytimethevehiclesetsoffwhenitisdark.Thewarning
functionsarethereforeissuedirrespectiveoftheviewonthecentralinformationdisplay.Thedriver
canswitchtheNightVisioncameradisplayonthecentralinformationdisplayonandoffbypressing
theNightVisionbuttoninthelightoperatingunit.

ItisalsopossibletosetthebrightnessandcontrastoftheNightVisiondisplayviatheiDrive.

G12buttonforthermalimagingcamera/NightVision

Index Explanation
1 NightVisionbutton

64
G12DriverAssistanceSystems
14.NightVision
14.3.Limitsofthesystem
Thefunctionalitymaybeimpairedinthefollowingsituationsandnowarningoranincorrectwarning
maybeissued:

Onsteepsummitsordipsandtightbends
Ifthecameraisdirtyortheprotectivescreenisdamaged
Inheavyfog,rainorsnow
Iftheoutsidetemperaturesareveryhigh

Thepersonandanimalrecognitionmayalsobeimpairedormaynotissuetheusualwarnings.This
canoccurinthefollowingcases:

Ifthepersonoranimalisfullyorpartiallyhidden,particularlythehead
Ifthepersonisnotinanuprightposition,e.g.iftheyarelyingdown
Ifabikehasnon-conventionalwheels,e.g.recumbentbicycle
Ifthesystemhasbeenaffectedmechanically,e.g.afteranaccident

Incertaincasessmallanimalsmaybeentirelyvisibleonthecentralinformationdisplay,butmaynotbe
identifiedbytheobjectdetection.Asaconsequence,awarningisalsonotissued.

Thesystemdoesnotrelievethedriverofpersonalresponsibilityforcorrectlyjudgingthevisibilityand
trafficsituation.Thedriverissolelyresponsibleforthevehicleandthespeedatwhichitisdriven.

65
G12DriverAssistanceSystems
15.Cameras
TheoptionalequipmentSurroundView(SA5DL)ispartofZDBDriverAssistancePlusandprovides
supportwhenparking,maneuvering,aswellasatunclearexitsandcrossroads.IntheG12,the
SurroundViewoptionalequipment(OE5DL)isonlyavailableinconjunctionwiththerearviewcamera
optionalequipment(OE3AG).

PanoramaViewispartoftheSurroundViewoptionalequipment(OE5DL).

Therearviewcameraisavailableasstandardequipment(OE3AG).

15.1.Surroundview
TheSurroundViewoptionalequipment(OE5DL)showsthevehiclesurroundingsanddisplaysthem
inTOPViewand3DViewonthecentralinformationdisplay.

Thesystemcomprisesthefrontcamera,thetwocamerasintegratedintheexteriormirrors,therear
viewcamera(RFK)andthetoprearsideviewcamera(TRSVC)controlunit.Thecamerasrecord
theareafromvarious,selectableanglesandsendthisinformationtotheTRSVCcontrolunitvia
Ethernet.Theimagesfromthefourcamerasarecombinedintoapanoramaviewaroundthevehicle
fromdifferentanglesusing3Dcomputergraphics.ThevideosignalsaretransmittedfromtheTRSVC
controlunitviaanEthernetlinetotheheadunit.Fromtherethevideosignalistransmittedtothe
centralinformationdisplayviaanAutomotivePixelLinkline.Thedrivercanchoosefrompresetviews
orcanfreelyselecttheview(forexampletowbarzoomandcarwashentrances).

Inaddition,assistancefunctionssuchasguidancelinescanbeshownonthecentralinformation
display.

G12configurationmenuviewforObstaclemarkingandParkingassistancelinesontheCID

Index Explanation
1 "Parkingassistancelines"
2 "Obstaclemarking"

66
G12DriverAssistanceSystems
15.Cameras
Thefollowingcameraanglescanbedisplayed:

Automaticcameraangle
Sideview
Frontcamera
PanoramaView
Reversingcamera
Movingcameraangle

15.1.1.Automaticcameraangle
Thesystemautomaticallyshowsthemostappropriatecameraangledependingonthedriving
situation,thusprovidingthedriverwithoptimumassistancewhenparkingandmaneuvering.The
automaticcameraangleshowsasteering-dependentviewandtakesintoaccounttherespective
directionoftravelandthedistanceinformationfromtheParkDistanceControl(PDC).

Assoonasobstaclesaredetected,theviewchangestoafixeddisplayoftheareainfrontoforbehind
thevehicle,orchangestothecorrespondingsideviewifrequired.

15.1.2.Sideview
Thisviewhelpsthedrivertopositionthevehiclenexttothecurborotherobstaclesattheside
ofthevehiclebydisplayingthesidesurroundings.Thesideviewisfromthereartothefrontand
automaticallyfocusesonpotentialobstaclesifthereisacollisionrisk.

Boththeleftandrightsidesofthevehiclearerecorded.

15.1.3.Frontcamera
Thefrontcamerasupportsthedriverwhenparkingandmaneuvering.Theareainfrontofthevehicle
isrecordedbythefrontcameraandshownonthecentralinformationdisplay.Thefrontcameraview
cannotbeselectedseparately.Thedrivermustselectthe"Auto"cameraangletoviewitorifdesired,
switchonthe"PanoramaView"function(seenextsection).

67
G12DriverAssistanceSystems
15.Cameras

G12frontcameraviewontheCID

Areasaroundthevehiclethatarenotvisibleduetothecameraangleofviewareshownwithgrey
crosshatching.

15.1.4.PanoramaView
PanoramaViewenablesthedrivertoseethecrosstrafficatblindexitsandIntersectionsbefore
proceedingandprovidesthedriverwithoptimumassistanceinthissituation.Roadusersthatare
hiddenbyobstaclestothesideofthevehiclearesometimesonlyseenbythedriververylateornotat
all.Toimprovetheview,thefrontandrearviewcamerasrecordthelateralroadwayarea.Dependingon
whichdrivepositionisengaged,thefrontorrearviewcameracanbeactivated.

G12PanoramaViewontheCID

68
G12DriverAssistanceSystems
15.Cameras
Yellowlinesinthescreendisplaymarkthefrontandrearendsofthevehicle.Thecameraimageis
badlydistortedinsomeareasandisthereforenotsuitableforestimatingdistances.

ThefunctioncanbeactivatedusingthePanoramaViewbutton.Pressthebuttonagaintodeactivate
thefunction.ThePanoramaViewfunctionisautomaticallydeactivatedatspeedsaboveapproximately
15km/h.PanoramaViewisalsodeactivatedafteradrivepositionchange(from"D"to"R"orthe
opposite).

PanoramaView(GPS-based)

TheGPS-supported,automaticactivationofthePanoramaViewfunctionhasbeenimplemented
intheG12.

G12automaticswitchonatasetactivationpoint

Positions,atwhichthePanoramaViewshouldswitchitselfonautomatically,canbesavedasactivation
points,providedthataGPSsignalisreceived.Amaximumoftenactivationpointscanbesavedforthe
frontcamera.

Tosavetheactivationpoints,thedrivermustproceedasfollows:

StopafterreachingtheplacewherethePanoramaViewshouldswitchitselfonautomatically.
PressthePanoramaViewbuttonandthentiltthecontrollertotheleft.Thenselect"Addactivation
point"(thecurrentpositionisdisplayed)andconfirmbyselecting"Addactivationpoint".

69
G12DriverAssistanceSystems
15.Cameras

G12settingactivationpoints

Index Explanation
1 "Addactivationpoint"

Ifpossible,theactivationpointsaresavedwiththetown/cityandstreetorwiththeGPScoordinates.
Thedirectionoftravelisalsosavedinconjunctionwiththeactivationpoint.

Thedrivercandisplaythesavedactivationpointsonthecentralinformationdisplay.

70
G12DriverAssistanceSystems
15.Cameras

G12displayingactivationpoints

Index Explanation
1 "Showactivationpoints"

TheuseofactivationpointscanbeswitchedonandoffviaiDrive.

G12PanoramaViewactivationmenuontheCID

71
G12DriverAssistanceSystems
15.Cameras
Index Explanation
1 "Parking"menu
2 "PanoramaView,GPS-based"

15.1.5.Reversingcamera
Therearviewcamerasupportsthedriverwhenparkingandmaneuvering.Theareabehindthevehicle
isrecordedbytherearviewcameraandshownonthecentralinformationdisplay.

G12rearviewcamera,viewontheCID

15.1.6.Movingcameraangle
Whenthemovingcameraangleisselected,acirculartrajectoryisshownaroundthevehicleonthe
centralinformationdisplay.Predeterminedanglescanbeselectedonthecirculartrajectorybyturning
thecontrollerorusingthetouchfunction.

Invehicleswiththegesturecontroloptionalequipment(OE6U8),themovingcameraanglecanalso
becontrolledinthisway.

Thecurrentangleisidentifiedbyacamerasymbol.Dependingontheview,thesurroundingsofthe
vehicleorapartialareaofthesurroundingsareshownonthecentralinformationdisplay.

72
G12DriverAssistanceSystems
15.Cameras

G12exteriorcameraview(movingcameraangle)ontheCID

Toleavethisview,tiltthecontrollertotheside,pressitortouchthehighlightedcamerasymbolviathe
touchscreen.

Ifgesturecontrolisbeingused,thegesturesymbolisshownontherighthalfofthecentralinformation
displayscreen.

G12rotatingthecameraviewusinggesturecontrol

73
G12DriverAssistanceSystems
15.Cameras
15.2.Overviewofexteriorcameraoperatingmenu
Oncethecamerasystemshavebeenactivatedsuccessfullythedriverhastheoptionofselectingthe
appropriatevieworcameraviaiDrive.

G12switchblockwithPanoramaViewbutton

Index Explanation
1 Parkingassistancebutton
2 PanoramaViewbutton

Thecamerasystemscanbeactivated(dependingonthevehicleequipment)asfollows:

Manuallybypressingtheparkingassistancebuttonorthecamerabutton(PanoramaView)
Byengagingdriveposition"R"
Automaticallyviathe"AutoPDC"function
AutomaticallyviatheGPS-supportedautomaticactivationofthePanoramaViewfunction,
providedthatactivationpointshavebeensaved

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15.Cameras

G12exteriorcamerasview(cameraangles)ontheCID

Index Explanation
1 Toolbar
2 Selectionwindow
3 Sideview
4 Automaticcameraangle
5 Reversingcamera
6 Movingcameraangle
7 Cameraimage

Othersettingsandoptionscanbefoundinthetoolbar,dependingonthevehicleequipment.
Thefollowingfunctionsmaybeavailable:

Switchingthe"ParkingManeuverAssistant"functiononandoff
"Brightness"rangeofadjustment
"Contrast"rangeofadjustment
Switchingthe"Parkingassistancelines"onandoff
Switchingthe"Obstaclemarking"onandoff
Activatingthe"Carwash"function
"Settings"menu(varioussettingscanbemade,suchasuseofthe
activationpointswithPanoramaView)

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15.Cameras

G12operatingmenuforexteriorcamerasandParkingManeuverAssistant

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15.Cameras
15.3.Assistantfunction
Ifrequired,thedrivercanreceiveadditionalassistancefromthe"Carwash"functions.

15.3.1.Carwashview
Thecarwashviewassiststhedriverwhenenteringacarwash.Whenthecarwashviewisselected,
immediatelybeforeenteringthecarwash,abird'seyeviewisdisplayedonthecentralinformation
display.Toenablethedrivertoalignthevehiclemoreeasily,atthesametimethevehicle'stiretracks
areshownonthedisplay.

ThecarwashviewcanbeactivatedviaiDriveinthetoolbarunderthe"Carwash"menuitem.

G12PDCcarwashviewontheCID

Index Explanation
1 "Carwash"

15.3.2.Sideprotection
Thesideprotectionwarnsagainstobstaclesatthesideofthevehicleandthussupportsthedriver
whenparkingandmaneuvering.

Toprotectthesidesofthevehiclefromcollisionswithobstacles,additionalobstaclemarkingsare
showntothesideofthevehicleonthecentralinformationdisplayifnecessary,theseobstaclesare
trackedbythenearestcamera.

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15.Cameras

G12sideprotectionview(additionalobstaclemarkings)

Moreinformationonthesideprotectionfunctioncanbefoundinsection18.

