Audi side assist

Audi side assist in the Audi Q7

Introduction

The purpose of the Audi side assist is to monitor the area behind and to the side the vehicle using radar
sensors and assist the driver when changing lanes. The area monitored also includes the so-called "blind
spot" on the driver side and the front passenger side. Each vehicle side is fitted with a radar sensor for this
purpose.

If the Audi side assist detects a critical situation that could cause an accident during a lane change,
the system alerts and warns the driver. The driver is alerted through activation of the warning lamps in the
relevant exterior mirror and warned through the warning lamps flashing rapidly.

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Radar sensors and control units
The Audi side assist is equipped with two control
units, the side assist control unit J769 (master
control unit) and the side assist control unit 2 J770
(slave control unit). The master control unit forms a
single module with the right radar sensor, while the
slave control unit forms a single module with the
left radar sensor.

The master and slave control units are identical in

design. The main component is an electronic circuit
board with a digital signal processor as the central
processing unit. Among other functions, it is used
to record and track objects detected by means of
the radar sensors. The system is manufactured by
Hella.

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The aerial circuit board with integrated transmitting

and receiving aerials is connected to the electronic
circuit board via a connector console.
The transmitting aerial comprises 40 copper
squares, whereas the 3 receiving aerials comprise 8
or 16 copper squares. The technical term for the
copper squares is "patch".
The physical properties of the reflected beams
picked up by the receiving aerials are evaluated by
the digital signal processor. Based on these
properties, the size, position and speed of the
object reflecting the beams is calculated.

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Receiving aerials Transmitting aerial

A plastic cover, referred to as the "radom", is fitted

on the control unit.
This is made from a special plastic which is ideal for
allowing the radar beams to pass through, without
causing any significant losses.

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 Audi side assist

Fitting locations
In the Audi Q7, the two control unit modules are located in the area of the rear bumper and fastened to the
end plate. The end plate is clipped to the bumper cover and bolted to the body. The bumper conceals the
modules, making them invisible from the outside, unlike the parking aid sensors. Because the bumper cover is
made of plastic, it does not represent an obstacle to radar beams.

The modules are installed at an angle of 22 degrees with respect to the vehicle transversal axis, providing
better coverage for scanning the side areas. They are inclined upwards at an angle of approx. 3 degrees.
Once fastened to the vehicle, precise calibration is conducted using the diagnostic tester and special
calibration tools.
Calibration and the tools required are described in more detail in a later chapter.
A mechanical fine adjustment, as familiar from the ACC, is not possible for the side assist sensors.

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Radar sensor detection zone
The detection zone consists of areas to the rear and to both sides of the vehicle. The rear detection area
extends from the rear edge of the vehicle to approx. 50 metres rearwards. This corresponds to the grey area
between lines A and B. The side area extends from the rear edge of the vehicle to approximately the line of the
B-pillar, which corresponds to the grey area between lines B and C. The width of the grey areas measures
approximately 3.60 metres.

50 m

3.6 m

3.6 m

50 m

Sensor detection zone 375_005

The illustration of the sensor detection zone shows a straight stretch of road. On curved road sections,
the Audi side assist operates above a minimum curve radius of approx. 170 metres. If the radius of the curve
drops below the 170 m limit, the Audi side assist is deactivated because the emitted radar beams can no
longer monitor the full 50 metres of the rear detection zone. This deactivation threshold is provided with a
hysteresis of 30 metres. This means that if the Audi side assist has been deactivated due to the radius of the
curve, it is reactivated when the radius of a curve exceeds 200 m.

The course of the road is calculated by the side assist control unit by means of the yaw rate and the individual
wheel speeds from the ABS control unit J104. The curved detection zone during cornering is represented as a
straight road section by the software. This ensures that the basis of the assessment for the warning algorithm
used to determine whether or not the driver needs to be alerted is the same for straight roads and bends.

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 Audi side assist

Warning lamps in the exterior mirrors

The Audi side assist warns or alerts the driver, as appropriate, of potential hazards during a lane change by
means of warning lamps integrated into the two exterior mirrors.

