Safety Warning
DIY auto repair can cause serious injury, fire, or vehicle damage. These guides are for informational purposes only. Always follow OEM torque specs, wear PPE, and consult a certified mechanic if you are unsure. You are solely responsible for your safety.
Two versions
An ICM control unit is installed in every F01/F02. Which of the two available versions of the ICM control unit is fitted depends on the vehicle's equipment level.
If the vehicle is equipped with one or both of the following options
- Integral Active Steering (IAL) or
- Active Cruise Control with Stop&Go function (ACC Stop&Go),
the high-performance version of the ICM control unit is installed.
If neither of these options are installed in the vehicle, the basic version of the ICM control unit is used.
The internal layout of the high-end version differs from the internal layout of the basic version in the following ways:
- Larger microprocessor (required to calculate the Integral Active Steering control and active speed control)
- Redundant sensor system for lateral acceleration and yaw rate (safety requirement for Integral Active Steering).
| Index | Explanation |
|---|---|
| 1 | Acceleration sensors (1 for longitudinal acceleration, 2 for lateral acceleration) |
| 2 | Output stages for Servotronic and EVV valves |
| 3 | Controller for FlexRay connection |
| 4 | Two microprocessors (high-performance version) |
| 5 | Yaw rate sensors (2x) |
NO RELATED
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When to See a Mechanic
Stop DIY work and contact a certified mechanic immediately if any of the following apply:
- • You smell fuel, burning insulation, or see smoke.
- • Brakes feel soft, pull hard to one side, or make grinding noises.
- • The engine overheats, stalls repeatedly, or misfires under load.
- • You are missing required tools, torque specs, or safe lifting equipment.
- • You are not confident in the next step or safety outcome.