The 2011 Audi A8 Driver Assistance Systemsthe new Audi Night Vision Assist system, and will provide...
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The 2011 Audi A8 Driver Assistance Systems Self-Study Program 970203
Transcript of The 2011 Audi A8 Driver Assistance Systemsthe new Audi Night Vision Assist system, and will provide...
The 2011 Audi A8 Driver Assistance Systems
Self-Study Program 970203
Audi of America, LLC
Service Training
Printed in U.S.A.
Printed 4/2010
Course Number 970203
©2010 Audi of America, LLC
All rights reserved. Information contained in this manual is
based on the latest information available at the time of printing
and is subject to the copyright and other intellectual property
rights of Audi of America, LLC., its affi liated companies and its
licensors. All rights are reserved to make changes at any time
without notice. No part of this document may be reproduced,
stored in a retrieval system, or transmitted in any form or by
any means, electronic, mechanical, photocopying, recording or
otherwise, nor may these materials be modifi ed or reposted to
other sites without the prior expressed written permission of
the publisher.
All requests for permission to copy and redistribute
information should be referred to Audi of America, LLC.
Always check Technical Bulletins and the latest electronic
repair literature for information that may supersede any
information included in this booklet.
Table of Contents
Night Vision Assist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Night Vision Assist Advantages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Range of Night Vision Assist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Marking Detected Pedestrians . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Recognition of Cyclists and Animals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Driver Hazard Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
System Operation and Displays . . . . . . . . . . . . . . . . . . . . . .9
Night Vision Assist Icon on Taskbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Adjustment Options on the MMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Night Vision System Control Module J853 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Infrared Camera R212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Installation Location of R212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Functional Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Communication Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
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Table of Contents
ii
The Self-Study Program provides introductory information regarding the design
and function of new models, automotive components or technologies.
The Self-Study Program is not a Repair Manual!All values given are intended as a guideline only.Refer to the software version valid at the time of publication of the SSP.
For maintenance and repair work, always refer to the current technical literature.
Reference Note
!
Diagnostic Functions and System Calibration . . . . . . . .17
Data Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Dynamic Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
New Image Processing System . . . . . . . . . . . . . . . . . . . . .21
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Camera Control Module J852 . . . . . . . . . . . . . . . . . . . . . . .22
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Features of the Camera in J852 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Functional Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Image Processing Control Module J851. . . . . . . . . . . . . .25
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Image Processing Functions for ACC Stop and Go . . . .26
New ACC Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Recognition of Imminent Lane Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
New Features of Audi Lane Assist . . . . . . . . . . . . . . . . . . .28
Self-Study Programs for the 2011 Audi A8 . . . . . . . . . . .30
Knowledge Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Night Vision Assist
1
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Introduction
Driver assistance systems can provide increased
comfort and safety in most driving situations.
However, these systems do not remove the
driver from being fully responsible for their
driving actions.
These systems have helped decrease fatalities
resulting from road accidents, despite an ever-
increasing number of road users. Many of these
systems help prevent accidents by alerting the
driver to impending hazards.
This Self-Study Program will introduce you to
the new Audi Night Vision Assist system, and
will provide updated information pertinent to
systems already in use, including:
– New Image Processing System
– Camera Control Module J852
– Image Processing Control Module J851
– Image processing for ACC with Stop and Go
– Expanded features for the Audi Lane Assist
system
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2
Night Vision Assist uses infrared technology to
enable a driver to detect persons ahead of the
vehicle.
The advantage of early detection is that the
driver has more time to react to a potentially
hazardous situation ahead.
The Night Vision Assist system provides better
illumination of the road, enabling the conditions
ahead of the vehicle to be interpreted more
quickly and accurately in the dark. Its range
greatly exceeds that of high beam headlights. A
thermal imaging camera detects heat-emitting
objects, such as human beings and larger
animals, in diffi cult light situations.
The illustration above demonstrates the
advantages of the Night Vision Assist system
for drivers. Only part of the pedestrian crossing
the road can be seen through the windshield. A
quick glance at the Night Vision Assist display,
however, shows the entire pedestrian, making
them easier to see, and avoid.
The brightly colored pedestrian clearly stands
out against the background and is bracketed in
red to alert the driver to the danger of a potential
collision. By detecting the pedestrian sooner, the
driver has more time to react appropriately to the
potentially hazardous situation ahead.
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Night Vision Assist Advantages
Accident statistics clearly show that driving at
night puts drivers at greater risk than driving in
the daytime. Although nighttime traffi c accounts
for only 25% of overall daily traffi c volume, about
half of all fatal road accidents occur at night.
The risk of accident is twice as high as that
during daylight hours. The reasons for this high
incidence of nighttime accidents are easy to
understand:
– Bad or impaired visibility on country roads
– Obstacles or tight corners being detected too
late with the headlights on low beam
– Misjudgement of speeds and distances due to
a lack of visual points of reference
– Drivers being blinded by the headlights of
oncoming traffi c
– Driving at speeds inappropriate for conditions
Pedestrians and cyclists are particularly at risk
and are frequently involved in nighttime road
accidents.