The usual service designations for these are: Side assist warning lamp in driver side exterior mirror K233 and
side assist warning lamp in front passenger side exterior mirror K234.
The two warning lamps K233 and K234 can be replaced individually, without having to remove the mirror
housing. This procedure is described in the Workshop Manual.

The warning lamps are activated directly by the side assist slave control unit J770.
They comprise four yellow LEDs.

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If the Audi side assist recognises a critical situation in one of the two lanes, and no imminent lane change is
indicated, the driver is informed of this situation through illumination of the warning lamp in the relevant
exterior mirror. If an intended change of lane is indicated through actuation of a turn signal and the adjacent
lane is occupied, the driver is warned by the warning lamp flashing on and off four times.

The customer can adjust the brightness of the warning lamps to 5 different levels via the MMI.
The current ambient brightness measured by the rain and light sensor G397 is also used for determining the
brightness of the warning lamps.

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Two specific traffic situations
By way of an example, two typical traffic situations
resulting in a warning being provided by the Audi
side assist are described below:

Scenario 1

The vehicle with the Audi side assist is being driven

in the centre lane of a three-lane motorway and is
currently overtaking the vehicle on the right-hand
side. The speed difference between the vehicle with
Audi side assist (SWA) and the vehicle being
overtaken is less than 15 km/h. This small difference
in speed means that the overtaking manoeuvre will
take some time and that the vehicle being overtaken
will disappear into the "blind spot" at a certain
point. In this situation, the warning lamp in the right
exterior mirror must alert the driver that the
right-hand lane is occupied. If the driver of the
vehicle equipped with Audi side assist then
activates the right turn signal, the driver is warned
by four flashes in the right exterior mirror.

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Scenario 2

The vehicle with the Audi side assist (SWA) is being

driven at a moderate speed in the right-hand lane of
the three-lane motorway. A vehicle in the centre
lane approaches from behind at a much faster
speed. The approaching vehicle is detected by the
Audi side assist, which activates the warning lamp
in the left exterior mirror. If the left turn signal is
now actuated nonetheless, the driver is warned of a
potential collision before changing lanes by means
of a flashing warning lamp.

The maximum distance between the two vehicles at

which the warning lamps are activated depends on
the speed difference between the two vehicles.
The greater the difference in speed, the greater the
maximum distance between the two vehicles at
which the driver is alerted to the imminent collision.
At the earliest, however, a warning can be issued
from a distance of 50 m, as 50 m is the upper limit of
the detection range of the radar sensors.
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 Audi side assist

Operating the system

The side assist button E530 is located in the driver door, to the right of the central locking switch. The button
is used for switching the Audi side assist on and off. A red LED in the button indicates its current status. If the
LED is illuminated, this means that the Audi side assist is switched on. If the LED is not illuminated, the system
is either switched off or faulty. Every time the system is restarted it readopts the last valid system status.

When switched on, the Audi side assist may be either active or inactive.
Two conditions must be met in order for the system to be activated: the road speed must exceed a minimum
speed of 60 km/h and the current curve radius must not be less than 170 metres during cornering. If one of the
two conditions is no longer met, the Audi side assist switches to the inactive mode.

It should be noted, however, that the driver is not

provided with any indication as to whether the
system is in the active or inactive state.

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Adjusting the brightness of the warning lamps

Using the MMI, the customer can individually adjust User Car Log book
the brightness of the warning lamps in the exterior
mirrors. For this purpose, the "Audi side assist" Display brightness
menu item in the Car menu of the MMI must be
selected and activated by pressing the rotary
control.

The brightness of the warning lamp can be set to

5 different levels. The third level is the factory
default. Having completed the selection, the brighter darker

warning lamps are switched on for 2 s at the Systems Version

selected brightness.
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Personalisation

At the end of a journey, the brightness setting

selected by the driver is stored in the side assist
control unit J769 (master control unit) under the
vehicle key last used. This setting is reactivated for
the next journey made with this vehicle key.

