SSP398 - Audi lane assist - go-gddq.com the software version valid at the time of publication of the...

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All rights reserved. Technical specifications subject to change without notice.

CopyrightAUDI AGI/[email protected] +49-841/89-36367

AUDI AGD-85045 IngolstadtTechnical status: 04/07

Printed in GermanyA07.5S00.38.20

Audi lane assist

Self-Study Programme 398

Vorsprung durch Technik www.audi.de Service Training

精通维修下载 http://www.gzweix.com

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奥迪车道辅助系统自学手册398

Preface

To mark the launch of the new Q7 premium SUV, Audi extended its range of driver assist systems to include two new systems: the radar-assisted "Audi side assist" system and the rear-view camera. Both systems met with a very encouraging response from customers and experts alike. They once again emphasise the fact that Audi takes its slogan "Vorsprung durch Technik" very seriously.

A logical consequence of this is that Audi is now extending this range to include a new system: Audi lane assist. This system helps the driver to stay in lane.

In the event that the driver is inattentive or distracted, the vibrating steering wheel can warn when the vehicle is about to leave its lane. The aim is to help avoid accidents.

Despite the availability of this technology, however, it is still imperative that motorists only get behind the steering wheel when they feel fit to drive. Audi lane assist is a driver assist system designed to help the driver. However, the responsibility for staying in lane ultimately rests with the driver.

Under current plans, Audi lane assist will be available on models A4, A5, A6, Q7 and A8.

Excellence in design & performance

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前言：随着新Q7的投放，奥迪增加了两种驾驶辅助系统：雷达控制的换道辅助系统和后倒车摄像机。两种系统依据客户的喜好可以进行更好的反应。再一次体现了奥迪的口号：“超越科技、启迪未来”。同时奥迪又开发了新的辅助系统：车道辅助系统，保证车辆可以维持在本车道。当驾驶员疏忽或注意力不集中时，车辆偏离车道，可以通过震动的方向盘提醒司机，避免事故的发生。尽管有先进的技术，司机在驾驶车辆时，也不能为了舒适而松开方向盘。车道辅助系统只能给驾驶员提供帮助，车辆车道的保持还要依靠驾驶员本身。按照现在的计划，车道辅助系统将装备在A4、A5、A6、Q7、A8上

NoteReferenceThe self-study programme teaches the design and function of new vehicle models, new automotive parts or new technologies.

The self-study programme is not a repair manual!All values given are intended as a guideline only, and 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.

Contents

Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

System calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Electrical components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Communication structure. . . . . . . . . . . . . . . . . . . . . . . . . 18


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目录

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功能

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展示

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操作

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电子部件

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系统图

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数据传递

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系统校正

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诊断

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Function

Audi lane assist helps the driver to stay in lane. A camera is used for detecting lane markers. Audi lane assist is "on alert" when lane markers are detected on either side of the lane in which the vehicle is driving. When the vehicle approaches a detected lane marker and is about to leave the lane in which it is driving, Audi lane assist alerts the driver by making the steering wheel vibrate. If Audi lane assist is "on alert" and the driver indicates before crossing a lane marker, no warning is given because the system assumes that the lane change is deliberate.

The steering wheel vibrates once only in order to alert the driver when the vehicle is approaching or crossing a detected lane marker. A second warning is only given if the vehicle has moved a sufficient distance away from the lane marker after the first warning and subsequently approaches the lane marker again. This avoids warnings being given continuously when the vehicle is travelling in parallel with a lane marker.

The system is designed for use on motorways and trunk roads. For this reason, it does not become active until the vehicle is travelling at a speed of approx. 65 kph or higher.

Adverse ambient conditions, e.g. dirty or snow-covered road surface, a lane being too narrow or ambiguous lane markers such as occur in road works on motorways, may result in the system being temporarily unavailable. Current system status is indicated to the driver on the dash panel insert.

Function

Note

Audi lane assist is a driver assistance system. The system helps the driver to avoid leaving a lane inadvertently by issuing an alert warning before the vehicle crosses detected lane markers. However, the responsibility for staying in lane ultimately rests with the driver!

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功能：车道辅助系统帮助驾驶员将车辆保持在本车道上。摄像机用于识别车道线，车道辅助系统就可以在车辆运动过程中识别到车辆两侧的任何一个车道线。当识别到车辆靠近车道线，偏离车道时，通过震动方向盘来提醒驾驶员。如果在穿越车道线前，驾驶员发出指示，即使车道辅助开启，也不发出警报。系统认为此为驾驶员意图而无需警报。当车辆接近或穿越车道线，方向盘只震动一次，用于警告驾驶员。当车辆继续偏离车道，接近下一个车道线时，警告再次发出。当车辆连续穿越两条车道线，警告会持续进行。系统可以设定为高速公路和干线公路。所以只有在速度大于65KM/H时，系统才能激活。由于环境条件的限制，例如：路面污损、路面覆盖冰雪，车道特别狭窄、路面标线不清楚，系统会暂时关闭，仪表会显示当前状况。

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Displays

Warning lamp on dash panel insert

Possible states of the warning lamp

If the warning lamp on the dash panel insert is lit green, the system is active and "on alert".

If the warning lamp on the dash panel insert is lit yellow, this means that the system is active but not "on alert" due to the prevailing conditions.

In this condition, Audi lane assist does not assist the driver and gives no alert warnings. Possible reasons for deactivation are given below.

If Audi lane assist warning lamp is not lit, then the system is inactive.