With conventional lighting technology, it can
be diffi cult for drivers to detect and react
appropriately to darkly clad joggers and badly
illuminated cyclists. This is especially true when
they are outside the headlight beam range.
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The thermal image is analyzed by the Night
Vision Assist control module. From the images
captured, the system predicts the next direction
of movement of detected pedestrians or larger
animals. Actual vehicle speed and yaw rate are
factored to predict the next movements of the
vehicle.
If a danger of collision is computed on the basis
of these two predictions, an acoustic warning
signal will be given so the driver can react to the
situation.
However, Night Vision Assist does not itself intervene in road traffi c situations.
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Function
This system produces a thermal image of the
area ahead of the vehicle on the multi-function
display. An infrared camera built into the Audi
rings on the front grille of the vehicle is used to
capture these images.
Human beings and larger animals show up
much more brightly in the image than their
surroundings, making them easy for the driver to
spot on the display.
If the system classifi es an object as a human
being, the object in question is additionally
marked in color. The thermal image shows not
only living beings, but also the road ahead of the
vehicle and the outlines of buildings.
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The thermal image is analyzed by the Night
Vision Assist control module. From the images
captured, the system predicts the next direction
of movement of detected pedestrians or larger
animals. Actual vehicle speed and yaw rate are
factored to predict the next movement of the
vehicle.
If a danger of collision is computed on the basis
of these two predictions, an acoustic warning
signal will be given so the driver can react to the
situation. However, Night Vision Assist does not
itself intervene in road traffi c situations.
5
Range of Night Vision Assist
When visibility is good, Night Vision Assist has a
maximum range of approximately 328.0 yd
(300 m). In bad weather, the range of the system
is considerably shorter.
By comparison, asymmetrical low beam
headlights have a good weather range of
approximately 65.5 yd (60 m) on the side facing
oncoming traffi c and 131.2 yd (120 m) on the
side facing the road edge. High beam headlights
have a good weather range of about 218.7 yd
(200 m), considerably less than that of Night
Vision Assist.
The long range of Night Vision Assist gives the
driver a valuable edge over low or high beam
headlights when it comes to detecting persons
or animals. This crucial extra time can make all
the difference when it comes to avoiding an
accident.
Information on Driver Responsibility
The following information is shown in the Driver
Information System display during the fi rst fi ve
seconds of display of the thermal image: “Night
Vision Assist is no substitute for alertness”.
This information is displayed whenever Night
Vision Assist is used to remind the driver that the
system is designed to be a driver aid, and that
drivers are entirely responsible for their actions.
Night Vision Assistis no substitute for alertness
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High beam headlights
Low beam headlight, left
Low beam headlight, right
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Night Vision Assist
65.5 yd (60 m)
131.2 yd (120 m)
218.7 yd (200 m)
328.0 yd (300 m)
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People are marked by Night Vision Assist if they
are approximately 16.4 yd (15 m) to 98.4 yd
(90 m) in front of the vehicle.
If people are farther than 98.4 yd (90 m) away
from the vehicle, they will appear in the
thermal image as objects too small to be clearly
classifi ed as people. If people are closer than
16.4 yd (15 m) away from the vehicle, they will
be too large to be unequivocally classifi ed by the
system.
The system is faced with the following
challenges in recognizing people:
– Both the vehicle and people are in motion
– The size of human beings can vary
considerably from one person to another
– A two-dimensional image is the basis
for classifi cation, so if a human being is
positioned unfavorably in relation to the
camera, classifi cation will be more diffi cult
– It is not enough to evaluate only a single
image; a continuous stream of images must
be evaluated in real time
– Head and limbs may be covered or concealed,
making classifi cation diffi cult or even
impossible
For example, people:
• Wearing a hood or helmet
• Carrying an umbrella
• Wearing a thermally insulated jacket
that allows little body heat to escape
Marking Detected Pedestrians
One of the main tasks of the Night Vision Assist
system is to detect and then mark people in the
camera’s thermal image.
Objects which stand out from their surroundings
due to the heat they emit are checked against
a list of criteria to determine whether they are
human beings or not.
Once an object has been classifi ed as a person, it
is marked by a yellow rectangle enclosed in two
brackets. If more than one object is classifi ed as
a person in the thermal image, all persons are
marked individually.
People cannot be detected by Night Vision Assist
if they are not in an upright position. People
who are sitting, are in a prostrate position, are
bent over (bicyclists), or are partially concealed
(perhaps by a parked vehicle) may not be
detected.
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NoteTo ensure that the camera image on the multi-function display is of a consistent high quality, the control
module performs a temperature calibration every two minutes.
This calibration involves a shutter being moved in front of the image capture chip for 300 ms. The picture
on the multi-function display is briefl y interrupted for this 300 ms, creating what can be perceived by the
driver as a quick stop and go sequence of images.
!
7
Bicyclists
Bicyclists are normally detected and marked
by Night Vision Assist. Due to the bent posture
of cyclists and the cyclical bending of the legs,
however, the marking may not be displayed
continuously.
Motorcyclists
Motorcyclists are not marked in the thermal
image. Night Vision Assist was not developed for
the detection of motorcyclists, since these road
users are most often adequately illuminated.
