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.
Driver Assistance Functions
Depending on the equipment specification, two driver assistance functions that act on the longitudinal dynamics of the vehicle can be integrated in the ICM control unit:
- Cruise control with braking function (Dynamic Cruise Control, DCC) and
- Active cruise control with stop&go function (ACC Stop&Go).
The Adaptive Brake Assistant function is included in the same equipment package as ACC Stop&Go.
The ACC Stop&Go function has been integrated into the ICM control unit in the F01/F02. This dispenses with the need for a separate LDM control unit. The DCC function that is calculated in the Dynamic Stability Control in the E70, for example, has been accommodated in the ICM control unit of the F01/F02.
| Index | Explanation |
|---|---|
| 1 | Short range radar sensors (SRR) |
| 2 | Long range radar sensors (LRR) |
| 3 | Footwell module |
| 4 | Control panel for driver assistance functions |
| 5 | Steering column switch cluster |
| 6 | Control panel for DCC or ACC Stop&Go on multi-function steering wheel |
| 7 | Integrated Chassis Management |
| 8 | Drive |
| 9 | Dynamic Stability Control |
| 10 | Instrument cluster |
| 11 | "DCC" function |
| 12 | "ACC Stop&Go and Adaptive Brake Assistant" functions |
The ICM control unit performs an additional important function for the Lane Departure Warning and Active Blind Spot Detection driver assistance systems. As both systems warn the driver via a vibration in the steering wheel, a coordinator function is required. This is integrated in the ICM control unit.
The ICM control unit generates a reference value for the vibration based on the warning requirements for the lane departure warning (KAFAS control unit) and the lane change warning (SWW sensor). The amplitude of the vibration varies depending on what triggered the warning.
The reference value is transmitted to the steering column switching cluster via the FlexRay bus system then put into effect via the steering wheel module (LRE) or the vibration actuator in the steering wheel.
The Input/Output graphic below is intended as an overview only.
| Index | Explanation |
|---|---|
| 1 | Radar sensor, lane change warning |
| 2 | KAFAS control unit |
| 3 | Camera for lane departure warning |
| 4 | Footwell module |
| 5 | Control panel for driver assistance functions |
| 6 | Integrated Chassis Management |
| 7 | Steering column switch cluster |
| 8 | Steering wheel electronics (LRE) and vibration actuator in steering wheel |
| 9 | Lane change warning display in door mirror |
| 10 | Instrument cluster |
| 11 | Coordination function for steering wheel vibration |
NO RELATED
Use the Manual With the Right Hardware
Pair factory procedures with proven DIY tools so the instructions are easier to execute.
Affiliate disclosure: We may earn a commission at no extra cost to you.
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.