To activate the system, push the Audi lane assist button on the indicator stalk.

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仪表上的警告指示灯

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警告指示灯显示的状态

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灯为绿色，表明系统开启并处于监控状态

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显示黄色表明系统开启，但由于优先等级的原因而没有处于监控状态。此时，系统不能起到辅助作用，也不能发出警报，可能的原因是系统优先等级没有达到要求。

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如果奥迪车道辅助警告灯没有亮，系统不能激活。激活系统，推指示手柄。

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Displays

If the yellow warning lamp is lit on the dash panel insert, this can be due to the following reasons:

l There is only one or no lane marker.

l The system is not detecting lane markers (e.g. due to snow, dirt, wet, backlight).

l There are more than two lane markers in the lane in which the vehicle is travelling (e.g. white and yellow markers at road works).

l The vehicle is travelling at less than the minimum activation speed of approx. 65 kph.

l The lane is narrower than approx. 2.5 m or wider than approx. 5 m.

l The curve is too tight (curve radius less than approx. 250 m).

Additional function display in the Audi A4 and A5 Coupé

An Audi A4 and A5 Coupé with Highline dash panel insert offers an additional function display which indicates the current status of the adaptive cruise control (ACC) and Audi lane assist systems.

The following examples show the combined colour display:

The graphic display indicates the following:

– adaptive cruise control:active, the system has detected a vehicle

– Audi lane assist:not installed or switched off

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– adaptive cruise control:off or in Standby mode

– Audi lane assist:not installed or switched off

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如果仪表上的黄色警告灯亮，可能是以下原因导致的： 1、只有一条车道标线或者没有。 2、由于环境原因（雪天、污损、潮湿、反光）没有识别到车道线。 3、车辆行驶车道有超过2条指示线，例如：用于指示交通信息的标志线 4、车速低于最低要求65KM/H 5、车道线间距低于2.5M或者超过5M 6、转弯半径太小，转弯半径不能低于250M

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A4、A5 COUPE的附加指示功能：装备了高版本仪表的A4、A5车，可以附加显示ACC和车道辅助系统的当前状态，下面显示了彩色图形：图示显示以下信息：上图 ACC激活系统识别到车辆奥迪车道辅助系统没有安装或关闭下图图示显示以下信息 ACC关闭或处于备用模式奥迪车道辅助没有安装或关闭

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– adaptive cruise control:active, the system has detected a vehicle

– Audi lane assist:switched on, but inactive (not "on alert")


– adaptive cruise control:active, driver is requested to take control

– Audi lane assist:switched on and active ("on alert")


– adaptive cruise control:active, the system is not detecting a vehicle

– Audi lane assist:switched on, active ("on alert") and alert warning on left-hand side


– adaptive cruise control:no ACC installed!

– Audi lane assist:switched on, active ("on alert") and alert warning on right-hand side

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Note

If an Audi A4 and A5 Coupé with Highline dash panel insert only has either of the two optional extras, only the graphic relevant to the function is shown on the colour display.


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图示指示以下信息 ACC激活系统识别到车辆车道辅助开启但是没有激活不能提示警报

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图示显示以下信息 ACC激活、驾驶员被要求自己控制车辆车道辅助开启并激活、提供警告

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图示显示以下信息： ACC激活、系统不能识别到车辆车道辅助开启并激活、提供警报、警报来于左侧车道

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图示显示以下信息： ACC没有安装车道辅助开启、提供警报、警报来于右侧车道

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如果A4、A5的高版本仪表只装备了两种选装设备中的一种，彩色显示屏仅显示有关的装备信息。

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Displays

adaptive cruise control is not available as optional equipment for the Audi A4 and A5 Coupé with Lowline dash panel insert. The Highline dash panel insert is a mandatory in combination with ACC. If the vehicle is equipped with Audi lane assist, however, the additional function displays are as follows:



– Audi lane assist:switched off



– Audi lane assist:switched on, but inactive (not "on alert")



– Audi lane assist:switched on and active ("on alert")(Neither of the two lane markers is flashing! No warning is given.)



– Audi lane assist:switched on and active ("on alert"). The right lane marker is flashing. This means that Audi lane assist is alerting the driver to the fact that the vehicle has crossed the right lane marker!

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对于选装低版本仪表的A4、A5车辆，ACC不能装备。只有高版本仪表集成了ACC的显示器。如果车辆只装备了车道辅助系统，显示以下功能： 1图指示以下内容： ACC没有装备车道辅助关闭 2图指示以下内容： ACC没有装备车道辅助开启、但没有激活不能警告 3图显示以下内容： ACC没有装备车道辅助开启并激活、可以警报，两条车道线都没有闪烁不提供警告 4图显示以下内容： ACC没有装备车道辅助系统开启、激活并可以警报右侧车道线闪，说明车道辅助系统已经识别到车辆穿越了右侧车道

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The message "Audi lane assist unavailable: sensor currently has no visibility" may be displayed for the following reasons:

1 The exterior of the camera viewing window is dirty or iced-up. In this event, the driver should de-ice or clean the viewing window as required.

2 The camera viewing window is misted on the inside. In this case, it is recommended to wait until the system has been de-misted.

3 No lane markings are detectable due to the prevailing road conditions (e.g. snow-covered or dirty).

Text messages on the dash panel insert centre display

The message "Audi lane assist currently unavailable" is displayed when a temporary fault occurs.

An attempt should be made to activate the system a short time later.

The can, for example, be due to excess temperature inside the control unit.