Automatic Deactivation of “Marking of Detected Pedestrians” by the System
Ambient temperature rises above 82.4°F (28°C):
The thermal image loses contrast with rising
ambient temperature due to the continuously
decreasing difference in temperature between
human beings and their surroundings. This
makes it increasingly diffi cult for the system to
classify pedestrians. For this reason, “Marking of
detected pedestrians” is deactivated at ambient
temperatures above 82.4°F (28°C). If the ambient
temperature then drops to below 77°F (25°C)
again, “Marking of detected pedestrians” is
reactivated.
Ambient brightness exceeds a predefi ned threshold level:
If there is suffi cient ambient light, pedestrians
can easily be detected with the naked eye,
so “Marking of detected pedestrians” is
deactivated.
Recognition of Cyclists and Animals
Manual Deactivation of “Marking of Detected Pedestrians” by the Driver
The driver can deactivate “Marking of detected
pedestrians” with the MMI.
When deactivated, the icon below appears on
the right side of the thermal image.
Deactivating the “Marking of detected
pedestrians” function always deactivates the
driver warning function.
Animals
The classifi cation of animals is a challenge for
the future. Larger animals can be discerned in
thermal images because of the heat they give off
but they are not additionally highlighted. Small
animals cannot be detected.
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NoteIt is possible that the “Marking of detected pedestrians” function will be unavailable in some markets due
to country-specifi c restrictions.!
8
If different content is being shown on the Driver
Information System display at the time the
warning is generated, the color of the Night
Vision Assist icon on taskbar will change from
white to red.
The acoustic warning is also given, unless it has
been deactivated by the driver. When a driver
warning is given, the display does not switch
over to the Night Vision Assist picture.
Driver Hazard Warning
Driver Alert Function
If Night Vision Assist ascertains that there is a
danger of a collision with a detected person, a
driver warning will be generated.
The warning is generated by the instrument
cluster in the form of an acoustic signal, and the
yellow pedestrian marking in the camera image
is then highlighted in red. The warning is timed
so that a driver still has enough time to react to
the situation in order to avoid a collision.
The acoustic “Warning gong” can be deactivated
via the MMI. It is deactivated automatically if
“Marking of detected pedestrians” has been
deactivated in the MMI. The icon at right appears
at the top right of the thermal image, indicating
that the “Warning gong” function is deactivated.
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Night Vision Assist icon during warningNight Vision Assist icon prior to warning
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NoteIt is possible that this driver alert function will be unavailable in some markets due to country-specifi c
restrictions.!
System Operation and Displays
9
Switching Night Vision Assist ON
There is a separate button on the rotary light
switch module for activating Night Vision Assist
to the ON position (see illustration below).
Night Vision Assist can be switched ON at any
time during daylight hours. In the dark, Night
Vision Assist can only be switched ON if the
rotary light switch is set to either the AUTO or
DRIVING LIGHTS settings.
Switching Night Vision Assist OFF
The system can be switched OFF at any time by
pressing the rotary light switch module button
again.
There are two situations in which Night Vision
Assist switches OFF automatically, displaying a
message:
– An attempt is made to switch Night Vision
Assist ON at dusk or in the dark without low
beam headlights
— OR —
– It begins to get dark while Night Vision Assist
is active and the low beam headlights are not
ON
If the low beam headlights are not switched
ON within fi ve seconds after the information
shown below is displayed, Night Vision Assist
will switch itself OFF automatically. For safety
reasons, it is not possible to drive in the dark
without low beam headlights while Night Vision
Assist is active.
After switching the ignition ON, Night Vision
Assist must also be switched ON to activate it.
The last system status assigned to the ignition
key is not stored before “terminal 15” is switched
OFF.
When Night Vision Assist is switched ON, the
thermal image appears on the Driver Information
System display. Previously displayed information
is reduced to an icon on the taskbar.
This information can again be displayed via the
controls on the multifunction steering wheel.
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Night Vision Assist:
Please switch on
low beam headlights.
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10
If Night Vision Assist is active, either the thermal
image can be seen on the Driver Information
System display or the Night Vision Assist icon
is shown on the taskbar at the top. The thermal
image disappears from the display if the driver
selects another tab to display navigation
content.
There is no function indicator lamp in the
Night Vision Assist button because the current
activation status of the Night Vision Assist
system is clearly indicated to the driver at all
times.
A deactivated Night Vision Assist system
removes the Night Vision Assist icon from the
taskbar of the multi-function display.
Indication of Deactivated Functions
If “Marking of detected pedestrians” and
the acoustic warning “Warning gong” are
deactivated in the MMI, this deactivation will be
indicated continuously at the top right of the
Night Vision Assist picture.
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Night Vision Assist Icon on Taskbar
Taskbar Navigation
Onboard computer
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Night Vision Assist Media Telephone
NavigationTelephoneTaskbar
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Media
Onboard computer
11
Adjustment Options on the MMI
Three different options for adjustment of Night
Vision Assist are available to the customer
through the MMI. To access the settings menu,
follow these steps:
– Press the CAR function key
– Press the “CAR systems” control key
– Select menu option “Driver assist”
– Select “Night Vision Assist” system
Contrast
The contrast level of the thermal image is
adjustable on a scale from -9 to +9.