15.3.3.Dooropeningangle
Whenthevehicleisstoppedandtheselectorleverposition"P"isengaged,themaximumopening
angleofthedoorsisdisplayedonthecentralinformationdisplay.

Ifthereisanobstaclenearthedooranditisdetectedbythesideprotection,thisismarkedonthe
centralinformationdisplay.Theobstaclemarkingdisplayonlypointsoutobjectsintheareaof
thedoor.Itisnotpossibleforaviewfromthecamerasystemstobedisplayed,asthedoorareais
simulated.Therefore,thedriverisonlyinformedthatthereisanobjectatthesideofthevehicle;itis
notcertainthatthedoorwilldefinitelycollidewiththeidentifiedobject.Thedrivermustjudgethisfor
himself.

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15.Cameras

G12dooropeningangleviewontheCID

The"Parkingassistancelines"and"Obstaclemarking"featuresalreadyusedinotherBMWmodels
canalsobeactivatedanddeactivatedviaiDriveinthetoolbarundertherelevantmenuitems.

Thecamerasystemsdonotrelievethedriverofpersonalresponsibilityforcorrectlyjudgingthetraffic
situation.Thereisstillariskofanaccident.Thedriver'sdrivingstyleshouldbeadaptedtothetraffic
conditions.Thedrivershouldcheckthetrafficconditionsandthevehicle'ssurroundingsbylooking
aroundandreactaccordinglyifrequired.

15.4.Systemcomponents
Frontcamera

ThefrontcameraisinstalledinthecenterbetweenthetwofrontornamentalgrillesontheG12.

G12frontcamera

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15.Cameras
Topviewcamera

ThetwotopviewcamerasareinstalledintheexteriormirrorsontheG12.

G12lefttopviewcamera

Index Explanation
1 Exteriormirrorcamera

15.4.1.Reversingcamera
Therearviewcamerasupportsthedriverwhenparkingandmaneuvering.Theareabehindthevehicle
isshownonthecentralinformationdisplay.Guidancelinesintegratedintheimageprovidethedriver
withadditionalassistancewithdistances,theturningcircleandobstaclemarkingsfunction,ifrequired.

Thedrivinglanelinesaredependentonthesteeringangleandarecontinuallyadjustedwhensteering
wheelmovementsaremade.

Theturningcirclelinescanonlybeshownintherearviewcameraimageinconjunctionwiththe
drivinglanelines.Theturningcirclelinesshowtheshapeofthesmallestpossibleturningcircle
onanevenroadway.Fromacertainsteering-wheelangle,onlyoneturningcirclelineisshown.

Therearviewcameraislocatedinthetailgatehandlestrip.

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15.Cameras

G12rearviewcamera

ThecontrolunitisintegratedintherearviewcameraandisthebususeratK-CAN3.Thevideosignals
aretransmitteddirectlytotheHeadUnitHigh2(HU-H2)viaaCVBSline.AnEthernetconnectionfor
therearviewcamera(onnon5DLcars)isbeingplannedforalaterversion.

InvehicleswiththeSurroundViewoptionalequipment(OE5DL)arearviewcamerawithoutan
integratedcontrolunitisinstalled.ThereversingcameraisconnectedtotheTRSVCcontrolunitvia
EthernetinvehicleswithSurroundView(SA5DL).

15.4.2.TRSVCcontrolunit
Theexteriorcamerasrecordtheareaaroundthevehiclefromvariousanglesandsendthisinformation
totheTRSVCcontrolunitviaEthernet.ThevideosignalsaretransmittedfromtheTRSVCcontrol
unittotheheadunitviaanEthernetline.Theheadunittransmitsthesignalstothecentralinformation
displayviaanAutomotivePixelLinkline.

TheinstallationlocationoftheTRSVCcontrolunitisinthefootwellonthedriver'sside.

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15.Cameras

G12TRSVCcontrolunit

15.5.Systemwiringdiagram
Thesystemwiringdiagramonthenextpageshowsanoverviewofthesystemcomponentsusedwhen
parkingandmaneuveringthevehicle.Dependingonthevehicleequipment,partialscopesmayalsobe
installed.

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15.Cameras

G12parkingandmaneuveringsystemwiringdiagram

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15.Cameras
Index Explanation
1 UltrasonicsensorsforParkDistanceControl,front
2 Frontcamera
3 UltrasonicsensorsforParkingManeuverAssistant
4 DynamicStabilityControl(DSC)
5 ElectronicPowerSteering(EPS)
6 DigitalMotorElectronics(DME)
7 Electronictransmissioncontrol(EGS)
8 CANterminator
9 CANterminator
10 Fuseforfrontrightpowerdistributionbox
11 Rightsideviewcamera
12 BodyDomainController(BDC)
13 Remotecontrolreceiver(FBD)
14 Fuseforrearrightpowerdistributionbox
15 ControlunitforParkingManeuverAssistant(PMA)
16 RemoteControlParkingaerial
17 Ultrasonicsensors,ParkDistanceControl,rearside
18 Ultrasonicsensors,ParkDistanceControl,rear
19 Rearviewcamera(RFK)
20 Controller(CON)
21 Parkingassistancebuttonandbuttonforcameraactivation
22 AdvancedCrashSafetyModule(ACSM)
23 Steeringcolumnswitchcluster(SZL)
24 Instrumentpanel(KOMBI)
25 Controlunitforoptionalequipmentsystem(SAS)
26 Centralinformationdisplay(CID)
27 HeadUnitHigh2(HU-H2)
28 CANterminator
29 Leftsideviewcamera
30 Toprearsideviewcamera(TRSVC)controlunit

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16.ParkDistanceControl
ParkDistanceControl(PDC)assiststhedriverwhenmaneuveringinandoutofaparkingspace.
Thecurrentdistancefromanobstructionisindicatedbyacousticsignalsandonavisualdisplay.

G12ParkDistanceControl(PDC)viewontheCID

ThefrontandrearParkDistanceControl(OE508)isincludedintheG12standardequipment.

Thedistancefromanobstructionismeasuredbyfourultrasonicsensorsintherearbumper
panelandfouradditionalultrasonicsensorsinthefrontbumperpanel.

16.1.Systemcomponents

G12ParkDistanceControlsystemcomponents

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16.ParkDistanceControl
Index Explanation
1 UltrasonicsensorsforParkDistanceControl,front
2 CentralinformationdisplayCID
3 Operatingunit
4 ControlunitforParkingManeuverAssistantPMA
5 Ultrasonicsensors,ParkDistanceControl,rear
6 HeadUnitHigh2(HU-H2)

VehiclesthatdonothavetheParkingManeuverAssistantbutdohavetheParkDistanceControlhave
aseparatecontrolunit,whichisrecognizedasthePMAcontrolunitbydiagnosisandisalsoreferred
tobythisnameinthebusdiagram.Inotherwords,thereisnolongeradifferenceinthenamingofthe
PDCandPMAcontrolunit(therearehoweverdifferencesinthehardwaredesignbetweenthecontrol
unitsandthesoftwareisadaptedtotheequipmentspecification).

G12controlunitforParkingManeuverAssistant(PMA)

16.2.AutoPDC
AutomaticactivationoftheParkDistanceControlnotonlywithdriveposition"R"engaged,butalso
with"D"engaged,hasbeenimplementedintheG12.

AutoPDCisalsoactivatedautomaticallyifthevehicleisapproachinganobjectataspeedbelow
approximately5km/h.

Usecase:

Thedriverisdrivingalongaroadatapproximately50km/handaftersometimeapproachesan
entrancegateontheright-handsideoftheroad.Theentrancegateis2.80mwideandthereisawall
oneachsideofit.Thevehicleturnsrighttodriveintotheentrancegate.Letusassumethatinthis
examplespaceisveryrestrictedandgiventhedifficultcurveradiusthevehicleisapproachingtheleft-
handwalloftheentrancegateatadistanceoflessthanapproximately0.6m.Inthiscase,thePark
DistanceControlwouldbeactivatedautomatically,ifonapproachingthewallthespeedofthevehicle
doesnotexceedapproximately4km/h.

TheParkDistanceControlisactivatedautomatically,if:

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16.ParkDistanceControl
thereisanobjectcloserthan0.6mfromthefrontofthevehiclewhendrivingforwards
thereisanobjectcloserthan1.5mfromtherearofthevehiclewhenreversing
thespeeddrivendoesnotexceedapproximately4km/h

ThePDCviewisautomaticallydisplayedonthecentralinformationdisplay.Theactivationdistanceof
theParkDistanceControldependsontherespectivesituationandthereforemayvary.

Asoundisonlyoutputifthedetectedobject(infrontoforbehindthevehicle)isdirectlyinthelane
(riskofcollision).Ifthedetectedobjectisnotdirectlyinthelane,thereisonlyvisualacknowledgement
onthecentralinformationdisplay.

AutomaticPDC

Index Explanation
A Lanewithoutobjectcontact(thedriverreceivesvisualacknowledgement)
B Lanewithobjectcontact(thedriverreceivesvisualandacoustic
acknowledgement)
1 Turningvehicle
2 Detectedobject
3 Detectionofobstaclebytheultrasonicsensors

IfanobjecthasbeendetectedbyAutoPDC,thesystemmustbereactivatedsothatitcannotbe
accidentallyswitchedon,forexampleinacarwash.Reactivationiseffectedby:

drivingspeed>5km/h
drivepositionchange

Ifadrivepositionchangeismadeintoneutral,theParkDistanceControlisnotactivatedautomatically,
againtoavoiditbeingswitchedon,forexampleinacarwash.

Theautomaticswitch-onfunctionwhenobstaclesaredetectedcanbeswitchedonandoffviaiDrive.

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16.ParkDistanceControl
16.3.ActiveParkDistanceControl
InG12vehicleswiththeParkingManeuverAssistantoptionalequipment(OE5DP),theParkDistance
ControlfunctionhasbeenextendedtoincludetheactiveParkDistanceControlfunction.This
automaticallybrakesthevehicletoahaltwhenitistravellingatwalkingspeed(<approximately6km/
h)ifanobjectisdetectedbehindthevehicle.

Iftheacceleratorpedalispressedandanobstacleisdetected,thebrakesarepreconditionedand
gentleinitialbrakingisinitiatedasawarningforthedriver.Iftheacceleratorpedalisnotpressedand
thevehicleisveryclosetotheobstacle,thefunctionbrakesthevehiclewiththemaximumpossible
brakeforceuntilitcomestoastandstill.Thiscanpotentiallyavoidacollisionorreducethedamage.

Theautomaticbrakeinterventioncanbeoverriddenatanytimebypressingtheacceleratorpedal.
Consequently,afterthevehicleisautomaticallybrakedtoastandstill,itispossibletocontinueto
approachtheobstructionbygentlypressingtheacceleratorpedal.

TheactiveParkDistanceControlfunctioncanbeswitchedonandoffviaiDrive.

IftheDynamicStabilityControl(DSC)isswitchedoff,thentheactiveParkDistanceControlisalso
deactivated.IftheactiveParkDistanceControlisswitchedonwhentheDynamicStabilityControlis
switchedoff,theDSCisautomaticallyswitchedonatthesametime.

Thesystemdoesnotrelievethedriverofpersonalresponsibilityforcorrectlyjudgingthetraffic
situation.Thedrivershouldcheckthetrafficconditionsandthevehicle'ssurroundingsbylooking
aroundandreactaccordinglyifrequired.

16.4.Sideprotection
VehicleswiththeParkingManeuverAssistantoptionalequipment(OE5DP)havesideprotection.
Obstaclesthataredetectedbythefoursideultrasonicsensorsintegratedinthebumperscanbe
displayedbytheParkDistanceControlsystem.

Displayinthecentralinformationdisplay(CID) Meaning
Coloredmarkings Warningofdetectedobstacles
Greymarkings Theareanexttothevehiclehasnotyetbeen
recorded
Nomarkings Noobstacleshavebeendetected

Thesystemonlyshowsstationaryobstaclesthatwereearlierdetectedbytheultrasonicsensorswhen
drivingpast.

Itisnotabletodetectwhetheranobstaclehassincemoved.Forthisreason,themarkingsonthe
displayareshowningreyafterthevehiclehasbeenstationaryforroughly13seconds.

Moreinformationonthesideprotectionfunctioncanbefoundinsection18.6.

