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FUB-FUB-FB-660004-K08 Camera-based driver support systems, VIN: XXXXXXX
ISTA system 3.55.11.16402 Data version R3.55 Programming -
version data
VIN XXXXXXX Vehicle X'/F48/off-road vehicle/X1
xDrive28i/B46/AUTO/US/LL/2016/04
Int.lev.works - Int.lev.(cur.) - Int.lev.(tar.) -
Mileage 0 km
Camera-based driver support systems (KAFAS)
Depending on the options fitted, various camera-based systems are available. Technically, the system is
implemented with a joint camera and a joint control unit, the KAFAS control unit. The functions of the camera-
based driver support systems are:
- Lane departure warning
- High-Beam Assistant (not permitted in Japan)
- Road sign recognition Speed Limit Info)
Notice! Optional equipment 5AC, high-beam assistant!
If the customer exclusively orders the High-Beam Assistant (5AC), the system is implemented with its own
camera and its own control unit in the inside mirror.
The lane departure warning and high-beam assistant are known systems. The road sign recognition is only
possible with the Professional navigation system.
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Item Explanation Item Explanation
1 Road sign recognition 2 Lane departure warning
3 High-beam assistant
Brief component description
The following components for the camera-based driver support systems (KAFAS) are described:
Turn signal/high beam switch and operating facility for assist systems
The high-beam assistant is switched on and off at the turn signal/high beam switch. To do this, the light switch
must be in the automatic driving lights control or low-beam headlight position. The button in the driver assistance
system operating facility is used to switch the lane departure warning on and off.
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Item Explanation Item Explanation
1 Automatic driving lights control 2 Low-beam headlight position
position
3 Turn signal/high beam switch 4 High beam assistant button
5 On-board computer button 6 Lane departure warning button
The operating facility for assist systems is connected via LIN bus to the footwell module (FRM). A bus signal
from the FRM to the KAFAS control unit indicates the button has been pressed. The ICM control unit only allows
the lane departure warning to be switched on if the system is operating trouble-free. Only then is there positive
confirmation by means of a bus signal to the footwell module (FRM) to activate the function indicator light of the
button. If there is a fault in the system, the function indicator light remains switched off despite keystroke. This
allows the driver to see that the lane departure warning is not available.
Video camera
The video camera for the lane departure warning installed in the mirror base of the inside mirror monitors the
near field of the vehicle. The video camera records the roadway up to approx. 40 metres in front of the vehicle
and up to approx. 5 metres to the right and left at the sides of the vehicle. Image data are routed over a LVDS
data line to the KAFAS control unit and evaluated. The control unit uses image processing to search in the
imagery recorded by the video camera for possible existing lane and road markings.
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Item Explanation Item Explanation
1 Holder 2 Video camera
3 Plug connection 8-pin, LVDS data line
KAFAS: Control unit for camera-based driver support systems
The KAFAS control unit is found in the driver's footwell next to the central gateway module. The light points, light
colours and light intensities picked up by the video camera are evaluated by the KAFAS control unit. The
evaluation by the KAFAS control unit results in a switch-on or switch-off recommendation. The video camera is
connected to the KAFAS control unit by means of a 12-pin line. The KAFAS control unit is connected to the PT‐
CAN.
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Item Explanation Item Explanation
1 Camera-based driver support systems 2 12‐pin plug connection
camera control unit
3 10‐pin plug connection
Vibration actuator in the steering wheel
The vibration actuator is fitted in the spoke of the steering wheel. The vibration actuator has the task of causing
the steering wheel to vibrate. The driver assistance systems 'lane departure warning' and 'lane change warning'
use this vibration to warn the driver regarding dangerous situations.
The steering wheel module also housed inside the steering wheel activates the vibration actuator. The request
for activation of the vibration actuator is sent by the Integrated Chassis Management (ICM) as follows: via
FlexRay to the steering column switch cluster (SZL). The SZL forwards this request across the LIN bus to the
steering wheel module.
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Item Explanation Item Explanation
1 Electronic steering wheel module 2 Vibration actuator
System functions
The following system functions are described:
- Functional networking
- High-beam assistant
- Lane departure warning
- Road sign recognition
- System limits
Functional networking
A complex system network with distributed functions in other control units is necessary for implementation of the
lane departure warning as well as the high-beam assistant. The following graphic shows the system network.