This adjustment option is only available if the
thermal image is currently being shown on the
Driver Information System display. If different
information is displayed, the menu option
“Contrast” will be grayed out.
Marking of Detected Pedestrians
If this option is activated, all detected
pedestrians are marked yellow in the picture.
If a warning is given, the color of the marking
changes from yellow to red.
Warning Gong
If this option is activated, an acoustic signal is
heard and the pedestrian marked red if there is
imminent danger of a collision.
This adjustment option is only available if the
option “Marking of detected pedestrians” is
activated.
Car Vehicle walletLift
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Car systems
Night Vision Assist
Pedestrian marking
Warning gong
Contrast
On
On
Driver Assist
NoteThe settings described here are assigned to the ignition key in use when the ignition is turned OFF and are
stored in the Night Vision Assist control module. They are restored the next time the ignition key is used.!
System Components
12
Night Vision System Control Module J853
Installation Location
J853 is located in front of the left front seat
in the vehicle fl oorpan, mounted in a plastic
protective housing.
Component Protection
J853 is integrated into the component protection
system. The control module must be adapted to
the vehicle to enable its functions.
If a new module is installed, it must be adapted
to the vehicle online using the VAS Scan Tool.
J853 is the central control module for Night
Vision Assist.
It performs the following tasks:
– Processes the raw images produced by the
Night Vision Assist camera
– Detects and marks people in thermal image
– Continuously evaluates camera images and
computes the potential danger of a collision
with a detected person
– Warns when danger of a collision is detected
– Transfers processed thermal images to the
instrument cluster
– Receives and processes variables and
information required for the operation of
Night Vision Assist as a CAN Extended user
– Supplies the infrared camera with battery
power
– Continuously diagnoses the system and logs
any detected faults in fault memory
– Aids troubleshooting of the Night Vision
Assist system by providing data blocks,
adaptations, and actuator diagnoses
– Provides the software required for calibrating
the system at service centers and during
production
– Performs dynamic calibration under defi ned
conditions while driving
– Saves the customer’s Night Vision Assist
settings for the ignition key in use
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13
Infrared Camera R212
R212 has its own CPU. In addition to recording
“raw” images and transferring these images to
the Night Vision Assist control module, it has
the task of storing calibration data. Calibration
data is not stored in Night Vision System Control
Module J853, but rather in the camera. This
saves having to recalibrate the camera after
replacing a defective control module.
The camera is an infrared thermal image camera
which, like J853, is sourced from systems
supplier Autoliv. The camera has its maximum
sensitivity at long infrared wavelengths, which
are invisible to the human eye.
The camera produces a black-and-white image.
It has a horizontal resolution of 320 pixels and a
vertical resolution of 240 pixels at 30 frames per
second.
Camera Shutter Heater
Since the Night Vision Assist camera is built
into the Audi rings on the vehicle’s radiator
grille, there is a danger of it icing up in wintery
conditions. The protective shutter will be
heated if the camera is in danger of icing up
at ambient temperatures below 42.8°F (6°C).
The temperature is recorded by a separate
temperature sensor in the camera. Heating
current is regulated according to ambient
temperature.
To protect the camera against stone chip
damage, it has a protective shutter in front of the
lens. The shutter is made of germanium. It was
not possible to manufacture the shutter from
glass because glass is not permeable to heat
radiation.
In the unlikely event that the protective shutter
is damaged by stone chips, it can be replaced
together with the protective cover. Both
components are available as a repair kit.
A separate spray jet is installed for cleaning
the camera’s protective shutter. When the
spray nozzles of the headlight washer system
are activated, the spray jet is also activated to
remove any existing dirt from the lens.
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Camera lens
Heater element
Protective cover
Germanium shutter
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14
Installation Location of R212
R212 is built into the right ring, as seen from the
front, of the Audi rings on the radiator grille.
Camera Range
Night Vision Assist has a range of approximately
328.0 yds (300 m). The camera has a horizontal
opening angle of 24°.
Protection Against Misuse of Thermal Imaging Camera
Thermal imaging cameras were originally
developed for military applications. Today they
are increasingly used in civilian applications. The
use and trading of thermal imaging technology
is still subject to restrictions. The Audi system’s
thermal imaging camera has an electronic
security mechanism which prevents the camera
from producing a thermal image without an
accompanying control module specifi cally
initialized for each Audi vehicle.
A thermal image will only be displayed if
the camera and control module are able to
communicate with one another via the private
bus lines.
Infrared camera mounting
Spray jet
Infrared Camera
R212
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328.0 yd(300 m)
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System Overview
15
A sheathed and unshielded line with two
twisted cores goes from Night Vision System
Control Module J853 to Instrument Cluster
Control Module J285. An analog video signal is
transferred to the multi-function display via this
line.
To interchange data with other control modules,
two CAN Extended bus lines lead to Data Bus
On Board Diagnostic Interface J533, which
exchanges data between the CAN Extended bus
and other bus systems.