The message "Audi lane assist unavailable: system fault" is displayed in the event of a fault of such severity that it is necessary to take the vehicle to an Audi Service Partner.

Audi lane assist should be checked by an authorised service station at the next opportunity.

Possible reasons for this are a faulty control unit, a faulty vibration motor or a faulty Audi lane assist button.

The same display appears when status "System not calibrated" is indicated on the control unit.

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Audi lane assist

unavailable:

No sensor view

right now

Audi lane assist

currently

unavailable

Audi lane assist

unavailable:

System fault


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仪表显示的文字信息

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信息：奥迪车道辅助不可见：传感器不能识别，可能由于以下原因： 1、外部摄像机镜头脏或者结冰。此时，驾驶员需要除冰或者清洗摄像头。 2、摄像机镜头内部结雾。此时推荐等待到镜头雾气除去。 3、没有识别到车道线标志，例如雪覆盖路面

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当偶发的错误导致显示信息：车道辅助不可见。短时间后，系统会激活系统。例如系统过热等原因。

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出现严重故障后，显示“ 车道辅助不可见” 需将车辆开到服务站。服务站将对车道辅助系统进行检查。可能的原因是系统错误：震动马达错误或者车道辅助固定错误。当系统没有校准，也会显示以上信息。

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The Audi lane assist button E517 is integrated in the indicator stalk. Pushing the button switches the system on or off. Current system status is indicated by the warning lamp on the dash panel insert. The system is "on" when the warning lamp is lit and "off" when the lamp is not lit.

Actual activation status is stored and assigned to the corresponding ignition key.This means: if Audi lane assist was active the last time the ignition was turned on, the system is reactivated the next time the ignition is turned on. A prerequisite is use of the same ignition key as during the previous trip.

Setting the warning point

The driver can decide whether an alert warning is to be given before the vehicle inadvertently leaves the lane, or not until a wheel makes contact with the lane marker. There are three possible warning point settings on the MMI. The relevant submenu can be accessed as follows:

– press the function key "Car" on the MMI control panel

– select the subitem "Systems"– select the "Audi lane assist" system– open the options menu of subitem "Warning

point"– set the warning point to "advance", "adaptive" or

"late"

Operation

Switching the system on and off

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Vehicle wallet

Audi lane assist

Car

Warning pointSteering wheel vibration

advanceadaptiveLate

Version


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系统的开关：车道辅助系统的按键E517合成在转向手柄上。按下按键即可以开关车道辅助系统。当前系统的状况通过仪表的警告指示灯显示。当警告指示灯亮起系统开启，警告指示灯不亮系统关闭。实际的系统激活状态被存储，并被分配给当前使用的点火钥匙。这就意味着：如果点火开关开启时，最后时刻，车道辅助是激活的，下次再使用此钥匙，系统再次被激活。条件是：两次操作必须是同一把钥匙。

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设定警告点：驾驶员可以选择车道不慎偏离后，根据偏离程度选择警告开始点，是离开车道才警告还是接近车道线警告。在MMI上可以设定3个警告点，以下说明相应得子菜单。按下MMI上的功能键CAR 选择“系统 SYSTEM” 选择“奥迪车道辅助”系统按下子目录的菜单“警告点” 设定警告点为“ 预先适中延迟”

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Notes on warning point setting options

advanceIn this setting, the driver is warned before a wheel makes contact with the detected lane marker. The warning point is dependent on angle of approach to the lane marker. If the vehicle approaches the lane marker at an obtuse angle, the warning is given at a greater distance from the lane marker. If the vehicle approaches the lane marker at an acute angle, the warning is given when the wheel makes contact with the line.

adaptive In this setting, the warning point is adapted to the course of the road and the speed at which the vehicle is travelling. Alert warnings are given later in curves and earlier on straights. Alert warnings are given later on narrow roads than on wide roads.

lateIn this setting, a warning is given before a wheel makes contact with the detected lane marker.


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警告起始点的设定说明：预先：设定后，车轮接触到识别的车道线前，给与驾驶员以警报。警告点依据接近车道线的角度。如果接近车道线的角度比较大，警告在离车道线前很大一段距离就警报。如果接近角度小，警报在车轮接触到车道线才发出。适中：选择此设置，警报点依据于路线和车速进行匹配。在弧线角度警报发出延迟，而在直线路线警报提前发出。狭窄的路面相比宽敞的路面，警报延迟发出。延迟：选择此设置，警报在车轮接触到所识别的车道线前发出。

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Setting the steering wheel vibration

The driver can choose between three different settings for steering wheel vibration level on the MMI. The corresponding submenu is accessed as follows:

– press the function key "Car" on the MMI control panel

– select the subitem "Systems"– select the "Audi lane assist" system– open the options menu of subitem "Steering

wheel vibration"– set the steering wheel vibration level to "low",

"medium" or "high" as required

After setting the steering wheel vibration level, the steering wheel vibrates once at the level set. This allows the driver to check the set vibration level immediately.

Operation

Note

The Audi lane assist settings on the MMI are stored when the ignition is turned off and assigned to the corresponding ignition key.

The settings of the ignition key currently in use are re-activated after the ignition is turned on.