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16.ParkDistanceControl
16.5.Operation
TheParkDistanceControlsystemisenabledinthefollowingsituations:

ifdrivepositionsRorDareengagedwhendrivingreadinessisswitchedon
iftheparkingassistancebuttonintheswitchblocknexttothecontrollerispressed
whendrivingreadinessisswitchedon
ifAutoPDCisactivatedandallmarginalconditionsforautomaticactivationaremet
(seesection16.2"AutoPDC").

G12switchblockwithparkingassistancebutton

Index Explanation
1 Parkingassistancebutton

16.5.1.AutoPDC
Automaticswitch-onofthisfunctionwhenobstaclesareidentifiedcanbeswitchedonandoffinthe
"Settings"menuusingthecontroller.Todothisproceedasfollows:

"MyVehicle"
"Vehiclesettings"
"Parking"
"AutomaticPDCactivation"
Applydesiredsetting.

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16.ParkDistanceControl
ThesettingisstoredfortheIDtransmittercurrentlybeingused.

AutomaticParkDistanceControlontheCID

Index Explanation
1 "Parking"menu
2 "AutomaticPDCactivation"

16.5.2.ActiveParkDistanceControl
TheactiveParkDistanceControlfunctioncanbeswitchedonandoffinthe"Settings"menuusingthe
controller.Todothisproceedasfollows:

"MyVehicle"
"Vehiclesettings"
"Parking"
"ActivePDCemergencyinter."
Applydesiredsetting.

ThesettingisstoredfortheIDtransmittercurrentlybeingused.

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16.ParkDistanceControl

ActiveParkDistanceControlontheCID

Index Explanation
1 "Parking"menu
2 "ActivePDCemergencyinter."

16.5.3.Acousticsignaloutput
Thedriverisnotifiedabouttheresultsofthedistancemeasurementsandthedistancewarnings
acousticallyviatheaudiospeakersandopticallyviathecentralinformationdisplay(CID).Asthe
vehicleapproachesanobject,thecorrespondingpositionisindicatedbyanintermittenttonefromthe
audiospeaker.If,forexample,anobjectisdetectedbehindthevehicletotheleft,therearleftspeaker
emitsanacousticsignal.Acontinuousalarmsoundswhentheobjectisabout25cmorlessaway.The
volumeoftheacousticsignaloftheParkDistanceControlsystemcanbeadjustedinrelationtothe
audioplaybackoftheentertainmentsystem.

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16.ParkDistanceControl

ParkDistanceControlvolumecontrolmenuontheCID

Index Explanation
1 "Systemsettings"
2 "Sound"
3 "Volumesettings"
4 "PDC"

16.6.Deactivationcriteria
SimilartootherBMWmodels,thedeactivationisdistance-/speed-based.Theswitch-offiseffected
afterajourneyofabout50morataspeedover36km/h.

Ifafaultdevelops,aCheckControlmessage("PDChasmalfunctioned.Havesystemchecked.")is
displayedinthecentralinformationdisplay(CID).Inaddition,thedetectionrangeofthesensorsis
shownshadedinthecentralinformationdisplay(CID).

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16.ParkDistanceControl
16.7.Limitsofthesystem
Duetothephysicallimitsduringtheultrasonicmeasurement,obstructionsmaynotbedetectedbythe
ParkDistanceControlsystem.Severalexamplesofthisareshownbelow:

iftheobjectsarethinorwedge-shaped
whentheobjectsarelow
whenobjectsthat,duetotheirshape,havecornersandsharpedges
withsnow
iftheobjectshaveaporoussurface.

Awarningmayalsobedisplayedalthoughthereisnoobstructioninthedetectionrange.Thismaybe
thecaseinthefollowingsituations:

whenitisrainingheavily
ifthesensorsareheavilysoiledoricedover
ifthesensorsarecoveredwithsnow
ifthestreetsurfaceisrough
iftherearebumps,e.g.speedbumps
inlargeright-angledbuildingswithsmoothwalls,e.g.undergroundcarparks
duetoheavyexhaustgasfumes
duetootherultrasoundsources.

Toensuretheultrasonicsensorsremainfullyoperational,theymustbekeptcleanandfreeofice.
Whencleaningthesensorsusingahighpressurecleaner,avoiddirectandsustainedcontactwitha
high-pressurewaterjet.Furthermore,whenusinghighpressurecleaners,adistanceofatleast30cm
fromthesensorsmustbemaintained.

TheParkDistanceControlcannotreplacethedriver'spersonaljudgementofthetrafficsituation.Also
checkthetrafficsituationaroundthevehiclebylookingaround,otherwisetheremaybeariskofan
accidentasaresultofroadusersorobjectswhichlieoutsidethedetectionrangeoftheParkDistance
Control.LoudsoundsourcesoutsideandinsidethevehiclecoulddrownoutthePDCsignal.

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17.Cross-TrafficWarning
Thecross-trafficwarningisusedforthefirsttimeintheG12.Thiswarningassiststhedriverwhen
maneuveringoutofaparkingspaceandinothereverydaysituationswhereitisdifficulttoseethe
traffic,suchasatblindentrancesandexits.

Dependingonthevehicleequipment,thecross-trafficwarningisavailableforthefrontandrear.

Thesystemcandetectobjectsthatareapproachingthevehiclefromtheside,eitherfromthefrontor
rear(dependingonthevehicleequipment).Thedriverismadeawareor,ifnecessary,warnedofcross
trafficbythecross-trafficwarningwhenmaneuveringoutofaparkingspaceorenteringthecross
traffic.

17.1.Functionalprinciple
Ifamovingobjectisdetected,whichbasedonthecurrentspeedwouldbeintheareainfrontofor
behindthevehicleinapproximatelythenextthreeseconds,avisualandacousticwarningisissued.

Whenarearcross-trafficwarningisissued,theLEDinthemirrorglassisalsoswitchedon.TheBlind
spotdetectionsignalunitisusedasanindicator.Theindicatorisswitchedonineithertheleftorright
mirrordependingonthedirectionfromwhichtheobjectisapproachingthevehicle.

Thecross-trafficwarningworksuptoaspeedofapproximately7km/h.Anotherprerequisiteofthe
functionisthatthesideradarsensorsareabletodetecttheroadorapproachingobject.Theradar
sensorscandetectobjectsuptoapproximately30to40mawayfromthevehicle.

G12cross-trafficwarningexample:maneuveringoutofaparkingspace

Dependingonthevehicleequipment,differentversionsofthecross-trafficwarninganddisplayson
thecentralinformationdisplayareavailable.

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17.Cross-TrafficWarning
17.2.Rearcross-trafficwarning
Therearcross-trafficwarningassiststhedriverwhenreversingoutofaparkingspaceandwarnsof
potentialcollisionswithcrosstrafficintrafficsituationswhereitisdifficulttoseeobstructions.

Therearcross-trafficwarningfunctionisincludedintheActiveDrivingAssistant(OE5AS)
optionalequipment.

ThewarningisdisplayedintheParkDistanceControlimageonthecentralinformationdisplay.

Inconjunctionwiththerearviewcameraoptionalequipment(OE3AG),therearcross-trafficwarning
willbeextendedtoincludeanadditionaldisplayonthecentralinformationdisplayinalaterversion.
Thewarningwillbeshownintheformofaredbarinthecamera'svideoscreen.

Therearcross-trafficwarningisenabledifthedriverengagesthe"R"drivepositionorthePark
DistanceControlisactive.

InvehicleswiththeSurroundViewoptionalequipment(OE5DL),therearcross-trafficwarningisalso
enabledifPanoramaViewhasbeenactivated.

Therearcross-trafficwarningisavailableatspeedsfrom0toapproximately7km/h.

17.3.Frontcross-trafficwarning
Thefrontcross-trafficwarningassiststhedriverwhenenteringthecrosstrafficfromexitsandblind
Intersections.

Thefrontcross-trafficwarningisincludedintheActiveDrivingAssistantPlus(OE5AT)
optionalequipment.Ifthecross-trafficwarningforthefrontofthevehicleisinstalled,therear
versionisactivatedautomatically.

ThewarningisdisplayedintheParkDistanceControlimageonthecentralinformationdisplay.

Thefrontcross-trafficwarningisenablediftheParkDistanceControlisactiveandthespeedofthe
vehicledoesnotexceedapproximately7km/h.

InvehicleswiththeSurroundViewoptionalequipment(OE5DL),thefrontcross-trafficwarningisalso
enabledifPanoramaViewhasbeenactivated.

Liketherearcross-trafficwarning,thefrontcross-trafficwarningfunctionisavailableatspeedsfrom0
toapproximately7km/h.

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17.4.Displays
TherespectiveperipheralregioninthePDCviewflashesredifvehiclesaredetectedbythesensors.

G12cross-trafficwarninginthePDCview

InvehicleswiththeSurroundViewoptionalequipment(OE5DL),thewarningisshownonthecentral
informationdisplayinthePDCviewimageandinthefrontcameraandrearviewcameravideoimages
intheformofaredbar.

IfPanoramaViewisactivated,thecross-trafficwarningisshownintheformofaredbaronthecentral
informationdisplay.

G12PanoramaView(frontcross-trafficwarning)

Thecross-trafficwarningisavailabletothedriverforboththefrontandrearviews.

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17.Cross-TrafficWarning

G12PanoramaView(rearcross-trafficwarning)

17.5.Operation
Thecross-trafficwarningcanbeswitchedonandoffintheiDrivemenubymakingthefollowing
selectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"Parking"
"Cross-trafficalert"

G12cross-trafficwarningactivationontheCID

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G12DriverAssistanceSystems
17.Cross-TrafficWarning
Index Explanation
1 "Vehiclesettings"
2 "Parking"
3 "Cross-trafficalert"(switchingthecross-trafficwarningonandoff)

Ifthecross-trafficwarninghasbeenactivatedintheiDrivemenu,thefunctionisswitchedon
automaticallyassoonastheParkDistanceControlorPanoramaViewisactive.

Thecross-trafficwarningisdeactivatedautomaticallyinthefollowingsituations:

ifthedriver'svehicleistravellingataspeedhigherthanwalkingspeed(thresholdvalue
approximately7km/h)
ifthesteeringandlanecontrolassistantisactive
ifthedriveriscurrentlyparkingusingtheParkingManeuverAssistant

17.6.Limitsofthesystem
Thefunctionmayberestrictedinthefollowingsituations:

ifthereareotherobjectsinthefieldofviewofthesensorsthatareconcealingthecrosstraffic
Inheavyfog,rainorsnow
ifthebumperisdirtyoricedup
ifstickershavebeenattachedneartheradarsensorsonthebumper
ifthespeedoftheapproachingvehicleisveryhigh
ifcrossingobjectsaremovingveryslowly
onsharpbends

Ifatrailersocketisbeingused,forexampletooperateatrailerorbicyclecarrier,thecross-traffic
warningisnotavailablefortheareabehindthevehicle.

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18.ParkingManeuverAssistant
TheParkingManeuverAssistantPMAsupportsthedriverinmanyways.Theassistantmeasuresthe
sizeofagapbetweencarsanddecidesbasedontheresultwhetherthegapislargeenoughonthe
onehandandrelievesthedriverofthetaskofmaneuveringintothespaceontheother.TheParking
ManeuverAssistant(OE5DP)isoptionalequipmentintheG12andcanonlybeorderedinconjunction
withtherearviewcameraoptionalequipment(OE3AG)anditsofferedaspartoftheZDB-Driver
AssistancePlus(5AS)package.

18.1.Systemcomponents
Belowisanoverviewofimportantsensorsandoperatingelements:

TheparkingassistancebuttonisthecentralcontrolpanelfortheParkingManeuverAssistant
function(position8).
Twoadditionalultrasonicsensorsinthefrontbumpermeasureparkingspaceswhiledriving
(position1).
Thedistancefromanobstructionismeasuredbyfourultrasonicsensorsintherearbumper
panelandfouradditionalultrasonicsensorsinthefrontbumperpanel(positions11and19).
Twoadditionalultrasonicsensorsareinstalledintherearbumpertopreciselydetectthesize
ofatransverseparkingspaceduringtheparkingmaneuver.Theadditionalultrasonicsensors
measurethedistancetodetectedobjects.