Functional Diagram
Night Vision System Control Module J853 is a
“terminal 15” control module and has a “terminal
15” line and a “terminal 31” line for independent
power supply.
It communicates with Infrared Camera R212 via
two private bus lines. Diagnostic information,
data, and commands are transferred across this
line.
The raw image produced by the camera is
transmitted to the control module via two image
transfer lines. Both bus lines and the image
transfer lines are commonly shielded.
Two supply lines go from the control module
to the camera. The control module supplies the
camera with battery power.
Night Vision System Control
Module J853
Infrared Camera R212
Instrument Cluster Control Module J285
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Data Bus On Board Diagnostic
Interface J533
CA
N E
xten
ded
Hig
h
CA
N E
xten
ded
Low
Imag
e tr
ansf
er li
ne
1
Imag
e tr
ansf
er li
ne
2
Shield
Image transfer line 1
Image transfer line 2
Bus line 2
Bus line 1
Camera power supply
Camera ground
Term
inal
15
Term
inal
31
16
Night Vision System CM J853– Receives CAN messages containing variables
and content required for its operation
– Transfers the processed thermal image to the
Driver Information System display
– Transfers information to the Driver
Information System display
Data Bus On BoardDiagnostic Interface J533– Forms the interface between various CAN bus
systems and FlexRay
– Master control module for the component
protection system
Instrument Cluster CM J285– Displays the image produced by the Night
Vision Assist camera
– Outputs an acoustic signal during a warning
– Displays driver information relating to the
Night Vision system
– Displays error messages
– Transfers fi ltered ambient temperature to J853
Information Electronics CM J853– Customer can make various adjustments to
Night Vision Assist via the MMI
Comfort System Central CM J393– Sends the “terminal 15” bit electronically for
validation purposes
Vehicle Electrical System CM J519– LIN master of Rain/Light Recognition Sensor
G397 and Light Switch E1
Rain/Light Recognition Sensor G397– Signals the currently measured brightness
level
Light Switch E1– Signals that the Night Vision Assist button has
been pressed
– Signals the current position of the rotary light
switch
ABS CM J104– Signals current vehicle speed
– Signals current yaw rate
Communication Structure
To operate the overall Night Vision Assist system
in the vehicle, Night Vision System Control
Module J853 requires large volumes of data.
This data is sourced from other control modules,
which communicate with each other via various
LIN, CAN, FlexRay, and MOST bus systems.
Data Bus On Board
Diagnostic Interface J533
Instrument Cluster Control Module J285
Night Vision System Control
Module J853
462_027
Information Electronics Control
Module J794
Light Switch E1
Infrared Camera R212
Rain/Light Recognition Sensor G397
Comfort System Central Control
Module J393
Vehicle Electrical System Control
Module J519
ABS Control Module J104
Image transfer line
LIN bus
CA
N E
xten
ded
Image transfer line
CAN displayand operation
MOST bus
Powertrain CAN
ConvenienceCAN
Diagnostic Functions and System Calibration
17
– Current brightness level of rain/light sensor
– Roll angle, yaw angle, and dive angle of static
calibration
– Yaw angle and dive angle of dynamic
calibration
– Abort condition of last static calibration
– Time stamp of last static calibration and VIN
– Reasons for deactivation of pedestrian
detection function (with brightness and
ambient temperature values)
– Number of keys currently in use
– Current vehicle speed
– System and display status information
Preferences
(“Marking of detected pedestrians”: ON/OFF;
“Warning gong”: ON/OFF; image contrast)
• Preferences stored for key 1
• Preferences stored for key 2
• Preferences stored for key 3
• Preferences stored for key 4
– Current yaw rate
– Dynamic calibration:
• Current status (running/not running)
• Distance travelled with active
dynamic calibration
• Calculated dive angle
• Calculated yaw angle
Data Blocks
The following information can be read through
the Measuring Value Blocks:
– Control module power supply
– Current control module temperature
– Saved maximum and minimum temperature
values of the control module with time stamp
– Stored maximum and minimum temperature
values of camera with time stamp
– Current status of the shutter* (open/closed)
– Camera heater (ON/OFF)
– Camera display information
– Low beam headlights (ON/OFF)
– Number of faulty camera pixels
– Night Vision Assist button
(pressed/not pressed)
– Number of recorded frames per second
– Night Vision Assist camera power supply
– Current power consumption of Night Vision
Assist camera
– Current camera temperature
* Shutter — For temperature calibration purposes, the
shutter is moved in front of the image capture chip
every two minutes.
462_028
Address word 84 is assigned to Night Vision Assist in the VAS Scan Tool
18
Adaptations
The following functions are available under
Adaptations:
– Reset stored minimum and maximum
camera temperature
– Reset stored minimum and maximum
temperature of the Night Vision Assist control
module
– Switch Night Vision Assist (ON/OFF)
Output Check Diagnosis
The following components can be tested using
the Output Check Diagnosis:
– Night Vision Assist camera heater
– Mechanical camera shutter
– Temporary activation of component protection
system
The actuator diagnostics can be used to start
a software routine which determines how
many camera pixels are faulty. This check takes
between two and three minutes.