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Item Explanation Item Explanation
1 Control unit for camera-based driver 2 Video camera in the inside mirror
support systems (KAFAS)
3 Junction Box Electronics (JBE) 4 Central information display (CID)
5 Car information computer (CIC) 6 Integrated chassis management (ICM)
7 Steering column switch centre (SZL) 8 High beam assistant button
9 Light switch 10 Instrument panel (KOMBI)
11 Car access system (CAS) 12 Central gateway module (ZGM)
13 Footwell module (FRM) 14 Assist systems operating facility
High-beam assistant
When solely a high-beam assistant (5AC) is installed, the system network looks like:
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Item Explanation Item Explanation
1 Central gateway module (ZGM) 2 Instrument panel (KOMBI)
3 Junction Box Electronics (JBE) 4 Video camera with high-beam
assistant control unit (FLA)
5 Interior mirror 6 Steering column switch centre (SZL)
7 High beam assistant button 8 Light switch
9 Footwell module (FRM)
Lane departure warning
The prerequisites for a lane departure warning are an identified lane and a specific driving speed. These make
the system fundamentally ready to give a warning. When crossing over a lane is imminent, the system warns the
driver through a vibrating steering wheel. The system firstly uses one or two identified lanes to calculate the
vehicle position relative to these lanes. The time remaining to cross over a lane is calculated with the aid of the
steering angle and the driving speed. A warning is output in good time before crossing over the marking.
A warning is only output once when approaching a road marking. The warning lasts for a maximum of
2.5 seconds. No further warning is output if the vehicle remains on the lane marking. A renewed warning is only
possible after steering back into the lane or a lane change. A lane change intended by the driver: no warning is
output when the turn indicator is operated as an input signal.
The warning is ended in the following conditions:
l Driver steers back into the lane
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l Lane change is carried out
l Vehicle is on the line for longer than 2.5 seconds
l Turn indicator for lane change is operated
l Brake is operated firmly (depending on brake pressure).
The minimum speed for a warning is country-dependent.
l Europe: 70 km/h
l United States: 40 mph
l Japan: 50 km/h
The displays for system and warning readiness are shown on the instrument cluster as well as the Head-Up
Display.
High-beam assistant
The video camera monitors the near field of the vehicle for light sources. Traffic driving in front or approaching is
identified at a distance of approx. 400 meters. The detection range of the video cameras is approx. 1000 metres.
The video camera field of view has a horizontal side angle of approx. 15° to the left and right. The video camera
field of view has a vertical elevation angle of approx. 5° up and down. The video camera records points of light
when it is in operation. Distinction can be drawn between different parameters such as light colour and light
intensity.
The recorded light points, light colours and light intensities picked are evaluated by the KAFAS control unit. After
evaluation the control unit gives a recommendation to switch on or off. The KAFAS or FLA control unit transmits
the recommendation to the footwell module. The recommendation to switch on or off also incorporates the
driving speed. At speeds below 38 km/h the high-beam assistant is switched off. At a speed higher than 50 km/h
it is switched on depending on all other parameters. The high-beam headlight is not switched on when the
vehicle is in an environment with sufficient lighting. The KAFAS control unit (or FLA) transmits a deactivation
recommendation to the footwell module (FRM).
Road sign recognition
Marketing designation: Speed Limit Information
Road sign recognition displays current top speed limitations on the instrument cluster as well as the Head-Up
Display. Road sign recognition therefore provides the driver with an aid to prevent excessive speeds.
Responsibility for the vehicle and driven speed lies exclusively with the driver. The display of top speed
limitations is based upon the following evaluations:
- Data from navigation system
- Image data from the video camera
The KAFAS control unit uses data on top speed limitations if they are stored in the navigation data for the road
currently being driven. In parallel to this, the video data from the video camera are also evaluated in the KAFAS
control unit. The image data are read in by the KAFAS control unit and evaluated for speed limit and end of
speed limit traffic signs. If the video camera identifies signed, local, temporary top speed limitations, these are
displayed with priority over the navigation data. In the case of covered or non-identifiable signs for ending top
speed limitations, the displays are cancelled in accordance with a specified time and route parameters.
System limits
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The system function is restricted for some road and ambient conditions. For instance, a snow-covered roadway,
fog, rain, counter-light and dazzling due to the physical limits of the optical system.
Notes for Service department
General notes
In the event of replacement of the camera or windscreen, calibration of the lane departure warning is required,
as in these cases the position of the camera could have changed. If the control unit is replaced, no calibration is
required. In this case, the calibration data stored in the camera are transferred to the control unit and stored
there.
Diagnosis instructions
Notice! Follow the instructions for service functions!
The BMW diagnosis system provides the following service functions for the lane change warning:
l Calibration of lane departure warning
Path: Service functions > Driver assist > Camera-based driver support systems
We can assume no liability for printing errors or inaccuracies in this document and reserve the right to introduce
technical modifications at any time.