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Vehicle wallet

Audi lane assist

Car

Warning pointSteering wheel vibration

lowmediumhigh

Version

adaptive


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设定方向盘的震动：驾驶员可以在MMI选择3种不同的震动等级。相应的子菜单操作如下：按下MMI中的CAR按键选择系统“SYSTEM” 选择奥迪车道辅助系统按下子菜单“方向盘震动” 将方向盘震动在“ 低适中高”间选择选择方向盘震动水平后，方向盘在当前选择状态震动一次。这样使驾驶员可以立即检查震动水平。关闭点火开关后，车道辅助系统的设定被存储起来，并分配给相应的点火钥匙。再次使用此把钥匙时，相应的设定自动激活。

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The Audi lane assist control unit and the camera are an integral unit and can only be replaced as a whole.

Electrical components

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Audi lane assist control unit J759 with camera

Electronic image processing

The black and white image made by the image acquisition sensor is analysed by image processing software. Firstly, the system scans the image for lane markers. If the system detects lane markers on both sides of the vehicle, it calculates the width and curvature of the lane.

In addition to this, the software calculates the position of the vehicle in the lane, i.e. the distance from the vehicle to the left or right lane marker and the angle of approach to the lane marker. The image processing software also assesses the quality of road recognition.

The warning point is determined from the calculated values and the known measurements of the vehicle. Different methods of calculation are used depending on what warning point is set on the MMI. They are also required to establish whether or not to deactivate the function temporarily due to the road geometry.

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Note

Image 398_008 has been acquired using special software designed by Audi's technical development centre. It cannot be shown on the MMI display.

The image acquisition sensor scans the road ahead of the vehicle in the form of a black and white image. It has a resolution of 640 x 480 pixels. The image acquisition sensor has a lens with a focal length of 6 mm.

The camera has an optical range of up to 60 metres. Environmental influences may reduce the camera's optical range. If the optical range falls below the minimum level, the system switches over to "not on alert"" status.


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带摄像机的车道辅助系统控制单元J759：控制单元和摄像机为集成的单元，只能整体更换。图像获取传感器以黑白图像方式，检查车辆前面的路面情况。分辨率640*480。图像获取传感器镜头焦距为6MM。摄像机可视距离60M。环境的影响可能减小可视距离。如果可视距离小于最小水平，系统关闭处于“不能警报”状态。电子影像的获取：传感器获取的影像被影像处理软件分析。首先系统检查车道线。如果系统识别到车辆两侧的车道线，它计算车道宽度和转弯角度。同时软件计算车辆在车道中的位置，计算车辆离左右车道线的距离和接近的角度。软件同时检查路面反馈信号的信号质量。依据预先设定的警报点模式和已经取得的测量，确定实际的警报点。依据MMI所设定的警报点模式，有不同的计算模式。同时需要确定是否根据路面几何数据的变化而临时关闭车道辅助功能。注意：398 008 的图像是技术中心用特殊软件处理的，不能在MMI中显示出来。

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Installation location

The Audi lane assist control unit J759 is clipped into a holder. The holder is glued onto the windscreen and supplied together with the windscreen as an assembly part. Audi is currently working on a service solution which will allow the holder to be replaced separately.The holder is not visible from the exterior, as it is located behind the black print on the windscreen. Only the trapezoidal camera viewing window of the Audi lane assist system is visible. The camera viewing window is positioned within the wiping field of the windscreen wiper in order to minimise visibility impairment due to rainfall and snowfall.


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Note

For logistical reasons, vehicles with Audi lane assist are always equipped with a rain-light sensor.

Camera lens

Rain-light sensor

Trapezoidal camera viewing window

Rearview mirror


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电子元件安装位置：车道辅助控制单元J759合成在一个仓盒内。此仓盒粘接在前风挡并且与前风挡一起作为备件提供。目前正在采取服务措施，这样使以后此仓盒可以单独更换。仓盒在外面是不可见的，它安装在前风挡上部的黑色条内。只有车道辅助系统的不规则摄像机取景视窗可以看到。取景器的视窗安装在雨刷片可以刷到的位置，这样可以减小因为雨雪对于视线的影响。出于逻辑运算的要求，装备有车道辅助系统的车辆必须安装雨量光线传感器。

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不规则摄像机取景视窗

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摄像机透镜

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反光镜

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雨量光线传感器

15

Audi lane assist has a heated camera viewing window which de-mists and de-ices the camera viewing window in combination with the windscreen wiper.

The Audi lane assist windscreen heater Z67 is designed as an etched foil resistance heating element. It is glued directly onto the windscreen. It has two terminals: one of the terminals is supplied with battery voltage via the Audi lane assist control unit J759 while the windscreen heater is active; the other terminal connects the heater to vehicle ground.

A multiplicity of parallel resistors on the etched foil resistance heating element generate heat by allowing electrical current to flow through them. The heated resistors heat the windscreen. This eliminates misting and thaws ice to the extent that it can be removed by the windscreen wiper. The etched foil resistance heating element surrounds the windscreen section through which the Audi lane assist camera scans the road ahead of the vehicle.

The windscreen heater Z67 is activated if the image generated by image sensor does not have enough contrast. If the image does not have enough contrast, the lane markers cannot be identified sufficiently and the function switches over to "not on alert" status.

When the image again has enough contrast for purposes of lane detection, the windscreen heater is reactivated. If visibility impairment cannot be eliminated by the heater (e.g. due to dirt), the driver is notified of this fact by a text message (see Chapter 3) on the centre display of the dash panel insert.