A test picture can be viewed on the Driver
Information System display by a different Output
Check Diagnosis.
System Calibration
When does the system have to be recalibrated?
– Replacement of the Infrared Camera
– Replacement of the camera mounting
– Replacement or removal of the front bumper
– If the fault memory of the Night Vision Assist
control module contains the entry “No or
wrong basic setting”
– Adjustment work on the rear axle
When does the system NOT have to be
recalibrated?
– Replacement of Night Vision System Control
Module J853
– Flashing Night Vision System Control Module
J853
The following special tools are required for
calibration of the Night Vision Assist system:
– VAS Scan Tool
– Wheel alignment computer (VAS 6141)
– Calibrating device, basic kit VAS 6340/1 or
calibrating device VAS 6430
– Night vision system calibration plate VAS
6430/6
– Linear laser VAS 6350/3)
462_029Calibrating device, basic kit VAS 6430/1, which is also used for calibration of Audi Lane Assist and Adaptive Cruise Control (ACC)
19
Calibration Process
To calibrate the Night Vision Assist camera,
follow these steps:
1. Place calibration plate VAS 6430/6 on the
adjustment beam of VAS 6430/1
2. Position calibrating device VAS 6430/1 at a
distance of 47.2 in (120 cm) in front of camera
3. Start the calibration routine for Night Vision
Assist in the wheel alignment computer
4. Height adjustment of calibration plate VAS
6430/6: the height of the calibration plate can
be set correctly by turning the crank on the
back of the calibration panel
5. To compensate for surface unevenness, place
spirit level 1 on the calibration plate and
make sure it is level
6. Move the calibrating device into the correct
transversal position by shifting it sideways
(the wheel alignment computer indicates
when a suitable position is reached)
7. Make sure spirit levels 1 and 2 are level using
the two adjustment screws
8. Again check the height adjustment using the
linear laser, and correct it as needed
9. Activate the heating function of calibration
plate VAS 6430/6
10. Select and start the program “J853 —
Calibration” on the VAS Scan Tool
This is a two-step program:
The fi rst step is to mechanically calibrate the
roll angle of the Night Vision Assist camera.
The camera must be aligned horizontally by
turning the calibration screw using a hexagon
socket.
The required direction of rotation is
predefi ned by guided fault fi nding, which will
also indicate when the nominal roll angle is
reached.
The second step involves calculating the yaw
and dive angles and storing them in the Night
Vision Assist camera. This step is carried out
automatically.
Results of Calibration
Calibrating the Night Vision Assist camera
produces the following results:
– Mechanically correct camera roll angle setting
– Static camera yaw angle which is corrected
electronically by the control module
462_030
Night Vision Assist calibration plate VAS 6430/6
NoteIf it is necessary to calibrate Adaptive Cruise Control (ACC) in addition to Night Vision Assist, the set
distance to the calibrating device can also be used for calibrating ACC. However, it is important to observe
the sequence of calibration: calibrate Night Vision Assist fi rst, then ACC.
To calibrate Audi Lane Assist, however, the calibrating device has to be re-aligned.
!
– Static camera dive angle which is also
corrected electronically
20
Dynamic Calibration
Night Vision Assist also has dynamic calibration
capability. This system starts to run whenever a
horizon is detected. The conditions for detecting
a horizon are best when driving on country roads
or highways.
The dynamic calibration system determines
deviations in camera yaw and dive angles from
the values obtained by the static calibration.
These angular deviations are factored into the
calculations for electronic correction of the
camera image.
If the calculated angular deviations in dynamic
calibration exceed a limit value, “No or incorrect
basic setting” will be logged in the fault memory
entry of Night Vision System Control Module
J853. This fault memory entry means that a
new static calibration must be performed. One
possible reason for this is that the thermal
imaging camera has been knocked out of
alignment after a minor parking collision.
The roll angle of the thermal imaging camera,
which can be adjusted mechanically, is not an
integral part of the dynamic calibration.
New Image Processing System
21
Introduction
A new image processing system is used on the
2011 Audi A8. One or two control modules will be
installed depending on the options ordered.
The modules are:
– Image Processing Control Module J851
– Camera Control Module J852
J851 is an all new module. J852 replaces
Directional Stabilization Assistance Control
Module J759.
Ordered Optional Equipment Camera Control Module J852 Image Processing Control Module J851
Audi Lane Assist Installed Not installed
Adaptive Cruise Control
with Stop and GoInstalled Installed
Camera Control Module J852
22
Overview
J852 features a high-end camera and powerful
CPU. The CPU processes data for the Audi Lane
Assist functions.
J852 provides images to Image Processing
Control Module J851. It is only used in vehicles
ordered with ACC Stop and Go.
Installation Location of Camera
J852 is installed as high as possible in the center
of the windshield (over the base of the rear view
mirror) to provide the fullest possible coverage
of the vehicle perimeter.
The control module is installed in the same
position as the Audi Lane Assist control module
in other models.