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18.ParkingManeuverAssistant

G12ParkingManeuverAssistantsystemcomponents

Index Explanation
1 UltrasonicsensorsofParkingManeuverAssistant
2 DigitalMotorElectronics(DME)
3 BodyDomainController(BDC)
4 CentralinformationdisplayCID
5 HeadUnitHigh2(HU-H2)
6 AdvancedCrashSafetyModule(ACSM)
7 Controller(CON)
8 Parkingassistancebutton
9 Ultrasonicsensors,ParkDistanceControl,rearside
10 ControlunitforParkingManeuverAssistant(PMA)

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18.ParkingManeuverAssistant
Index Explanation
11 Ultrasonicsensors,ParkDistanceControl,rear
12 Steeringcolumnswitchcluster(SZL)
13 Instrumentpanel(KOMBI)
14 Controlunitforoptionalequipmentsystem(SAS)
15 DynamicStabilityControl(DSC)
16 DigitalEngineElectronics2(DME2)
17 ElectronicPowerSteering(EPS)
18 Electronictransmissioncontrol(EGS)
19 UltrasonicsensorsforParkDistanceControl,front

18.2.Systemwiringdiagram
Thesystemwiringdiagramonthenextpageshowsanoverviewofthesystemcomponentsusedwhen
parkingandmaneuveringthevehicle.Dependingonthevehicleequipment,partialscopesofsupply
mayalsobeinstalled.

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18.ParkingManeuverAssistant

G12parkingandmaneuveringsystemwiringdiagram

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18.ParkingManeuverAssistant
Index Explanation
1 UltrasonicsensorsforParkDistanceControl,front
2 Frontcamera
3 UltrasonicsensorsforParkingManeuverAssistant
4 DynamicStabilityControl(DSC)
5 ElectronicPowerSteeringEPS
6 DigitalMotorElectronics(DME)/
7 ElectronictransmissioncontrolEGS
8 CANterminator
9 CANterminator
10 Fuseforfrontrightpowerdistributionbox
11 Rightsideviewcamera
12 BodyDomainController(BDC)
13 Remotecontrolreceiver(FBD)
14 Fuseforrearrightpowerdistributionbox
15 ControlunitforParkingManeuverAssistant(PMA)
16 RemoteControlParkingantenna
17 Ultrasonicsensors,ParkDistanceControl,rearside
18 Ultrasonicsensors,ParkDistanceControl,rear
19 Rearviewcamera(RFK)
20 Controller(CON)
21 Parkingassistancebuttonandbuttonforcameraactivation
22 AdvancedCrashSafetyModule(ACSM)
23 Steeringcolumnswitchcluster(SZL)
24 InstrumentpanelKOMBI
25 Controlunitforoptionalequipmentsystem(SAS)
26 Centralinformationdisplay(CID)
27 HeadUnitHigh2(HU-H2)
28 CANterminator
29 Leftsideviewcamera
30 Toprearsideviewcamera(TRSVC)controlunit

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18.3.Controlunit
InvehicleswiththeParkingManeuverAssistantoptionalequipment(OE5DP),theParkDistance
ControlandParkingManeuverAssistantfunctionsareprovidedbythePMAcontrolunit.

G12controlunitforParkingManeuverAssistant(PMA)

18.4.Functionalprinciple
TheParkingManeuverAssistantfunctionfacilitatesmaneuveringintoparkingspacesthatareparallel
(parallelparking)andperpendicular(bayparking)totheroadway.Thesystemmeasurespotential
parkingspaceswhendrivingpastataspeedbelowapproximately35km/hwithoutthesystemhaving
beenactivated.

Theparkingspacesaremeasuredbytwoadditionalultrasonicsensors,whichareintegratedintothe
frontwheelarch.ThesetwosensorsareconnectedtotheParkingManeuverAssistant(PMA)control
unit,whichalsoincorporatestheParkDistanceControlfunction.Thefunctionofthetwoultrasonic
sensorsissimilartothatoftheParkDistanceControlPDC.Ultrasonicpulsesaresentandecho
impulsesarereceived.

TwoadditionalultrasonicsensorsareinstalledintherearbumperoftheG12topreciselydetectthe
sizeofatransverseparkingspaceduringtheparkingmaneuver.Theadditionalultrasonicsensors
measurethedistancetodetectedobjects.

Ifaparkingspaceofasufficientlengthandwidthisfoundandthesystemisactivated,thedriveris
shownthespaceonthecentralinformationdisplay.

TheParkingManeuverAssistantfunctionthentakesoverthevehiclehandlingentirely,including
steering,brakingandgearselection.

Spacesthatdonothaveavehicleateithersidearealsorecognizedassuitableparkingspaces.This
makesitpossibletoparkbehindonlyoneobject.

Thedriverisstillresponsibleformonitoringthevehicleenvironmentandcaninterveneinthe
automaticparkingmaneuveratanytimeifrequiredduetothevehicleenvironment.When
searchingforaparkingspaceandwhenparking,allrelevantinformationispresentedtothedriver
inanintegrateddisplay;fromtheparkingspaceitselftothestatusoftheparkingassistantand
correspondinghandlinginstructionsthroughtodistancesfromotherobjects.

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Personalresponsibility:

Directlymonitorgapsandtheparkingprocedureandinterveneifnecessary,asotherwise
thereisariskofaccidents.
Ifaparkingspacethathasalreadybeenmeasuredchanges,thesystemdoesnottakethisinto
account.
Thesystemdoesnottakeloadsthatprojectabovethevehicleintoaccountduringparking.
TheParkingManeuverAssistantPMAmaysteerthevehicleoverorupontocurbs.Youshould
thereforeusethefacilityforactiveinterventionatanytimewithcautionasyoumayotherwise
damagewheelsandtiresorthevehicleitself.

TheParkingManeuverAssistantPMAdoesnotrelievethedriverofpersonalresponsibilityduring
parking.Therefore,beattentiveinordertobeabletoactivelyinterveneatanytime.Otherwise,thereis
ariskofanaccident.

18.5.Functionalprerequisites
TousetheParkingManeuverAssistantfunction,thefollowingbasicprerequisitesmustbemet:

thedoorsmustbeclosed
thetailgatemustbeclosed
thedriver'sseatbeltmustbefastened
theparkingbrakemustbereleased

18.5.1.Measuringparkingspaces
Parkingspacesaremeasuredwhiledriving.Thefollowingparametersapply:

Drivingforwardsstraight-aheaduptoabout35km/h
Maximumdistancetotherowofparkedvehicles:1.5m.

Detectingthecurb

Ifacurbisdetectedwithintherangeoftheultrasonicsensorwhilethesystemissearchingfora
parkingspace,theparkingspaceisforthemostaspacethatisparalleltotheroad.

Inthecaseofparkingspacesthatareperpendiculartotheroadway,thecurbisusuallyoutsidethe
detectionrangeoftheultrasonicsensors(rangeabout4.2m).

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G12curbdetectionviatheultrasonicsensors

Index Explanation
1 Rangeabout4.2m;openingangleofultrasonicsensorsvertical30
2 Kerbdetection

18.5.2.Suitableparkingspacesparalleltotheroadway(parallelparking)

G12principleofparallelparking

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Sizeofparkingspace vehiclelengthplusabout0,8m
Lengthofobjects atleast0.5m
Minimumnumberofdetectedobjects 1
Minimumdepthofparkingspace about1,5m

Theminimumlengthofanobjectdetectedbythevehiclemustbeapproximately0.5m.Withanobject
lengthof0.5m,acurbmuststillbedetectedbythePMAsensorsforthepurposeofparkingina
parallel(curbside)parkingspacesoastoensurethattheparkingspaceisaparallelone.

G12requirementsofparallelparkingspaces

Index Explanation
1 Maximumdistancetotherowofparkedvehiclesorobjects:1.5m
2 Openingangleoftheultrasonicsensorhorizontal:40,rangeabout4.2m
3 Lengthoftheparkingspace:vehiclelengthplusabout0,8m
4 Objectorvehiclelengthatleast0.5m

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18.5.3.Suitableparkingspacesperpendiculartotheroadway(bayparking)

G12principleofbayparking

Thedepthofperpendicular(cross)parkingspacesmustbegaugedbythedriverhimself.Dueto
technicallimitsthesystemcanonlyapproximatelydeterminethedepthofperpendicular(cross)
parkingspaces.

G12requirementsofbayparkingspaces

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Index Explanation
1 Maximumdistancetotherowofparkedvehicles:1.5m
2 Openingangleoftheultrasonicsensorhorizontal:40,rangeabout4.2m
3 Minimumdepthoftheparkingspace:ownvehiclelength
4 Vehicleorobjectwidthatleast0.5m
5 Widthoftheparkingspace:vehiclewidthplusabout0.7muptomax.5m

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Differentbayparkingspaces

G12bayparkingspaces

Index Explanation
1 Standardparkingspacebetweentwopassengercars
2 Parkingspacewithpost(undergroundcarpark)
3 Parkingspacewithobstacles(publiccarpark)

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18.5.4.Detectionofauniversalparkingspace
Duetothetechnicalsystemlimits,thevehicledoesnotalwaysdetectthecorrectparkingspace.
Situationsmayoccurwhereparkingspacesarewronglydetected,orparkingspacesthatare
unsuitableornotactuallyclassedasparkingspacesaredetected.

Thebelowgraphicshowsasituationwherethismaybethecase.

G12detectionofauniversalparkingspace

Thedetectedparkingspaceisbigenoughtoparkthevehicleinbothperpendicularlyandparallelto
theroadway.Becauseoftheabsenceofacurb,thevehiclecannotcorrectlydeterminetheparking
space.Thevehicleproposesauniversalparkingspace.Inthiscase,thedrivermustdecidehowhe
wantstomaneuverintotheparkingspace.

Thefollowingdisplayappearsonthecentralinformationdisplaywhenthevehiclehasdetecteda
universalparkingspace.

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G12universalparkingspacedisplayontheCID

18.6.Sideprotection
Thesideprotectionwarnsagainstobstaclesatthesideofthevehicleandthussupportsthedriver
whenparkingandmaneuvering.

G12sideprotection

Foursideultrasonicsensors,twointegratedinthefrontbumperandtwointegratedintherearbumper,
measurethedistancetoanobstruction.Obstructionsdetectedbythesensorsaretrackedalongthe
sideofthevehicleasitmoves.Theyareshownonthecentralinformationdisplayand,insituations
whereacollisionisimminent,anacousticwarningalsosounds.

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G12sideprotectionviewontheCID

Obstructionsapproachingthestationaryvehiclearenottakenintoaccount,asinthiscasethesystem
cannotevaluatethesituationunequivocally.Theprerequisiteforidentifyingobstructionsisthatthe
(driver's)vehicleismoving.

Thedistancemarkingsshownonthecentralinformationdisplayaredisplayedforapproximately
13secondsoncethevehiclehasstopped.Themarkingsareonlyshownagainoncethevehiclestarts
moving.

18.7.Operation
TherearetwowaystoactivatetheParkingManeuverAssistantfunction:

Activationviaparkingassistancebutton
Activationby"Engagingreversegear"followedby"iDrivecontrolleroperation"

Activationviaparkingassistancebutton

WhenthePMAisactivatedviatheparkingassistancebuttoninthecenterconsoletheparking
assistancemenuintheCentralInformationDisplayCIDisdisplayed.Assoonasaparkingspaceis
found,thedriverreceiveshandlinginstructionsthatguidehimthoughtheparkingprocedurewiththe
supportofthesystem.Whenparkingautomatically,thedrivermustholddowntheparkingassistance
buttonuntiltheparkingprocedureiscomplete.

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G12switchblockwithparkingassistancebutton

Index Explanation
1 Parkingassistancebutton

Activationby"Engagingreversegear"followedby"iDrivecontrolleroperation"

Whenreversegearisengaged,theParkingManeuverAssistantmenuisdisplayedonthecentral
informationdisplayaccompaniedbythestatusoftheparkingspacesearch.TheParkingManeuver
Assistant(PMA)ishowevernotyetactivated.ThisisindicatedtothedriverbytheParkingManeuver
Assistantsymbolinthetoolbarofthecentralinformationdisplay.Inordertoparksupportedbythe
system,theparkingoperationmustbeactivatedviathecontrollerbyselectingthecorresponding
symbolinthesymbolbarattheCentralInformationDisplay(CID).Whenparkingautomatically,the
drivermustholddowntheparkingassistancebuttonuntiltheparkingprocedureiscomplete.