Audi lane assist windscreen heater Z67

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车道辅助前风挡加热器Z67：奥迪车辆辅助系统装备了可加热的摄像机取景视窗，可以与雨刷片一起除霜和除雾。加热器E67为一个薄片电阻元件。它直接粘接在前风挡上。它有两个插脚：一个插脚在加热器激活的时候，由控制单元J759提供蓄电池电压，另一个插脚接地。加热电阻接通电后，薄片上的平行排列的复杂电阻结构提供热量。它可以清除雾气或者溶化冰雪，然后由雨刷清除。薄片电阻排列成环形，这样保证车道辅助系统的摄像机可以很好的识别前部路面。如果影像传感器不能很好的识别到图像，加热器激活。在不能很好识别图像的时候，车道线不能清晰地识别，系统功能关闭，处于不提供警报的状态。当再次识别到影像清晰时，加热器关闭，系统功能恢复。如果视野不能通过加热器恢复，驾驶员可以在仪表上看到说明信息。

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The steering wheel has a vibration motor which produces vibration of the steering wheel. The vibration motor is integrated in the bottom right steering wheel spoke. Steering wheel vibrations are produced by the rotation of an imbalance attached to the motor. The motor cannot be replaced separately. If the vibration motor is faulty, the whole steering wheel must be replaced.The duration of steering wheel vibration is dependent on the driver's reaction and is usually about one second.


Vibration steering wheel for Audi lane assist

Note

Vehicles with Audi lane assist require a multifunction steering wheel. The reason for this is that the vibration motor is activated by the multifunction steering wheel electronics.The vibration motor is always integrated in a 4-spoke steering wheel.

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车道辅助系统的震动方向盘：方向盘由一个震动电机提供震动。震动电机安装在方向盘右下插臂中（见图）。震动电机不能单独更换，如果电机出现问题，只能与方向盘整体更换。方向盘震动的持续时间依据于驾驶员的设定，一般震动一两次。装备车道辅助系统的车辆同时装备多功能方向盘，因为震动马达需要由多功能方向盘电子装置激活。震动马达永远装在四幅方向盘上。

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System overview

System overview

Audi lane assist windscreen heater Z67

The Audi lane assist windscreen heater Z67 is activated directly by the Audi lane assist control unit. Only one terminal is required for this purpose. The windscreen heater is assigned to a ground terminal on the vehicle.

Audi lane assist button E517

The Audi lane assist button E517 is read in by the steering column electronics control unit J527. It is integrated in the indicator stalk.

Audi lane assist vibration motor

The Audi lane assist vibration motor is activated by the multifunction steering wheel J453. It is integrated in a steering wheel spoke.

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Data bus diagnostic interface

J533

Audi lane assist control unit

J759

Steering column electronics control unit

J527

Multi-function steering wheel control unit

J453

Extended-CAN High

Extended-CAN Low

Terminal 15

Terminal 31

Audi lane assist windscreen heater

Z67

Audi lane assist vibration motor

Audi lane assist buttonE517

Terminal 30g

Terminal 31

LIN bus

Co

nve

nie

nce

CA

N b

us

Hig

h

Co

nve

nie

nce

CA

N b

us

Low

Term

inal

15

Term

inal

30

Term

inal

31


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系统图

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网关J533

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拓展CAN高

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拓展CAN低

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车道辅助控制单元J759

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15号端子

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31号端子

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车道辅助前风挡加热器Z67

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舒适CAN高

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舒适CAN低

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端子15 30 31

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端子30G

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端子31

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LIN线

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转向柱电子控制单元J527

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多功能方向盘控制单元J453

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车道辅助震动马达

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车道辅助风挡加热器Z67 ：直接由车道辅助控制单元激活。只用一个插脚来实现此功能，加热器的地线连接在车身上。车道辅助按键E517 ：由转向柱电子控制单元J527读取数据。安装在转向灯手柄上。车道辅助震动马达：通过多功能方向盘J453激活。安装在方向盘的条幅上。

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Communication structure


The following diagram summarises all the control units which contribute to the Audi lane assist function. They transmit information to and receive information from the Audi lane assist control unit J759.

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A description is given below of the control units which exchange information with the Audi lane assist control unit and the information exchanged. The description is structured according to the bus systems to which the control unit is connected.

Adaptive cruise control unit

J428

Convenience system central control unit

J393

Steering column electronics control unit

J527

Multi-function steering wheel control unit

J453

Engine control unitJ623

ABS control unitJ104

Adaptive suspension control unit

J197

Entry and start authorisation control unit

J518

Audi lane assist control unit

J759

Front information control unit

J523

Data bus diagnostic interface

J533

Control unit with display in dash panel

insertJ285

Extended-CAN

Most bus

Co

nve

nie

nce

CA

N b

us

Das

h p

anel

inse

rt

CA

N b

us

Pow

ertr

ain

CA

N b

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数据传递：以下图示显示了所有与车道辅助系统有关的部件。他们与车道辅助控制单元J759传递信息或接收信息。

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车道辅助控制单元J759

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拓展CAN 线

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ACC控制单元J428

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进入许可控制单元J518

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前部显示控制单元J523

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MOST线

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网关J533

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舒适系统控制单元J393

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方向盘电子控制单元J527

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舒适CAN线

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仪表CAN线

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发动机控制单元J623

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ABS控制单元J104

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仪表J285

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空气悬挂控制单元J197

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多更能方向盘控制单元J453

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图示显示了与车道辅助有关的控制单元之间的数据交换，展示了所有相关联的控制单元

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Extended-CAN users

1 Adaptive cruise control unit J428

To avoid warnings being given simultaneously by Audi lane assist and Stopping Distance Reduction system 2, Audi lane assist suppresses its steering-wheel vibration warning if the Stopping Distance Reduction system simultaneously activates the brake.