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 Audi side assist

Implementation of function in hardware and software

System circuit diagram

The master and slave control units exchange data via a dedicated high-speed CAN bus.
The master control unit is connected to the extended CAN, enabling data exchange with other bus modules
via the data bus diagnostic interface J533. The master control unit is also responsible for reading in the side
assist button E530, while the slave control unit actuates the two warning lamps K233 and K234 in the exterior
mirrors.

Side assist Side assist

warning lamp warning lamp in front
in driver side passenger side
exterior mirror exterior mirror
K233 K234

Side assist
control unit 2
- slave -
J770

Dedicated CAN

Side assist
button
E530
Data bus
diagnostic Extended CAN Side assist control unit
interface
- master -
J533
J769

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Allocation of tasks between master and slave control units

The two control units emit radar beams using the transmitting aerials. The emitted radar beams are reflected
by objects. Depending on the nature of the object, many, few or no beams at all are reflected.

The reflected beams are measured in the two control units by means of three receiving aerials. Based on the
physical properties of the reflected beams, the control units are able to obtain a variety of information
regarding the reflection objects. These physical properties include, for example, the time delay between
transmitting and receiving the radar signal, the frequency shift between the transmitted and received signal
and also the different phase position at the receiving aerials. Based on these, the current position, the speed
and also the direction of travel of different objects can be calculated.

Each control unit is independently able to detect fixed reflection objects, such as the crash barrier, structures
at the edge of the road or stationary vehicles. As these objects must not result in a warning, they are not
tracked further by the control units.

Objects that have been recognised as moving vehicles are tracked in the master control unit.
Curved road sections are also transformed into a straight road section in this control unit. This makes it easier
for the warning algorithm to assess the prevailing situation.

Side assist control unit Side assist control unit 2

(master control unit) (slave control unit)

Activation of left or right

warning lamp depending on
prevailing situation

Coordinate transformation Evaluation of transferred

onto straight road section objects for warning criteria

Uniform tracking
of moving objects

Recognition and deletion Recognition and deletion

of stationary objects of stationary objects
(e.g. crash barrier) (e.g. crash barriers)

Evaluation of Evaluation of
reflected beams reflected beams

Emission of Emission of
radar beams radar beams

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The data processed in this manner is supplied via the dedicated CAN to the slave control unit J770 where the
warning algorithm is implemented. If the slave control unit recognises a collision hazard based on the
predetermined warning criteria if lanes were to be changed, it activates the warning lamp on the relevant
side. If despite this the driver actuates the turn signal on the critical side, the lower intensity continuous light
changes to a flashing light at an increased intensity.

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 Audi side assist

Communication structure of the Audi side assist

The Audi side assist requires a large amount of information from a number of different control units which are
in turn connected to the various bus systems. Below is a description of the control units that exchange data
with the Audi side assist via bus systems and the information and variables in question.

Side assist Side assist

warning lamp in warning lamp in
driver side passenger side
exterior mirror exterior mirror
K233 K234

Side assist
button
E530

Side assist control Side assist

unit 2 - slave control unit - master
J770 Side assist CAN J769

Control unit
Extended CAN in dash panel
Access and start insert
Rain and light authorisation Dash panel J285
sensor control unit insert CAN
G397 J518

Convenience CAN Data bus Drive CAN ABS control

diagnostic unit
interface J104
J533
Onboard
supplycontrol unit
J519

Convenience system
central control unit MOST bus
J393

Trailer recognition
control unit Front information
J345 display and
operating unit
control unit
J523

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Rain and light sensor G397 Convenience system central control unit J393

Supplies the Audi side assist with the Transmits the information as to whether the right or
instantaneously measured ambient brightness via left turn signal has been actuated. The Audi side
its LIN master, the onboard supply control unit J519. assist infers from this that a lane change is
This enables the brightness of the warning lamp to intended. The convenience control unit also informs
be perfectly adapted to the ambient conditions. the Audi side assist whether or not the reversing
lights are currently switched on. The Audi side assist
is deactivated during reversing.