18.7.1.Parkingprocedure(parallelparking)
AcheckmarkthenappearsontherightbelowtheParkingManeuverAssistantsymbolonthecentral
informationdisplaytotellthedriverthatParkingManeuverAssistantisactive.

IftheParkingManeuverAssistantfunctionisactivatedduringthejourneyusingtheparkingassistance
button,thedriverisinformedabouttheparkingspacesearchontheCID.Whenaparkingspaceis
found,itappearsonthecorrespondingpageonthecentralinformationdisplay.Thedriverisalso
instructedtostopthevehicleatthesametime.

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G12parkingprocedureusingPMA(parallelparking)

Thedriverisinstructedtoconfirmtheparkingspacebyusingtheturnindicatorcorrespondingtothe
parkingdirection.

G12parkingprocedureusingPMA(parallelparking)

Theparkingprocedurecannowbestartedbypressingtheparkingassistancebutton.Theparking
assistancebuttonmustbehelddown.Thenthedrivermustreleasethebrake.

G12parkingprocedureusingPMA(parallelparking)

Thebuttonmustbehelddowncontinuouslyuntiltheparkingprocedureiscomplete.

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G12parkingprocedureusingPMA(parallelparking)

Uponcompletion,anacousticsignalsoundsandaconfirmationmessageappearstotellthedriverthat
theparkingprocedureiscomplete.TheParkingManeuverAssistantengages"P"thuspreventingthe
vehiclefromrollingaway.

G12parkingprocedureusingPMA(parallelparking)

18.7.2.Parkingprocedure(bayparking)
Thefollowinggraphicsshowthebayparkingprocess.

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G12parkingprocedureusingPMA(bayparking)

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18.7.3.Deactivationcriteria
Manualdeactivationcriteria

TheParkingManeuverAssistantPMAcanbedeactivatedatanytimeifnecessarybythedrivervia
thecontrollerbyselectingthecorrespondingsymbolinthesymbolbarontheCentralInformation
DisplayCID.AnotherwaytodeactivatetheParkingManeuverAssistantPMAistoreleasetheparking
assistancebuttonintheswitchblocknexttotheiDrivecontroller.

Ifafaultdevelops,aCheckControlmessage("ThePDChasmalfunctioned.Havesystemchecked.")is
displayedintheCentralInformationDisplayCID.

Automaticdeactivationcriteria

TheParkingManeuverAssistantPMAisswitchedoffautomaticallywhenthefollowingeventsoccur:

theparkingassistancebuttonisreleased
thedriverholdsontothesteeringwheelorsteershimself
agearisselectedthatdoesnotcorrespondtotheinstructiononthecontroldisplay
whenaccelerating
theparkingbrakeissecured
theturnindicatoroppositetherequiredparkingsideisswitchedon
atspeedsaboveabout10km/h
possiblyiftheroadwayiscoveredwithsnoworisslippery
thetailgateisopen
possiblyiftheobjectsaredifficulttoovercome,e.g.curbs
ifobstructionssuddenlyappear
amaximumnumberofparkingmaneuversortheparkingdurationhasbeenexceeded.

18.8.Limitsofthesystem
Thedetectionofobjectscantesttheultrasonicmeasurementsystemtoitslimits.Severalexamplesof
thisareshownbelow:

withtrailertowbarsandcouplings
iftheobjectsarethinorwedge-shaped
iftheobjectsareprojectingandelevated,e.g.wallprojectionsorloads
iftheobjectshavecornersandsharpedges
iftheobjectshavefinesurfacesorstructures,e.g.fences.

Lowobjectsthatarealreadydisplayed,e.g.curbs,mayfallwithintheblindspotofthesensorsbefore
orafteracontinuousalarmsounds.Itwouldnotbepossibletodetectobjectsthatarehigherupand
projecting,e.g.wallprojections.Parkingspacesmaybedetectedalthoughthesearenotsuitable.

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18.ParkingManeuverAssistant
Theremaybeotherfunctionallimitationsinthefollowingsituations,forexample:

ifthesensorsaresoiledoricedup
inheavyfog,rainorsnow
onunevensurfaces,e.g.gravelroads
onslipperysurfaces
onsteepinclinesordownhillgradients
ifleaveshavegatheredorsnowhaspiledupintheparkingspace.

Toensuretheultrasonicsensorsremainfullyoperational,theymustbekeptcleanandfreeofice.
Whencleaningthesensorsusingahighpressurecleaner,avoiddirectandsustainedcontactwitha
high-pressurewaterjet.Furthermore,whenusinghighpressurecleaners,adistanceofatleast30cm
fromthesensorsmustbemaintained.

TheParkingManeuverAssistantPMAcannotreplacethedriver'spersonaljudgementofthetraffic
situation.Alsocheckthetrafficsituationaroundthevehiclebylookingaround,otherwisetheremay
beariskofanaccidentasaresultofroadusersorobjectswhichlieoutsidethedetectionrangeof
theParkDistanceControl.Loudsoundsourcesoutsideandinsidethevehiclemaymasktheacoustic
signalsoftheParkingManeuverAssistantPMAortheParkDistanceControlPDC.

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19.CruiseControl
19.1.Introduction
TwocruisecontrolfunctionscanbeusedintheG12.Thecruisecontrolwithbrakingfunction(DCC)
ispartofthebasicequipment.

ThecustomeralsohastheoptionoforderingtheActiveCruiseControlwithStop&Gofunction
(ACCStop&Go)optionalequipment(OEZN7)partofZDTDriverAssistancePlusII.

ACCStop&GocanalsobeobtainedifthecustomeroptsfortheActiveDrivingAssistantPlusoptional
equipment(OE5AT),asitiscontainedinthisequipmentpackage.

OtherfeaturesoftheActiveDrivingAssistantPlusoptionalequipment(OE5AT)arethesteeringand
lanecontrolassistantandthetrafficjamassistant.Whenusedinconjunctionwiththesteeringand
lanecontrolassistantandthetrafficjamassistant,ACCStop&Goprovidesoptimumsupportforthe
driver.

Thecruisecontrolsystemssupportthedriverwithadaptingthespeed,distanceanddrivingstyleto
thetrafficconditions,butdonotrelievehimofhisresponsibility.Thedrivermustactivelyintervene,
e.g.bybraking,steeringortakingevasiveaction,asotherwisethereisariskofanaccident.

19.2.Cruisecontrolwithbrakingfunction
ThecruisecontrolwithbrakingfunctionisincludedaspartoftheG12'sbasicequipment.Thesystem
isalsoKnownas"DynamicCruiseControl"(DCC).DynamicCruiseControl(DCC)supportsthedriver
onroadswithlesstrafficbykeepingthespeedconstantirrespectiveofrollingresistances(incline,
downhilldrivingandvehicleload).Inspiteofthesupport,thedriverremainsresponsibleforcontrol
ofthevehicle.ItispossibletooverridetheDCCfunctionatanytimebybrakingoracceleratingthe
vehicle.

19.2.1.Controlfunctions

Cruisecontrol

Thecruisecontrolcalculatesatargetaccelerationordecelerationbasedonthespeedsetbythedriver
andtheactualspeed.

Accelerationanddeceleration

Thedrivercanspecifythesetspeedoraccelerationviatherockerswitchonthemultifunctionsteering
wheel(MFL).

Cruisecontrolonbends

Anotherpurposeofthisfunction,alsoreferredtoasthe"lateralaccelerationcontroller",istoprevent
thelateralaccelerationfromincreasingaboveanacceptablelevelwhencorneringwiththecruise
controlswitchedon.Alateralaccelerationiscalculatedfromthedrivingspeedandyawrate.Thisvalue
iscomparedwithaspeed-dependentlimitinordertoachievethefollowingseeminglycontradictory
objectives:

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Disruptiveandoverlyrestrictiveinterventionsareavoidedifthedriverhimselfwouldalsoprefer
highlateralacceleration.
Usefulinterventionsandthereforealsosignificantlimitationsindynamicsareeffectedathigh
speeds.Mostdriversfindanoverlyhighlateralaccelerationinthesesituationsunpleasant,
whichiswhyalowerlimitvalueisused.

Theoutputvariableforthecorneringcruisecontrolisalsousedasaset-pointvalueforthelongitudinal
acceleration.

Prioritizationofthepartialset-pointvalue

Theset-pointvaluewiththehighestpriorityaccordingtothesituationisselectedfromthelongitudinal
accelerationset-pointvaluesforthecontrolfunctionsreferredtoabove.Signalsarefilteredtoprevent
abruptjumpswhenadjustingtheset-pointvalues.

Estimationofdisturbanceforce

Anaccelerationorbrakeforcemustbecalculatedinordertobeabletoapplytheprioritized
longitudinalaccelerationwiththeassistanceoftheactuators.Example:moredrivingpowerisrequired
toachievethesamelongitudinalaccelerationduringanuphilljourneythanontheflat.Ifthevehicle
needstodeceleratewhentravellinguphill,lessbrakingforceisrequiredcomparedtodrivingonthe
flat.Inordertobeabletocorrectlycalculatetheforcesrequired,theprecisevalueofthegradientand
alsotheweightofthevehicle,therollingresistance,thedragandotheraccelerationforcesmustbe
known.Asasensorsystemthatcanmonitorallofthesedisturbancesdoesnotexist,anestimated
valueiscalculatedinsteadbycomparingthefollowingtwovariables:

actualmovementvariablesofthevehicle
anticipatedmovementvariablesofthevehicleasaresultofthedrivingpowerandbraking
forcescurrentlyactingonthevehicle.

Theextentofthedisturbingforcedeterminedusingthismethodistakenintoaccountduring
subsequentprocessingofthelongitudinalaccelerationsetpointvaluebymeansofadditionor
subtraction.

19.2.2.Activationoftheactuators
Drivingpowerand/orbrakingforcesmustbeintroducedinordertoproducethelongitudinal
accelerationcalculatedbythecontrolfunctionsandthuscompensatefordisturbingforcesacting
onthevehicle.Toacceleratethevehicle,asetpointvalueforthedriveisusuallytransmitted.In
exceptionalcasesduringdownhilldrivingonasteepgradient,itmaybenecessarytoactivatethebrake
toensuretheaccelerationdoesnotexceedaspecificvalue.

Ifthevehicleneedstobedecelerated,theextentofthecontributionthatmayberequiredbythedrive
towardsthedeceleration,andthereforethebrakingeffectoftheengineandtransmission,isinitially
determined.ThisvalueisoutputtotheDigitalMotorElectronics(DME)orandelectronictransmission
control(EGS).Ifthisvaluecannotbeachievedbythedrivetrainalone,theadditionalamountrequiredis
transmittedtotheDynamicStabilityControl(DSC).

Thevehicle'sbrakelightsarealsoswitchedonifthebrakesarenoticeablyactuatedinorderto
producethedesireddeceleration.

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19.2.3.Operation
Thedriverhastheoptionofadjustingthesetspeedinsmallorlargeincrements,whichisthensetand
maintainedbythesystembycontrollingthedriveandbrakes.Itcanbechangedusingtheleft-hand
switchblockonthemultifunctionsteeringwheel(MFL).Thespeedisincreasedorreducedby1km/
hbytappingtherockerswitch.Eachtimetherockerbuttonispressedbeyondthepressurepoint,the
speedincreasesorreducesby10km/h.TheDCCsteadilymaintainsaselectedspeedfromabout
30km/h.

ThesetspeedisindicatedintheinstrumentclusterKOMBIinthefamiliarway;byamarkthatmoves
roundthespeedreading.Notesareaddedtothedisplaysintheinstrumentclusterifnecessary.

Ifthevehicle'sowndecelerationisnotsufficienttomaintainthepresetspeed,thebrakeisactivated
accordingly.

Theadjustmentrangeforthesetspeedislimitedtoamaximumof210km/h.

IfECOPROorSPORTmodeisactivated,thecruisecontrolisalsosettoafuel-efficientorsporty
drivingstyle.Duetothefuel-efficientdrivingstyleinECOPROdrivingmode,insomesituationsthe
vehicle'sspeedmayexceedordropbelowthesetspeed,forexampleondownhillgradientsorinclines.