Convenience CAN bus users

2 Entry and start authorisation control unit J518

transmits information on which ignition key is currently recognised by the vehicle. The Audi lane assist control unit utilises this information to assign stored driver settings to the corresponding ignition key.

3 Convenience system central control unit J393

transmits information on whether the left or right indicator is currently active.

4 Steering column electronics control unit J527

transmits information on whether the Audi lane assist button on the steering column stalk is being actuated or not. receives from Audi lane assist the information on whether or not to activate the driver-alert vibration motor. This information is then sent via a LIN bus message to the multifunction steering wheel, which activates the vibration motor.

MOST-bus users

5Front information control unit J523

transmits changes in driver settings relevant to the "Audi lane assist" function to the Audi lane assist control unit. The new settings are then saved and assigned to the ignition key currently in use.


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拓展CAN线的使用： 1、ACC控制单元：为避免车道辅助系统和车距控制系统同时发出警报，奥迪辅助系统在车距控制系统发出警报并激活制动时，抑制车道辅助的警报。 2、进入许可控制单元J518：点火钥匙的信息可以被车辆的识别，车道辅助所设定的信息传递给相应的点火钥匙。 3、舒适系统中央控制单元：传递现在激活的是左或者右 4、转向柱电子控制单元J527：传递车道辅助按钮是否开启，用于确定是否激活方向盘震动马达。信息通过LIN线给多功能方向盘，激活震动马达。

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MOST线的应用： 5、前部显示控制单元J523：传递在MMI上设定的车道辅助选择信息，并将设定信息传递给正在使用的点火钥匙。

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Powertrain CAN bus users

6 Engine control unit J623

transmits the current engine speed. Audi lane assist requires this data, because the activation times of the windscreen heater are dependent on whether the engine is presently running or not. (no heating phases are allowed at "engine off".)

7 Adaptive suspension control unit J197

keeps Audi lane assist informed at all times about the actual height of the dampers on the vehicle. This data is required for electronic correction of the current camera height, as well as the pitch and roll angle of the camera.

8 ABS control unit J104

supplies the vehicle speed signal required for activating or deactivating Audi lane assist, as well as the yaw velocity.

Convenience CAN bus users

9 Control unit with display in dash panel insert J285

receives information on the current status of Audi lane assist for activating the warning lamp on the dash panel insert (yellow, green or off).

receives information on whether or not to display a text message and, if so, what text message.


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动力CAN线的使用： 6、发动机控制单元J623：传输当前的发动机转速。车道辅助系统需要这些功能的原因：风挡加热的激活时间必须需要发动机的运行状态。发动机关闭的时候，加热不能执行。 7、自适应悬挂控制单元J197：出现颠簸时，必须随时需要，车身高度的实际信息。这些信息用于确认摄像机正确的高度信息，用于修正焦距和角度。 8、ABS控制单元J104：确定车道辅助是否激活的车速信号，同时确定偏离车道的速率。舒适CAN线的使用： 9、仪表J285：在仪表上显示车道辅助的当前状态（黄、绿或者关闭），接受信息以确定是否显示提示信息及提示信息的内容。

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System calibration

Task of calibration

The calibration procedure involves determining the actual orientation angle of the camera on the vehicle.To make an exact determination, the installed position of the camera on the vehicle must be known. Deviations from the nominal installed position can occur due to component tolerances of the holder or windscreen or because of manufacturing tolerances.The system must be calibrated in order to compensate for these effects. The calibration procedure involves determining the three orientation angles of the camera in relation to the vehicle's direction of travel, as well as the height at which the camera is installed in relation to the tyre contact area. The calibration is made electronically. There are no mechanical adjustments on the camera.

The three orientation angles are as follows:

– Roll angle (rotation about the x-axis)– Pitch angle (rotation about the y-axis)– Yaw angle (rotation about the z-axis)

Calibration principle

The orientation angles of the Audi lane assist camera cannot be determined directly. They are calculated using a calibration board. The calibration board consists of geometric elements which contrast distinctly with the rest of the board.

The board is aligned in a reference position in front of the vehicle. The camera then records images of the calibration board. The position of the geometric elements on the image is determined. A software routine uses the image co-ordinates and the known reference position of the board to determine the camera's actual orientation angle, and stores this information in the control unit. The actual height of the camera on the vehicle is also determined.

z-axis

x-axis

y-axis

Yaw angle

Roll angle

Pitch angle

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测量：测量程序包括校正摄像机的当前角度。为了准确测量，摄像机的安装位置必须被识别到。由于加工公差的原因，安装位置和风挡会有偏差，从而造成摄像机的安装位置存在偏差。由此摄像机必须进行校正。校正程序包括识别车辆在行驶方向上的三个定位角度，摄像机的安装高度与轮胎的接触面积有关。校正为电子进行，无需机械调整。三个定位角度包括：滚动角度（X轴）、偏转角度（Y轴）、扭转角度（Z轴）测量原则：摄像机的定位角度不能直接识别到，他们需要先使用校正板。位置的几何尺寸是确定的。软件程序使用双纵向成像和已经确定的安装板位置确定摄像机的当前定位角度，并将信息存入控制单元内。摄像机的高度是确定的。

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New special tools are required for calibrating Audi lane assist. They belong to tool family VAS 6430. This device can be used for calibrating both Audi lane assist and Active Cruise Control ACC.