461_002
Camera Control Module J852
461_003
23
Features of the Camera in J852
The camera installed in J852 can be
differentiated from the camera in the previous
Audi Lane Assist control module, Directional
Stabilization Assistance Control Module J759, by
the following performance features:
– Camera resolution is 1024 x 512 pixels,
compared to 640 x 480 in J759
– Able to process red color information in
addition to black and white values
– Has a horizontal opening angle of 42°
Calibrating the Camera
The processing of camera images is only
possible when the camera is correctly calibrated.
Calibrating tool VAS 6430 has been adopted from
the previous J759 calibrating system for this
purpose.
Various service procedures require re-calibration
of the camera. Always refer to the latest
technical literature for details.
Diagnosis
J852 is diagnosed using Address Word 85 with
the VAS Scan Tool. Address Word 5C for the Audi
Lane Assist control module, J759, is no longer
applicable for the 2011 Audi A8.
461_004
ReferenceFor more detailed information about calibrating the camera and special tool VAS 6430, refer to Self-Study
Program 911703, Audi Lane Assist System.
24
Functional Diagram
Eight wires are connected to Camera Control
Module J852:
– Two extended CAN wires for data exchange
with other control modules
– Two LVDS bus wires leading to Image
Processing Control Module J851
– Two shielded LVDS bus wires leading to J851
– One wire leading to Directional Stabilization
Assistance Windshield Defogger Z67 of the
Audi Lane Assist system
– Two power supply wires: “terminal 15” and
“terminal 31”
Nine wires are connected to Image Processing
Control Module J851:
– Two FlexRay wires leading to ABS Control
Module J104
– Two FlexRay wires leading to Data Bus On
Board Diagnostic Interface J533
– Two LVDS bus wires for image transfer to
Camera Control Module J852
– Two shielded LVDS bus wires leading to J852
– Two power supply wires: “terminal 15” and
“terminal 31”
LVDS = Low Voltage Differential Signalling
Image Processing
Control Module J851
Data Bus On Board Diagnostic
Interface J533
ABS Control Module J104
461_001
Distance Regulation
Control Module J428
Distance Regulation
Control Module 2 J850
Camera Control Module J852
FlexRay wire 1
FlexRay wire 2
Terminal 31
Terminal 15
Shielding
Positive bus wire
Negative bus wire
Windscreen Heater Z67
FlexRay wire 1
FlexRay wire 2
FlexRay wire 1
FlexRay wire 2
Termin
al 31
CA
N Exten
ded
Low
CA
N Exten
ded
Hig
h
FlexRay w
ire 1
FlexRay w
ire 2
Image Processing Control Module J851
25
Overview
J851 processes image data from Camera Control
Module J852. It receives complete camera
images 25 times per second.
Signals are transmitted between control
modules J852 and J851 over a private bus line
(LVDS). Other information and variables are also
transferred by this route.
Installation Location
J851 is located in the vehicle fl oorpan footwell in
front of the front passenger seat.
It is attached to a mounting bracket, which is
bolted to the body.
J851 is only installed on the 2011 Audi A8 if the
vehicle has the optional ACC with Stop and Go.
In the future, other functions that require camera
images as input signals will be integrated into
this control module.
Diagnostics
J851 can be diagnosed using Address Word 8E
with the VAS Scan Tool.
461_023
461_035461_024
Image Processing Functions for ACC Stop and Go
26
New ACC Function
A new generation of Automatic Cruise Control
with a Stop and Go function has been introduced
on the 2011 Audi A8. It has an operational speed
range of 0–155.3 mph (0–250 km/h). It features
dual radar sensors mounted in the front end of
the vehicle.
The ACC control modules receive information
from Image Processing Control Module J851 and
Parallel Parking Assistance Control Module J791.
Data received from J851:
– Position of vehicles ahead in same lane and in
adjacent lane
– Information on imminent lane changes by
vehicles ahead
– Detected objects immediately ahead of vehicle
Data received from J791:
– Detected objects immediately ahead of the
vehicle
Side Assist Control Module and the navigation
system supply the ACC with data. However, they
are optional even if ACC Stop and Go is installed.
Recognition of Traffi c Ahead ofVehicle in Camera Image
To assist the ACC in detecting vehicles, J851
scans camera images to detect vehicles ahead
traveling in the same direction. Scanning these
views enables the system to detect potential
lane changes. The system is capable of
differentiating between passenger cars, trucks,
and motorcycles.
If a vehicle is detected, its position is
transmitted to the ACC, which then uses the
two radar sensors to determine the distance to
the detected vehicle. The position and distance
to this vehicle are then factored into the ACC’s
control algorithm.
Distance to lane marking lines
Detected rear views of traffi c ahead of vehicle
461_025
27
Recognition of Vehicles AheadLikely to Cross Over into Your Lane
If a vehicle is detected ahead in an adjacent
lane, the distance between it and your lane is
determined continuously. By monitoring this
distance, the system is able to detect whether a
lane change is imminent or not. Detection of an
activated turn signal by the image processing
system is another indicator of an intended lane
change.
If an imminent lane change is assumed, this
information is factored into the ACC response.
Recognition of VehiclesLikely to Leave Your Lane
If a vehicle is detected ahead in the same lane,
the distance between it and your lane’s divider
line is also determined. The distance to the
lane divider line nearest the vehicle is always
measured.