G12DynamicCruiseControl(DCC)buttons

Index Explanation
1 ButtonforactivatingordeactivatingtheDynamicCruiseControlDCC
2 Rockerswitchforchangingthesetspeed
3 SETbuttonforsettingthespeedofcruisecontrol
4 Buttonforcallingupasavedsetspeed/temporarilyswitchingoffthecruise
control

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Thesystemisinterruptedautomaticallyinthefollowingsituations:

Ifthebrakesareused
Iftheselectorleverpositionismovedoutofposition"D"
IftheDynamicTractionControl(DTC)isactivatedortheDynamicStabilityControl
(DSC)isdeactivated
IftheDynamicStabilityControl(DSC)isperforminganadjustment

19.3.ActivecruisecontrolwithStop&Gofunction
TheactivecruisecontrolwithStop&Gofunction,ACCStop&Go(OE5DF)isofferedasoptional
equipmentfortheG12aspartoftheZDBDriverAssistancePlusII(5AT)package.

ACCStop&Goadjustsadriver-specifiedsetspeedand,ifrequiredbythetrafficsituation,also
automaticallyadjuststhepreselectedfollowingdistancetothevehicledrivingahead(detected
vehiclesincludepassengercars,trucksandmotorbikes).TheapplicationrangeofACCStop&Go
rangesfromhigherspeedsdowntoastandstill.Thedistanceandthespeedareautomatically
adjustedinthisrange.

G12ActiveCruiseControl

Dependingonthestationarytime,drivingofffromastandstillisperformedautomaticallyorin
responsetoapromptbythedriver.ACCStop&Gonotonlydetectsvehiclesthatareslowlycoming
toahalt,butalsostationaryvehicles.

Duetoimprovedmonitoringinfrontofthevehicle,thesystemiscapableofreactingmorequickly
tovehiclesswinginginandoutandturningoff.

TheextendedapplicationrangehasbeenachievedbytheincorporationoftheKAFASstereocamera.
ImagedataisevaluatedbytheACCStop&Gosystem.TheKAFAScontrolunitclearlydetectsvehicles
whentheirrearendsarerecordedbythecamera.Inaddition,theKAFAScontrolunitensuresthatthe
drivinglaneinformation,vehiclepositionsandmovementsaredetermined.

Inadditiontoimagedata,radardataisalsogatheredandevaluatedbytheradarsensors.Thisfusion
ofimageandradardatamakespossibletheclearidentificationoflanemarkingsandthedistinction
betweenstationaryvehiclesandotherfixedobjects.

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19.CruiseControl

ObjectdetectionprovidedbyacombinationofradarsensorandKAFASstereocamera

A77GHzradarsensoremitsbundledelectromagneticwaves.Theechoesreflectedbyobjectsare
receivedandevaluatedbytheradarsensor.Thisenablesinformationaboutobjectslocatedinfrontof
theradarsensortobeobtained.Thisinformationincludessize,distanceandthededucedspeed.The
radarsensorofthesystemcanidentifyvehiclesaheaduptoadistanceof200m,toalarge
extentirrespectiveofweatherconditions.

Thesensorislocatedbehindtheairinletgrilleonthefrontbumper.

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G12installationlocationoffrontradarsensorforACCStop&Go

Index Explanation
1 SensorforACCStop&Go
2 Removablegrille

G12frontradarsensorforACCStop&Go

Index Explanation
1 Adjustmentfeature

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Thankstotheradarsensor'simproveddetectioncapabilityandalignmentwiththeimagedatafrom
theKAFASstereocamera,vehiclesinneighboringlanesarealsodetected.Ifthesevehiclesaredriving
intheirownlane,thenACCStop&Goadaptsthespeedtothevehiclepullinginorvehicleahead.Asa
result,atimelagselectedbythedriverisconstantlymaintained.

ACCStop&Goadjuststhespeedifthereisnovehicledrivingdirectlyaheadandautomatically
switchestodistancecontrolifthesensorsystemdetectsaslowervehicleinitslane.Thesystem's
Stop&Gofunctionbringsthevehicletoacompletestandstillifnecessary.

Ifthevehicleaheaddrivesoffagainafterastandstill,thedriverisinformedthereofwithanote.
Todriveoffagain,thedrivermustacknowledgethisinformationbypressingtheRES/CNCLbuttonor
theacceleratorpedal.Onlyifthedurationofthestandstillisveryshort(about3seconds)isthestarting
processeffectedfullyautomaticallybyACCStop&Go.

Inthisway,ACCStop&Gosupportsthedrivernotonlyinflowingtraffic,butalsointrafficjam
situations,bothonmultiple-lanehighwaysandordinaryroadsandonurbanarterialandringroads.

Theadjustmentrangeforthesetspeedislimitedtoamaximumof210km/h.

IfECOPROorSPORTmodeisactivated,theActiveCruiseControlwithStop&Gofunctionisalso
settoafuel-efficientorsportydrivingstyle.Duetothefuel-efficientdrivingstyleinECOPROdriving
mode,insomesituationsthevehicle'sspeedmayexceedordropbelowthesetspeed,forexampleon
downhillgradientsorinclines.

19.3.1.Controlfunctions
ThecalculationsareperformedintheoptionalequipmentcontrolunitSAS.

Cruisecontrol

Inprinciple,thecruisecontrolintheACCStop&Gosystemworksinexactlythesamewayasthe
DynamicCruiseControl(DCC)system.

Cruisecontrolonbends

ThecruisecontroloftheACCStop&Goonbendsisbasedonthecontrolcharacteristicsofthe
DynamicCruiseControl(DCC).Ifanobjectislostonbends,thesystemwaitstoseewhetherthe
objectreappears(transitioncurve).Thevehicleonlyacceleratesifitdoesnotreappearorthesensor
systemnolongerdetectsanobject.TightbendsaredetectedviathedataoftheDynamicStability
ControlsystemDSCandthenavigationsystemandthespeedadjustedifnecessary.

Distancecontrol(ranging)

ThedistancecontrolisthecorefunctionoftheACCStop&Gosystem.

Thedrivercanselectadesireddistanceinfourstagesusingthemultifunctionbuttononthe
multifunctionsteeringwheel(MFL).FromthispreselectionACCStop&Gocalculatesthereference
distancetothevehicledrivingaheadforthecontrol.InvehicleswiththeActiveCruiseControloptional

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equipment(OE5DF),thedistanceisadjustedusingtwobuttons;onetoreduceandonetoincrease
thedistance.InvehicleswiththeDrivingAssistantPlusoptionalequipment(OE5AT),thedistanceis
adjustedusingtherockerbutton.

ACCStop&Gocalculatesthereferencedistanceforthecontrolfromthispreselection.Thefollowing
distancemostrecentlyselectedissaveddependingonthekeybeingused.

Thereferencedistanceduringthejourneyisproportionaltothedrivingspeed.Atalowerdrivingspeed
andatstandstill,theproportionaldistancetothedrivingspeedisnolongerusedfortheACCStop&
Go,butafixedvalueinmetres.

Ifavehiclemovesintothedriver'slane,whichisanticipatedduetothecurrentdrivingcondition,or
ifthedriverisapproachingavehicledrivingahead,theACCStop&Gofunctiondiscretelyadaptsthe
speedtothevehiclepullinginorvehicleahead.

Thedistancecontrolusesthepreparedobjectdatawiththehighestdiagnosticstatisticasinput
variables.Thedistancecontroltakesintoconsiderationthefollowingsituationsinparticular:

Maximumvaluesforaccelerationanddeceleration:
ThemaximumvaluesforaccelerationanddecelerationoftheACCStop&Gosystembelow
about50km/haredynamicvalues.Theycorrespondtotheaccelerationanddeceleration
valuesthatthedriverwouldusehimselfandconsiderscomfortable.Insituationswhere
sharperdecelerationisrequiredthanthesystemoffersaspartofthespeedadjustment
feature,avisualandacousticsignalisissuedtothedrivertoinformhimtotakeovervehicle
handling.
Dependingonthesituation,theACCStop&Goacceleratesbyamaximumofabout2m/s
anddeceleratesbyamaximumofabout4m/s.
Stopandstartstability:
Inthecaseofveryheavytrafficandverylowdrivingspeed,theriskofrear-endcollisions
increasesthroughheavyaccelerationandbraking.TheACCStop&Godistancecontrolleris
thereforedesignedtodecelerateasearlyaspossible,butnotmorethanthevehicleahead.
Thesystemcandeceleratebyupto2.5m/satthemostduringsubsequentoperation,andby
upto4m/satthemostwhenstopping.

Requesttotakeovervehiclehandling

WhenACCStop&Goisnolongerabletomaintainasafedistanceoracriticalsituationisdetected,
e.g.onaccountofveryhighdifferentialspeedsoraninsufficientmaximumdeceleration,twoshort
warningsignalssoundandtheorangelitupvehiclesymbolintheinstrumentclusterortheHeadUp
Display(optionalequipmentOE610)flashes.Thesystemcontinuestoperformitscontrolfunction
andpromptsthedrivertotakeovervehiclehandlingandtokeeptheirdistanceaccordingly.

19.3.2.Operation

Activationanddeactivation

TheactivationanddeactivationoftheACCStop&GoandtheDynamicCruiseControlarealmostthe
same.ACCStop&Gocaneitherbeactivatedwhiledrivingoratastandstill.Forsafetyreasons,when
thevehicleisatastandstillthefunctioncanonlybeputinStandbymodeordeactivatedwhilethe
footbrakeisapplied.

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G12DriverAssistanceSystems
19.CruiseControl
Ifthefunctionisactive,itcanbeinterruptedbypressingtheRES/CNCLbutton.Thedistanceand
speedwillnolongerbemaintainedandthesetspeedisgreyedoutintheinstrumentcluster.

Thedrivercanselectadesireddistanceinfourstagesusingtheleft-handmultifunctionbuttononthe
multifunctionsteeringwheel(MFL).Thelastselectedfollowingdistanceissaveddependingonthe
keybeingused.

Thefollowinggraphicshowsthebuttonassignmentfortheassistancesystemsonthe
multifunctionsteeringwheel(MFL)invehicleswiththeActivelanekeepingassistantincluding
trafficjamassistant:

G12buttonsforACCStop&GowithActiveDrivingAssistantPlusIIoptionalequipment(OE5AT)

Index Explanation
1 Buttonforactivatingordeactivatingthelanekeepingassistantincludingtraffic
jamassistant
2 ButtonforactivatingordeactivatingACCStop&Go
3 Rockerswitchforchangingthesetspeed
4 SETbuttonforsettingthespeedofcruisecontrol
5 Buttonforadjustingthedistanceofthedriver'svehicletothevehicledriving
ahead
6 Buttonforcallingupasavedsetspeed/temporarilyswitchingoffthecruise
control

Thefollowingconditionsmustalsobesatisfiedforactivation:

Seatbeltfastenedanddoorsclosed
Driveposition"D"engagedandbrakepressed
Enginerunning
Parkingbrakenotactivated
Cameraandradarsensoroperational
Nosystemfaultsdetected.

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G12DriverAssistanceSystems
19.CruiseControl
Thesystemisinterruptedautomaticallyinthefollowingsituations:

Ifthebrakesareused
Iftheselectorleverpositionismovedoutofposition"D"
IftheDynamicTractionControl(DTC)isactivatedortheDynamicStabilityControl(DSC)is
deactivated
IftheDynamicStabilityControl(DSC)isperforminganadjustment
Iftheseatbeltisunfastenedandthedriver'sdoorisopenedinastationaryvehicle
Ifthesystemhasnotdetectedanobjectforalongtime,e.g.onrarelyfrequented
sectionsofroadwithnodistinctedge
Ifthedetectionrangeoftheradarisimpaired,e.g.duetocontaminationorheavyprecipitation
Followingalongerimmobilizationperiod,ifthevehiclehasbeendeceleratedtoastandstill
byACCStop&Go.

Thesetspeedisindicatedintheinstrumentclusterinthefamiliarway;byamarkthatmovesround
thespeedreading.IfACCStop&Goisactivated,thismarkisgreen,whereasin"Standby"modeitis
greyandthelastsetspeedisdisplayed.AftertheACCStop&Gofunctionisactivatedorafterthedriver
hasadjustedthesetspeed,thecurrentdigitalvalueisdisplayed.Ifthedistanceischanged,asymbol
appearsbrieflyasanacknowledgement.Thesymbolscreenmasksareforexamplethesetspeedand
thedistancebar.Witheachsubsequentoperationthedisplayisshownforanotherthreeseconds.