Special tool VAS 6430 is a complete set and includes the following separately available components:

l VAS 6430/1 calibration device basic set

l VAS 6430/2 ACC laser unit (VW)

l VAS 6430/3 ACC reflector mirror (Audi)

l VAS 6430/4 Audi lane assist calibration board

The VAS 6430 complete set is intended for service partners who are still not equipped with an ACC calibration device.

Customers who already have an ACC calibration device VAS 6190 needs only order the components VAS 6430/1 and VAS 6430/4 in order to have a complete calibration device suitable for both systems. The existing ACC laser unit by VW and the ACC reflector mirror by Audi can be attached to the new calibration device VAS 6430/1.

System calibration

New special calibration tools

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Note

The calibration board for Audi lane assist VAS 6430/4 does not attach to the ACC calibration device VAS 6190.

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VAS 6430/1 calibration device (basic set)

VAS 6430/4 Audi lane assist calibration board


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新的特殊校正工具：用于校正车道辅助系统，工具号VAS6430。它同时用于校正车道辅助和ACC。VAS6430是一套完整的工具，包括： VAS6430/1校正架、VAS6430/2 ACC激光单元（VW） 6430/3 ACC反射镜（AUDI）、6430/4 AUDI车道辅助校正板 VAS6430全套组件是配备给没有ACC设备的经销商。已经具备ACC校正设备VAS6190的经销商只需订购6430/1和6430/4。现行的ACC激光单元（VW）和ACC反射镜（AUDI）完全可以安装在6430/1 上。校正板6430/4不能安装在ACC校正设备VAS6190上。

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The following tools are required to calibrate the Audi lane assist system:

l Diagnostic tester (VAS 5051B or VAS 5052)

l Approved wheel alignment computer including wheel alignment lift

l Calibration tools VAS 6430/1 and VAS 6430/4

Tools requires for the calibration

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When is it necessary to calibrate the system?

The Audi lane assist system has to be calibrated for the following reasons:

– The fault memory contains the entry "no or incorrect basic settings/adaption".– The Audi lane assist control unit has been replaced.– The windscreen has been replaced or removed.– Rear axle toe has been adjusted.– Modifications affecting body height have been made to the vehicle's suspension system.– The level senders on vehicles with damping control or air suspension have been readapted.


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校正时的工具使用：以下工具用于校正车道辅助系统：诊断仪VAS5051B/5052 、带卡具的定位仪、校正工具VAS6430/1和VAS6430/4 什么时候需要校正：出现以下情况必须校正： 1、有错误记录：没有/不正确的基本设定 2、车道辅助被更换 3、前风挡更换或拆装 4、后轮定位 5、通过改变悬挂而改变了车身高度 6、更换减震器的水平传感器或空气悬挂

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System calibration

Calibration procedure

For details of the exact calibration procedure, refer to in the Workshop Manual. The main calibration steps are described below:

– The "Calibration Audi lane assist" program is started on the wheel alignment computer.– Quick release clamps are mounted on all 4 wheels.– Transducers are mounted on the rear two wheels.– Wheel runout compensation is performed on the rear wheels.– Two transducers are attached to the VAS 6430.– The calibration device VAS 6430 is aligned with the direction of travel in several steps using the wheel

alignment computer as a guide.– The calibration program on the diagnostic tester is started under "Guided Fault Finding".– Body height is measured at the front left and right wheel arch edges as well as at the rear left and right

wheel arch edges and entered into the program.– The calibration routine then runs to completion automatically.

Online calibration

The system also has an "Online calibration" function. In Online calibration mode, the Audi lane assist system checks while the vehicle is being driven whether the yaw and pitch angle have changed during the calibration. Any changes are incorporated into the values

l yaw angle offset and

l pitch angle offset

and taken into account by the system. The values are represented in a data block. The two values are reset to zero during the next calibration.


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校正程序：具体校正程序参考维修手册，以下为简单的校正程序： 1、在定位仪上启动“车道辅助校正程序” 2、在四个轮上安装卡具 3、在两后轮安装转换器 4、转换器连接到VAS6430 5、使用定位的引导功能，在车前部几步的位置安装校正仪VAS6430 6、在引导故障查询下进行诊断测试 7、测量左右前轮处的车身高度，左右后轮的车身高度（以轮眉为依据）并将数据输入。 8、测试程序继续自动完成在线校正：系统同样有在线测试功能。在此模式下，在车辆驾驶时，在校正期间，检查焦距和偏离角度是否变化。所有变化体现在数值上，偏转补偿、焦距补偿。系统进行比对，数据通过数据块体现。在下次校正时，两个数据恢复到零位。

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Diagnostics

Diagnostics

The Audi lane assist control unit has full self-diagnostic capability. Data blocks, adaption channels, actuator diagnoses, control unit codings, basic settings and fault memory entries are available. The Audi lane assist control unit is addressed by the diagnostic tester with address word 5C.