By continuously monitoring this distance, the
system is able to detect whether the vehicle is
about to leave the lane or not. The ACC detection
of an activated turn signal is another indicator of
an imminent lane change.
If a lane departure is assumed, this information
is factored into the response of the ACC.
Care must be taken to ensure that there are
no persons or cyclists ahead of the vehicle,
particularly when driving at low speed and when
starting from a standstill.
For this purpose, the signals generated by the
ultrasonic sensors of the Audi Parking System
(APS) and the image processing systems are
used to detect moving objects.
Recognition of Imminent Lane Changes
The ACC is notifi ed if objects are detected when
the vehicle is stationary or moving slowly, as
the detection function is active up to a speed of
9.3 mph (15 km/h). The ACC warns the driver via
the Instrument Cluster Control Module, which
sounds a gong and displays a warning message.
The length “x” of the monitored area ahead of
the vehicle extends to 39.3 ft (12 m). The width
“y” of the monitored area varies as a function of
speed between vehicle width + 7.8 in (20 cm) and
+ 15.7 in (40 cm).
Area monitored by image processing control module 461_026
New Features of Audi Lane Assist
28
The Audi Lane Assist system for the 2011 Audi A8
has the following new features:
– Improved lane recognition through the use of
a black and white camera that is also capable
of recognizing red color values
– Improved performance due to the new
system’s ability to differentiate between lane
marking colors
– Reduced steering wheel vibration through the
use of a new imbalance motor
– New “single line detection” function
– Added “adapted warning threshold when
cornering” function
New “Single Line Detection” Function
With this new feature, the Audi Lane Assist
system enters warning mode when only a single
lane marking line is detected.
This may be either the road edge marking line or
the center line of the road.
Added “Adapted Warning Threshold When Cornering” Function
Audi Lane Assist offers the customer options
for adjusting the warning threshold through
the MMI: early, medium, and late. The added
function “adapted warning threshold when
cornering” applies only to the “medium” and
“late” warning thresholds.
When cornering, the Audi Lane Assist system
tolerates the vehicle slightly crossing the center
line. If Audi Lane Assist detects a broken center
line, the tolerance will be greater than for
continuous lines.
Left lane marking line is currently
detected
Right lane marking line is currently
not detected
Audi Lane Assist in warning mode
461_030
ReferenceFor a detailed description of how the Audi Lane Assist system works and how it is implemented in the
vehicle, refer to Self-Study Program 911703, Audi Lane Assist System.
Notes
29
Self-Study Programs for the 2011 Audi A8
30
The 2011 Audi A8 Power Transmission
Self-Study Program 950103
Eight Speed Automatic Transmission OBK
Rear Axle Drive OBC
Sport Differential OBF
The 2011 Audi A8 Running Gear and Suspension Systems
Self-Study Program 960103
The 2011 Audi A8 Convenience Electronicsand Networking Systems
Self-Study Program 970103
The 2011 Audi A8 Driver Assistance Systems
Self-Study Program 970203
Night Vision Assist
New Image Processing System
Camera Control Module J852
Image Processing Control Module J851
Image Processing for ACC Stop and Go
New Features of Audi Lane Assist
The 2011 Audi A8 Introduction
Self-Study Program 990103
SSP 950103 The 2011 Audi A8 Power Transmission
– Eight-Speed Automatic Transmission OBK
– Shift-by-Wire Control System
– Rear Axle Drive OBC
– Sport Differential OBF
SSP 960103 The 2011 Audi A8 Running Gear and Suspension Systems
– Axle and Wheel Alignment
– Adaptive Air Suspension
– Brake System
– ESP
– Steering System
– Adaptive Cruise Control (ACC)
SSP 970103 The 2011 Audi A8 Convenience Electronics and Networking Systems
– Power Supply
– Network System
– FlexRay
– Exterior Lights
– Ambient Lighting
SSP 970203 The 2011 Audi A8 Driver Assistance Systems
– Night Vision Assist
– New Image Processing System
– Image Processing Functions for ACC Stop and Go
– Diagnostic Functions and System Calibration
– New Features of Audi Lane Assist
SSP 990103 The 2011 Audi A8 Introduction
– Body
– Passive and Active Safety
– Powertrain
– Audi Drive Select
– Heating, Ventilation, and Air Conditioning (HVAC)
Knowledge Assessment
31
An on-line Knowledge Assessment (exam) is available for this Self-Study Program.
The Knowledge Assessment is required for Certifi cation.
You can fi nd this Knowledge Assessment at:
www.accessaudi.com
From the accessaudi.com Homepage:
– Click on the “ACADEMY” tab
– Click on the “Academy Site” link
– Click on the “CRC/Certifi cation” link
– Click on Course Catalog and select “970203 — The 2011 Audi A8 Driver Assistance Systems”
For assistance please call:
Audi Academy
Certifi cation Resource Center (CRC)
1-877-283-4562
(8:00 a.m. to 8:00 p.m. EST)
Or you may send an email to:
Thank you for reading this Self-Study Program and taking the assessment.
970203
All rights reserved.Technical specifi cations subject to change without notice.
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