Thedistancessetbythedriver,aswellasthedistancestoanyvehiclesdrivingahead,thatmustbe
maintainedtoensureasafedistancearedisplayedbetweenthetworoundinstruments(speedreading
andenginespeeddisplay).ThedistancesettingisstoredfortheIDtransmittercurrentlybeingused.
LikeforDCC,itisalsonecessarythatthesymbolscreenmasksarecomplementedifnecessarywith
notesintheinstrumentclusterforACCStop&Go.

WithactivecontrolthedisplaysarealsoshownintheHeadUpDisplay(optionalequipmentOE610).

Ifthesystemcannolongeradjustasafedistance,forexampleduetoveryhighdifferentialspeeds,
thenthedriverispromptedtotakeoverthevehiclehandlingbyaflashingredvehiclesymbolandan
acousticsignal.

Display

DisplaysintheinstrumentclusterwhenACCStop&Goisactivated

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G12DriverAssistanceSystems
19.CruiseControl
Symbols Explanation
Displaylightsupblack/grey,no
vehiclesymbolshown:
Systemhasbeeninterrupted.

Distancecontrolbrieflypaused,asthe
acceleratorpedalispressed.

Vehiclesymbolanddistancebarsflashredand
asignalsounds:
Requestforinterventionbybrakingand,
ifrequired,evasiveaction.

Distancecontrol(ranging)active:
ACCStop&Goadjuststothesetdistance
(distance1).
ThespeedometermarkfortheActiveCruise
ControlwithStop&Gofunctionalsolightsup
greeninthespeedreading.

Distancecontrol(ranging)active:
ACCStop&Goadjuststothesetdistance
(distance2).
ThespeedometermarkfortheActiveCruise
ControlwithStop&Gofunctionalsolightsup
greeninthespeedreading.

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G12DriverAssistanceSystems
19.CruiseControl
Symbols Explanation
Distancecontrol(ranging)active:
ACCStop&Goadjuststothesetdistance
(distance3).
ThespeedometermarkfortheActiveCruise
ControlwithStop&Gofunctionalsolightsup
greeninthespeedreading.
Distance3isabouthalfthevalueofthekm/h
displayinmetresandispre-setautomatically
whenthesystemisfirstswitchedon.
Distancecontrol(ranging)active:
ACCStop&Goadjuststothesetdistance
(distance4).
ThespeedometermarkfortheActiveCruise
ControlwithStop&Gofunctionalsolightsup
greeninthespeedreading.

Thissymbolisdisplayedifthedistancetothe
vehicleaheadistooshort.

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G12DriverAssistanceSystems
19.CruiseControl
19.3.3.Systemwiringdiagram

G12systemwiringdiagramforActiveCruiseControlwithStop&Go

132
G12DriverAssistanceSystems
19.CruiseControl
Index Explanation
1 ActiveCruiseControl(ACC)Stop&Go
2 DynamicStabilityControlDSC
3 DigitalMotorElectronics(DME)
4 Electronictransmissioncontrol(EGS)
5 Fuseforfrontrightpowerdistributionbox
6 CANterminator
7 BodyDomainController(BDC)
8 AdvancedCrashSafetyModule(ACSM)
9 Seatbeltbucklecontact,driver'sseat
10 Audiocontrolpanel
11 IntelligentSafetybutton
12 Steeringcolumnswitchcluster(SZL)
13 Doorcontact,driver'sdoor
14 Instrumentpanel(KOMBI)
15 Controller(CON)
16 HeadUnitHigh2(HU-H2)
17 Centralinformationdisplay(CID)
18 Controlunitforoptionalequipmentsystem(SAS)
19 CANterminator

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G12DriverAssistanceSystems
20.SpeedLimitWarning
Thedriverhastheoptionofsettingaspeedatwhichawarningisissuedwhenthesystemisactivated
andthepresetspeedisexceeded.

20.1.Operation
ThespeedlimitwarningcanbeswitchedonandoffintheiDrivemenu,aswellasthespeedsettingat
whichthewarningshouldbeissued,bymakingthefollowingselectionviathecontroller:

"MyVehicle"
"Vehiclesettings"
"Speedlimitwarning"
"Warningat:"
turncontrolleruntilthedesiredspeedisdisplayed
presscontroller
speedlimitwarningissaved.

SpeedlimitwarningdisplayontheCID

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G12DriverAssistanceSystems
21.LateralGuidanceAssistants
Thisincreasedthespeedrangeinwhichthesystemcanbeusedfrom40km/hto60km/h.

Thebelowgraphicshowswhenthelateralguidancesystemswereintroduced:

Overviewofsteeringandlanecontrolassistantincludingtrafficjamassistant

Index System Functionalcharacteristicsofthe

systems
3 Trafficjamassistant(from2015with 0-70km/h
launchofG12)
Trafficjamfollowingdistance
controlwithlanecenterguidance
Noroad-typerestrictions

3 Steeringlanekeepingassistant(from 70-210km/h
2015withlaunchofG12)
Lanecenterguidance
Noroad-typerestrictions

4 Activelanekeepingassistantwith 30-70km/h(warninginformof
activesidecollisionprotection singlesteeringwheelpulse)
(from2015withlaunchofG12)
70-210km/h(correctivesteering
interventions)
Activesteeringinterventionsin
situationswhereacollisionis
imminent
Noroad-typerestrictions

Thesteeringandlanecontrolassistantandactivelanekeepingassistantwithactivesidecollision
protectionhavebeenintroducedforthefirsttimeintheG12.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
ThelanekeepingassistantwithtrafficjamassistantispartoftheActiveDrivingAssistantPlusoptional
equipment(OE5AT).

Thesystemassiststhedriverinkeepingthevehicleinlanebyinitiatingcorrectivesteering
interventionsifrequired.

G12activesteeringintervention

22.1.Functionalprinciple
Dependingonthespeed,thesystemisguidedbythelaneedgesorvehiclesdrivingahead.The
positionofthelaneedgesandthevehicledrivingaheadisdeterminedwiththehelpoffiveradar
sensorsandtheKAFASstereocamera.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant

G12installationlocationsofradarsensorsandKAFASstereocamera

Index Explanation
1 Controlunitforradarsensor,right(RSR)
2 KAFASstereocamera
3 Blindspotdetection,right(primary)
4 Blindspotdetection,left(secondary)
5 Controlunitforradarsensor,left(RSL)
6 ActiveCruiseControl(ACC)(FRR)

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
Thesystemhastwosub-functions:thetrafficjamassistant(secondgeneration)andthelanecontrol
assistant.

Thetrafficjamassistantcanbeusedwithinthespeedrangeof0to70km/h,thelanecontrolassistant
ontheotherhandfrom70to210km/h.

Thetablebelowshowsanoverviewofthedifferencesbetweenthetwosub-functions:

TrafficJamAssist LaneControlAssistant
Speedrange0-70km/h Speedrange70-210km/h
Correctivesteeringinterventionsinthe Correctivesteeringinterventionsinthe
directionofthevehicledrivingahead directionofthecenterofthelane
Detectedlanemarkingstakeninto Gapsinlanemarkingscanbebridgedfora
consideration limitedtimebyaligningwithvehicleahead

Ifthetrafficjamandlanecontrolassistantsareactivated,thesidecollisionwarningisalsointerlinked.

22.1.1.Hands-off-Detection
Toensurethedriverisalertandabletoreact,heisurgedtoalwayshavebothhandsonthesteering
wheelwhenthesteeringandlanecontrolassistantincludingtrafficjamassistantareactivated
(establishedintheGermanroadtrafficregulations).Ifthedrivertakesbothhandsoffthesteering
wheelrim,controlisstoppedafterafewsecondsduringactivecontrolandthedriverisrequestedto
takeoversteering.

Acapacitivesensor(hands-offdetectionsensor)withcorrespondingtouchdetectionelectronicsin
thesteeringwheeldetermineswhetherthesteeringwheelisbeingtouched.

Theelectronictouchdetectionisinstalledinthesteeringwheelbelowthedriver'sairbag.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant

G12steeringwheelwithtouchdetectioncontrolunit

Thehandscanonlybedetectedonthesteeringwheelrim,notonthesteeringwheelspokes,hubor
impactplate.

Thesensorconsistsofamatwhichiswrappedroundthesteeringwheelrim.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant

G12sensormatfortouchdetection

Index Explanation
1 Sensormat
2 Connectionforcapacitivetouchdetection
3 Connectionforsteeringwheelheating

Thelanekeepingassistantwithtrafficjamassistantisdeactivatedafewsecondsafterahandis
nolongertouchingthesteeringwheelrim.Inordertobeabletousethesteeringandlanecontrol
assistantincludingtrafficjamassistant,thesteeringwheelmustbegrasped.Whendrivingwithgloves
onorwithasteeringwheelcoverfitted,thesensormaynotbeabletodetectcontactwiththesteering
wheel,whichmeansthesystemmaynotbeabletobeused.

ThediagnosisoftheHands-off-DetectionisperformedintheBodyDomainControllerBDC.

22.1.2.Functionalprerequisites
Thefollowingprerequisitesmustbemetinorderforthesteeringandlanecontrolassistantincluding
trafficjamassistanttobeused:

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
Speedmustbebelow210km/h.
Above70km/h:bothlaneedgesmustbedetected.
Below70km/h:bothlaneedgesoravehicledrivingaheadmustbedetected.
Thelanewidthmustbesufficient.
Thevehicleshouldbepositionedascentrallyaspossibleinthelane.
Theremustbeasufficientcurveradius.
Atleastonehandmustbeonthesteeringwheelrim.
Theturnindicatormustnotbeactivated.
Thecameracalibrationprocessmustbecompletedimmediatelyaftervehicledelivery.

TheactivelateralcontrolfunctionwithdataevaluationoftheKAFASstereocameraisimplemented
withtheassistanceofthelanemarkingsidentifiedontheleftandright.

Inorderforthesystemtobeactivated,twolaneboundarylinesmustbedetected.Belowaspeedof
approximately70km/havehicledrivingaheadinthesamelaneissufficienttoactivatethesystem.

ThesystemisputinStandbymodeifthemarginalconditionsarenotsatisfied(e.g.handsnoton
steeringwheel,lanetoonarrowordazzlingofKAFASstereocamera).Onceallmarginalconditions
havebeenmet,thesystemisre-enabledautomatically.

Toactivatethesystem,thespeedofthevehicleisanotherinputquantitythatisevaluated.Thesystem
usesthesevaluestodecidewhichfunctionisenabled.Asmentionedabove,thethresholdvaluesare
setasfollows:

Thetrafficjamassistantcanbeenabledwithinaspeedrangeof0to70km/h.
Thelanecontrolassistantcanbeenabledwithinaspeedrangeof70to210km/h.

22.1.3.Lanechange
Foralanechangetobeascomfortableaspossible,thesteeringandlanecontrolassistantincluding
trafficjamassistantisputsilentlyintoStandbymodewhentheturnindicatorisactivatedand
reactivatesitselfautomaticallyoncetheturnindicatorisbackinitsinitialpositionandalanechange
hasoccurred.

22.1.4.Functionlogic
Themainfunctionlogicofthelateralguidanceisimplementedintheoptionalequipmentsystem(SAS)
controlunit.

ThemajorityofthedataforthefunctionisprovidedbytheKAFASstereocamera,wherealgorithmsfor
thelaneandobjectdetectionrun.

Vehicledynamicsdata,suchasthedrivingspeed,wheelspeeds,yawrate,steeringangle,lateral
acceleration,longitudinalacceleration,etc.,isprovidedbytherestofthevehiclenetworkviaaFlexRay
orCANconnection.

Atargettrajectory(alsoknownasapathcurve)iscalculatedintheoptionalequipmentsystem(SAS)
controlunit.Thisisusedtodeterminewhetherasteeringcorrectionisrequired.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
22.1.5.Steeringinterventions
Ifthecurrentcourseofthevehicledeviatestoomuchfromthetargettrajectory(pathcurve),asteering
correctionisinitiated.

Thesteeringinterventionisacorrectivemeasure.Thismeansthedriverisnotrelievedofhisdutyto
steerthevehicle.Asthecorrectivesteeringinterventionsarelimitedtoapproximately1.5m/sbased
onthelateralacceleration,thesystemcannotnavigatecurvesabovetherespectivespeed-dependent
curveradiuswithoutthedriver'sassistance.Thedrivermustthereforesteerthevehicleatthesame
timeinordertostayontheroadway.