Data blocks on the function

The following values can be read out under the menu item "Data blocks":

l Control unit supply voltage

l Measured temperature in control unit

l Windscreen heater status

l Reason for activation or deactivation of the windscreen heater

l Geometric lane data determined by the image processor, e.g.– Lane width– Current curve radius

l Audi lane assist system status (off/on & active/on & inactive)

l Audi lane assist warning status (warning inactive/active; if active due to left/right hand side warning)

l Audi lane assist button status (pressed/not pressed)

l Left direction indicator function (active/inactive)/right direction indicator function (active/inactive)

l Actual height values generated by the 4 vehicle level senders (if air suspension is installed on the vehicle)

l Set warning point and warning vibration level

l Saved personalised settings assigned to the individual remote control keys (system status, warning point and vibration level)

l Vibration motor: fault detected (yes/no); Audi lane assist button:fault detected (yes/no); the information is supplied by the steering column electronics control unit J527

l Status of communication CAN with control units which transmit the information which Audi lane assist requires for proper operation

Calibration data blocks

l Roll, pitch and yaw angles of the camera

l Camera height

l Reason for failed calibration

l Yaw and pitch angle offset

l Information on the online calibration


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诊断：奥迪车道辅助系统具备自诊断能力。数据块、匹配、做动器诊断、控制单元编码、基本设定、故障记录都是可执行的。车道辅助系统的诊断通道号为5C。数据块功能：以下信息可以在数据块内读出控制单元的供电电压、控制单元的测量温度、风挡加热器的状态、风挡加热器加热与否的原因、摄像机所获得的当前车道的几何尺寸（车道宽度、当前的转弯半径）、车道辅助系统的当前状态（开/关、激活/关闭）、车道辅助系统的警告状态（如果系统识别到左右侧向警告而导致警告激活/关闭）、车道辅助系统按键的状态（按下/没有按下）、左侧方位指示功能（激活/关闭）和右侧方位指示功能（激活/关闭）、装备空气悬挂的车四个水平传感器指示的实际高度、设定的警告点和震动水平、分配给特定的遥控钥匙的存储信息（系统设定/警告点/震动水平）、震动马达（是否是被到故障）/车道辅助按键（是否识别到故障）/由方向盘电子控制单元识别到的信息、车道辅控制单元传递给相关单元的CAN信息测量数据块：摄像头的半径/焦距/偏离角度、摄像头的宽度、错误测量的原因、补偿焦距/ 偏离角度、在线测量的信息

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Diagnosis

Adaption channels

It is possible to reset the complete system to its as-delivered condition via the adaption channels.

The following values can be found on the adaption channels:

l body height to be measured at the edges of the wheel arch during the calibration:– front left– front right– rear left– rear right

Since the body height at the wheel arch edges is input into the diagnostic tester calibration program, these adaption channels are not required in practice.

Actuator diagnoses

The following components can be activated via an actuator diagnosis:

l Windscreen heater Z67 can be activated by actuator diagnosis on the Audi lane assist control unit J759. It remains active for approx. 20 seconds.

l The vibration motor integrated in the steering wheel can be activated by initiating the appropriate actuator diagnosis on the steering column electronics control unit J527.

l The Audi lane assist warning lamp on the dash panel insert can be activated via an actuator diagnosis on the control unit with display in dash panel insert J285 together with the other warning lamps.

Control unit coding

The control unit coding provides the following vehicle information to the Audi lane assist control unit J759:

l the Audi model in which the system is installed

l the market for which the vehicle is intended: USA, Japan, United Kingdom or Rest of World

l whether the vehicle has air suspension or damping control

l whether the vehicle has the "stopping distance reduction" function

Basic settings

The system calibration is implemented via "Basic settings". However, since the diagnostic tester operator is guided step by step through the program during the calibration routine, the individual basic settings do not have to be started individually. The basic settings are initiated automatically by the tester at the correct point in the program and therefore are executed entirely in the background.


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高亮

匹配通道：通过匹配通道，可以将全部系统功能复位。在匹配通道可以发现以下数据：测试期间测试，测量车身高度（以轮眉为基准）：四个轮。因为车身高度在测试中已经输入，所以就不再需要此匹配了。做动器诊断：通过做动器诊断可以激活以下备件车道辅助控制单元J759可以激活风挡加热器E67，持续时间20秒在方向盘电子控制单元J527 中通过初始化，激活方向盘电子震动在仪表通过做动器诊断可以激活车道辅助警告灯控制单元编码：编码显示车道辅助控制单元J759 的以下信息系统安装的模式、销售的市场（美国、日本、英国、其他地区）、悬挂为空气悬挂还是减震器、是否安装了“停车距离衰减功能基本设定：通过基本设定来进行设备校正。由于诊断测试的操作者是一步步进行程序匹配的，个性化信息不能启用。在合适的点进行基本设定，程序自动初始化，并且在后台进行全面匹配。

Preface

To mark the launch of the new Q7 premium SUV, Audi extended its range of driver assist systems to include two new systems: the radar-assisted "Audi side assist" system and the rear-view camera. Both systems met with a very encouraging response from customers and experts alike. They once again emphasise the fact that Audi takes its slogan "Vorsprung durch Technik" very seriously.

A logical consequence of this is that Audi is now extending this range to include a new system: Audi lane assist. This system helps the driver to stay in lane.

In the event that the driver is inattentive or distracted, the vibrating steering wheel can warn when the vehicle is about to leave its lane. The aim is to help avoid accidents.

Despite the availability of this technology, however, it is still imperative that motorists only get behind the steering wheel when they feel fit to drive. Audi lane assist is a driver assist system designed to help the driver. However, the responsibility for staying in lane ultimately rests with the driver.

Under current plans, Audi lane assist will be available on models A4, A5, A6, Q7 and A8.

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All rights reserved. Technical specifications subject to change without notice.

CopyrightAUDI AGI/[email protected] +49-841/89-36367

AUDI AGD-85045 IngolstadtTechnical status: 04/07

Printed in GermanyA07.5S00.38.20

Audi lane assist

Self-Study Programme 398

Vorsprung durch Technik www.audi.de Service Training


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