Control unit in dash panel insert J285

Informs the driver by means of error messages in Access and start authorisation control unit J518
the event of faults in the Audi side assist and also
outputs an acoustic signal to this effect. Transmits the key number of the vehicle key
currently being used. This ensures that the
personalised brightness setting is adopted for the
warning lamps after "ignition ON".
ABS control unit J104

Supplies the Audi side assist with the yaw rate and
the current wheel speeds. These variables are used Front information display and operating unit control
to calculate the current vehicle speed and the curve unit J523
radius during cornering, etc.
The customer is able to use this to set the desired
brightness for the warning lamps. The value is
stored in the side assist control unit J769 together
Trailer recognition control unit J345 with the corresponding key.

Informs the Audi side assist whether a trailer is

attached to the vehicle or not. If a trailer is attached
to the vehicle, the function is deactivated because
there is a risk of the scanning range of the sensor
being impaired. A corresponding message is
displayed in the dash panel insert.

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 Audi side assist

Diagnostics
In the diagnostics tester, the address word 3C is assigned to the side assist control unit (master) J769.
The side assist slave control unit J770 is not addressable separately using the diagnostics tester and thus
does not have its own address word. The fault memory, the measured value blocks, the code and the adaption
channels of the Audi side assist are all to be found in the side assist master control unit J769.

The following variables can be found in the The following information is encoded into the code:
measured value blocks:

● Supply voltage and internal temperature of ● Vehicle model equipped with Audi side assist
master and slave ● Country in which the vehicle is operated
● Communication status of dedicated CAN bus ● Left or right-hand drive
between master and slave
● Whether or not a trailer control unit is installed in
● Current system status (on / off) the vehicle
● Input variables of the function, which are
transmitted by other control units via the CAN
bus
● Calculated current radius of curve
The following variables can be adapted in the
● Status of side assist button and its LED adaption channels:
● Status of both warning lamps in the exterior
mirrors ● The brightness of the warning lamps
● X and Y coordinates of the nearest object in the
left, centre and right lane
● Relative speed of the nearest object in the left,
centre and right lane
It is possible to actuate the following components
● Current status of auto-calibration; calibration via final control diagnosis:
information
● Status of communication with the control units ● LED in side assist button
involved in the overall function
● Side assist warning lamp in driver side exterior
mirror
● Side assist warning lamp in front passenger side
exterior mirror

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Special tools for system calibration
Special tools have been developed for calibrating
the radar sensors. These are a calibration board
with a Doppler generator VAS 6350, wheel centre
markers VAS 6350/1 and a distance measuring
device VAS 6350/2 featuring laser measuring
technology. The calibration board is used for
calibrating the radar sensors of the Audi side assist
and also for calibrating the reversing camera.

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The first step is to correctly position the calibration

board, which is described in detail in the calibration
instructions. This document is available as a
Workshop Manual. First, the calibration board is
aligned at a defined distance from the two rear
wheels. For this purpose, the wheel centre markers,
also referred to as "paddles", are attached to the
wheel nuts using a special device. Gravity aligns the
movable paddles perpendicular to the ground.
Using an electronic distance meter, the calibration
board is then adjusted to the specified distance on
both sides.

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Using a laser liner located centrally on the calibration board, the calibration board is then centred along the
longitudinal axis of the vehicle, without the distance already set being altered.
The laser projects a vertical line onto the rear of the vehicle, which when aligned correctly divides,
for example, the Audi emblem on the rear end into two equal halves.

Once the alignment is complete, the calibration procedure can be started using the diagnostics tester.
The rest of the procedure is fully automatic. The black circles on the calibration board are only required for
calibrating the reversing camera. The so-called "Doppler generator" is used for calibrating the radar sensors.
Using a rotating fan wheel, it simulates a moving object, the nominal position of which is known to the control
unit. Based on the difference between the actual position and the nominal position, the control unit learns the
correction values required to make the subsequent adjustments to the measured positions.

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