Thetargettrajectoryandrequiredsteeringcorrectionsarecalculatedbasedonthedrivingspeedas
follows:

Speedrange0to70km/h:

Thepositionandpreviousmovementsofthevehicledrivingaheadaregivenprioritywhen
determiningtheappropriatesteeringcorrections.
Detectedlanemarkingsaretakenintoaccounttoavoidunwantedsteeringcorrectionsthat
wouldresultinleavingthelane.
Correctivesteeringinterventionsinthedirectionofthecenterofthelaneareinitiatedifthe
vehicledetectsthereisnotavehicledrivingahead.

Speedrange70to130km/h:

Correctivesteeringinterventionsinthedirectionofthecenterofthelaneareinitiated.
Itispossibletobridgethegapforalimitedtimewherelanemarkingsarenotdetectedby
estimatingthecourseofthelanebasedonthevehicledrivingahead.

Speedrange130to210km/h:

Correctivesteeringinterventionsinthedirectionofthecenterofthelaneareinitiated.
Forsafetyreasonsaboveadrivingspeedofapproximately130km/hthecourseofthelaneis
notestimatedusingthevehicledrivingahead.

Thevehicledrivingaheadisgivenpriorityasthe"correctiontarget"atspeedsrangingbetween
approximately0and70km/hduetothelimiteddetectionoflanemarkings.

Intrafficjamsorslow-movingtrafficfollowingdistancesareoftenextremelysmall(<10m)dueto
tailgatingandlanesaheadareoftenpartiallycoveredduetostaggereddriving.

ThismeanstheKAFASstereocameraisunabletocorrectlyinterpretthelanemarkingsinsomecases.

Whenclassifyingtheobjectdrivingahead,vehiclessuchasmotorbikesarenotusedasthe"correction
target".

Steeringtorque

ThedrivingdynamicsfunctionsoftwareintheDynamicStabilityControl(DSC)controlunitcalculatesa
targetsteeringtorquebasedonthecurvenominalvalue.Thetargetsteeringtorqueisthenconverted
toanenginetorquebytheElectronicPowerSteering(EPS),whichfinallyresultsinasteeringwheel
movementatthewheels.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
Themaximumsteeringtorquehasbeensetinsuchawaythatitcanalwaysbeoverruledbythedriver
andthereforesteeringpastthemaximumsteeringtorqueispossible.

22.1.6.Operation
Thesystemisswitchedonviathetrafficjamassistantbuttononthemultifunctionsteeringwheel
(MFL).

G12buttonsforACCStop&GowithActiveDrivingAssistantPlusoptionalequipment(OE5AT)

Index Explanation
1 Buttonforactivatingordeactivatingthelanekeepingassistantwithtrafficjam
assistant
2 ButtonforactivatingordeactivatingACCStop&Go
3 Rockerswitchforchangingthesetspeed
4 SETbuttonforsettingthespeedofcruisecontrol
5 Buttonforadjustingthedistanceofthedriver'svehicletothevehicledriving
ahead
6 Buttonforcallingupasavedsetspeed/temporarilyswitchingoffthecruise
control

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
Displays

Symbols Explanation
Greysteeringwheelsymbol:

Thesystemhasbeeninterruptedand
willnotmakeanyfurthersteeringwheel
movements.ThesystemisinStandby
mode.
Oncethesystemconditionsare
met,thesystemreactivatesitself
automatically.

Greensteeringwheelsymbolandlaneedges:

Thesystemassistsinkeepingthe
vehicleinthelane.

Greensteeringwheelsymbol,greylaneedges:

Nolaneedgesdetected.Thevehicle
followsthevehicledrivingahead.

Yellowsteeringwheelsymbol:

Requestfordrivertoplacehandsback
onthesteeringwheel(graspsteering
wheel).Systemcontinuestobeactive.

Redsteeringwheelsymbolandacousticsignal
sounds:

Thesystemhasbeeninterrupted.Itwill
notmakeanyfurthersteeringwheel
movements.

Configurationoptions

ThedrivercanchangethesystemsettingsintheIntelligentSafetyconfigurationmenu.

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
22.1.7.Systemwiringdiagram

G12ActiveDrivingAssistantPlus(OE5AT)/lanekeeping&trafficjamassistantwiringdiagram

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
Index Explanation
1 Controlunitsforleftradarsensor(RSL)(sideradarsensorforthefrontleftside
collisionwarning)
2 ActiveCruiseControl(ACC)
3 Controlunitsforrightradarsensor(RSR)(sideradarsensorforthefrontright
sidecollisionwarning)
4 ElectronicPowerSteeringEPS
5 Fuseforfrontrightpowerdistributionbox
6 Electronictransmissioncontrolunit(EGS)
7 Diagnosticsocket
8 CANterminator
9 Signalunit(LED)inrightmirrorglass
10 BodyDomainController(BDC)
11 CANterminator
12 AdvancedCrashSafetyModule(ACSM)
13 Blindspotdetection,right(primary)
14 Blindspotdetection,left(secondary)
15 Seatbeltbuckleswitch,driver
16 Steeringcolumnswitchcluster(SZL)
17 Driver'sdoorlockswitch
18 IntelligentSafetybutton
19 InstrumentpanelKOMBI
20 ControllerCON
21 HeadUpDisplay(HUD)
22 Switchblockfordriver'sdoor
23 CentralinformationdisplayCID
24 HeadUnitHigh2(HU-H2)
25 Audiocontrolpanel
26 ControlunitforoptionalequipmentsystemSAS
27 Signalunit(LED)inleftmirrorglass
28 CANterminator
29 Rain-light-solar-condensationsensor(RLSBS)
30 KAFASstereocamera
31 DynamicStabilityControl(DSC)
32 DigitalMotorElectronics(DME)
33 KAFASstereocameraheating

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G12DriverAssistanceSystems
22.Lane&TrafficJamAssistant
22.1.8.Deactivationcriteria
Thesteeringandlanecontrolassistantincludingtrafficjamassistantisdeactivatedautomaticallyin
thefollowingsituations:

Ifthevehicledepartsfromthedetectedlaneorthelanewidthdoesnotmeetthe
requirements.
IfthelaneedgesofthecurrentlanearenotdetectedbytheKAFASstereocamera.
Ifnovehicledrivingaheadisdetected.
Thevehicleistravellingataspeedgreaterthan210km/h.
IftheHands-off-Detectioncannotdetectthehands(atleastonehand)onthesteeringwheel
rim.Switch-offoccursonceadefinedtimethreshold(severalseconds)haselapsed.
Duetotheradiusofthebendintheroad,theinnerlaneedgeisnolongerdetectedduetothe
cameraapertureangle.
Pedestrianprotectionassumestheoperatingcondition"Faultexists".
Iftheturnindicatorison.
Thedriverintervenesactivelyinthesteering.
Ifoveracertaintimeperiodnolaneedgesaredetectedandthereisnotavehicledriving
ahead.
IfthedrivermanuallydeactivatestheDSC(DSCoff).
Ifthereisaninterventionfromthepreventativepedestrianprotection.
AfterDynamicBrakeControlbraking(brakeassistant).

22.1.9.Limitsofthesystem
Whendrivinginnarrowlanes,e.g.whendrivingthroughroadworksorwhenemergencylanesare
formed,thesystemcannotbeactivatedorusedmeaningfully.

DuetothelimiteddetectioncapacityoftheKAFASstereocamera,thedrivermustremainalertand
observantinordertobeabletoactivelyinterveneatanytimesoastoavoidtheriskofanaccident.The
systemdoesnotrelievethedriverofpersonalresponsibilityforcorrectlyjudgingthetrafficsituation.
Thedriverissolelyresponsibleforthevehicle.

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G12DriverAssistanceSystems
23.ActiveLaneKeepingAssistant
TheactivelanekeepingassistantwithactivesidecollisionprotectionispartoftheActiveDriving
AssistantPlusoptionalequipment(OE5AT).

Thesystemassiststhedriverinkeepingthevehicleinlaneandactivelyavoidingpotentialside
collisionsbyinitiatingcorrectivesteeringinterventionswithinaspeedrangefrom70km/hto210km/
h.Thesystemendeavourstoorientthevehicleinitslaneaccordingtothesituationandwithinthe
frameworkofthesystemlimits.

Thesystemconsistsofthefollowingfoursub-functions:

Sidecollisionwarning
Lanedeparturewarning
BlindSpotDetection

23.1.Sidecollisionwarning
Thetablebelowshowsanoverviewofthefunctionalcharacteristicsofthe"Sidecollisionwarning"
sub-function:

Speedrange Warningfunctions Correctivesteeringintervention

70-210km/h Issuedifthevehicle Correctivesteering
detectsthatitisgetting interventioninthedirection
criticallycloseto oftheavailablespaceonthe
anothervehicletothe roadway
side Requirements:
Physicalwarninginthe
formofvibrationinthe Detectedlanes
steeringwheelusingan Sufficientavailablespaceon
unbalancedactuator theroadway
Visualwarningin
exteriormirrorin
theformofthe
correspondingwarning
light

23.1.1.Reducedsidecollisionwarning
Thereducedsidecollisionwarningcomesintoplayifitisnotpossibletoadequatelymonitorthe
availablespaceontheroadwayorthereisnoavailablespaceontheroadway.

Thereducedsidecollisionwarningisinterlinkedwiththesteeringandlanecontrolassistantincluding
trafficjamassistantfunction.

Thetablebelowshowsanoverviewofthefunctionalcharacteristicsofthe"Reducedsidecollision
warning"sub-function:

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G12DriverAssistanceSystems
23.ActiveLaneKeepingAssistant
Speedrange
30-210km/h
Warningfunction Correctivesteeringintervention
Issuedifthevehicle Acorrectivesteering
detectsthatitisgetting interventionisnotinitiated;
criticallycloseto insteadonlyasingle
anothervehicletothe steeringwheelpulse
side warningisissuedinthe
oppositedirectiontothe
Physicalwarninginthe
detectedobjectthevehicle
formofvibrationinthe
couldcollidewith
steeringwheelusingan
unbalancedactuator
Visualwarningin
exteriormirrorin
theformofthe
correspondingwarning
light
30-70km/hadditional
warningissuedby
singlesteeringwheel
pulse

23.2.Lanedeparturewarning
Thetablebelowshowsanoverviewofthefunctionalcharacteristicsofthe"Lanedeparturewarning"
sub-function:

Speedrange Warningfunction Correctivesteeringintervention

70-210km/h Triggeredintheevent Correctivesteering
alanedeparture interventioninthedirection
isdetectedbythe oftheoriginallaneifvehicle
lanedeparture movestowardsneighboring
warningfunction.The lane
associatedphysical Requirements:
warningintheform
ofavibrationinthe Detectedlanes
steeringwheelusing
anunbalancedactuator
isissuedandvisual
warningintheexterior
mirrorintheformofthe
correspondingwarning
light.

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G12DriverAssistanceSystems
23.ActiveLaneKeepingAssistant
23.3.Blindspotdetection
Thetablebelowshowsanoverviewofthefunctionalcharacteristicsofthe"Blindspotdetection"sub-
function:

Speedrange Warningfunction Correctivesteeringintervention

70-210km/h Triggeredinthe Correctivesteering
eventalanechange interventioninthedirection
thatcouldresultina oftheavailablespaceon
collisionisdetected theroadwaywhenlane
bythelanedeparture changeintentionismade
warningfunction. andneighboringlaneis
Theassociated obstructed
physicalwarningin Prerequisites:
theformofavibration
inthesteeringwheel Detectedlanes
usinganunbalanced
actuatorisissued Sufficientavailablespaceon
andvisualwarning theroadway
intheexteriormirror
intheformofthe
correspondingwarning
light.

Furtherinformationcanbefoundinthesystemdescriptionsoftherespectivesub-functions(see
sections8-10).

Theactivelanekeepingassistantwithactivesidecollisionprotectiondoesnotrelievethedriverofhis
overallresponsibilityfordrivingthevehicle.Duetothesystemlimitsbeattentiveinordertobeableto
activelyinterveneatanytime.Otherwise,thereisariskofanaccident.

150
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