(100%) SA5AT ACC w/ SA5AR TJA Retrofit DIY

[R4yF15]

Originally Posted by SaNGRia

Excellent. That is what i like to hear Finding the problem and completing the project your own is the best thing. And next time you will do it all your own

There is no one gonna work as good as yourself since it belongs to you. Others just work for you. There is some really works good, some just side tracks and does not do a good job.

But i am glad you sorted out and now you have a very advance feature! Congrat!

True enough. I was skeptical that I could do this alone at first, hence getting assistance from the tech.

But to be honest, none of the tech knew what they were doing. Even for DSC changeout to DSC ACC was unsuccessful on the first try as they didn't have ISTA+. They were using ProTools which isn't suited to BMWs.

Well very few 3rd party workshops here uses ISTA+ and ESys anyway and those who does, charges exorbitantly

Originally Posted by FirstBMWLA

pretty sure I have parking assistant

U need to have Esys 3.30 (for CAFD injection and flashing) and ISTA+ (for initialization, troubleshooting etc.) running on your pc first.

Then u can check via Esys KIS/SVT calculations for actual hardware against target hardware to get definite answer.

[SaNGRia]

Originally Posted by FirstBMWLA

pretty sure I have parking assistant

Seems like it is gonna be easy retrofit then

[SaNGRia]

Originally Posted by R4yF15

True enough. I was skeptical that I could do this alone at first, hence getting assistance from the tech.

But to be honest, none of the tech knew what they were doing. Even for DSC changeout to DSC ACC was unsuccessful on the first try as they didn't have ISTA+. They were using ProTools which isn't suited to BMWs.

Well very few 3rd party workshops here uses ISTA+ and ESys anyway and those who does, charges exorbitantly



U need to have Esys 3.30 (for CAFD injection and flashing) and ISTA+ (for initialization, troubleshooting etc.) running on your pc first.

Then u can check via Esys KIS/SVT calculations for actual hardware against target hardware to get definite answer.

Well you got the idea

If i am Pro in BMW world today, i owe big time to "BMW Techs"

[R4yF15]

Finally everything has been completed.

Installed the bimmer8 HOD module as per the instruction and did the 5AR coding (VO code for ICM module, the rest FDL editing since I've followed instructions from bimmer8).

I've managed to use the TJA for a single journey of 350km mix 60% highway and 40% town driving. Here is my observation;
1. I've enabled TJA max speed to 99kmh but when i set ACC to say 110kmh, it will still engage when u are following vehicle at <99kmh.
2. My TJA steering response at 99kmh was very good, not much swaying and it seems to steer within lines even though car in front keep on veering left to right. The only drawback is when u have curvy road that require close to 1/4 turn then it will disengage.
3. It can even follow motorcycles for town driving which is quite impressive.
4. For most of town driving, the car could not identify road lane markings (left and right) but TJA works just fine by following front car/motorcycle.
5. Managed to use the TJA in rainy weather and works just fine except for when it's really heavy, the sensor deactivated by itself with warning on IDrive saying "sensor could not be activated, keep safe distance" error message.

Well I couldn't be more pleased with the results and seeing myself will be using this function more often than not.

[SaNGRia]

Originally Posted by R4yF15

Finally everything has been completed.

Installed the bimmer8 HOD module as per the instruction and did the 5AR coding (VO code for ICM module, the rest FDL editing since I've followed instructions from bimmer8).

I've managed to use the TJA for a single journey of 350km mix 60% highway and 40% town driving. Here is my observation;
1. I've enabled TJA max speed to 99kmh but when i set ACC to say 110kmh, it will still engage when u are following vehicle at <99kmh.
2. My TJA steering response at 99kmh was very good, not much swaying and it seems to steer within lines even though car in front keep on veering left to right. The only drawback is when u have curvy road that require close to 1/4 turn then it will disengage.
3. It can even follow motorcycles for town driving which is quite impressive.
4. For most of town driving, the car could not identify road lane markings (left and right) but TJA works just fine by following front car/motorcycle.
5. Managed to use the TJA in rainy weather and works just fine except for when it's really heavy, the sensor deactivated by itself with warning on IDrive saying "sensor could not be activated, keep safe distance" error message.

Well I couldn't be more pleased with the results and seeing myself will be using this function more often than not.

Great feature period!

I rent a Subaru Legacy during Universal trip, it had advance 2 KAFAS camera side of the rear view mirrors, i was able to drive 100mhp with TJA and it response super accurate. That is why 5AU > 5AT

[R4yF15]

Originally Posted by SaNGRia

Great feature period!

I rent a Subaru Legacy during Universal trip, it had advance 2 KAFAS camera side of the rear view mirrors, i was able to drive 100mhp with TJA and it response super accurate. That is why 5AU > 5AT

Yes I thought that too myself. If the Lane Keep Assist / Steering Assistant (or even 5AU) can be coded to F-series then it would be a much better driving experience.

I'm trying to increase the TJA speed limit to more than 99kmh see if that can be worked out. But since it doesn't have LKA so ur hand should always be on the steering for quick intervention.

[SaNGRia]

Originally Posted by R4yF15

Yes I thought that too myself. If the Lane Keep Assist / Steering Assistant (or even 5AU) can be coded to F-series then it would be a much better driving experience.

I'm trying to increase the TJA speed limit to more than 99kmh see if that can be worked out. But since it doesn't have LKA so ur hand should always be on the steering for quick intervention.

It is not about coding. G series (Also F90 and F95 which considered G) uses Kafas High and FRR-02 . Kafas High comes with 3 camera which watches the road alot more advance than our KAFAS 2 with single camera. Plus FRR-02 is way more advance ultrasonic device than FRR-01 which makes the Driving Assistant Pro much more reliable and professional.

I believe it is possible to upgrade that 2 on our vehicle. But the issue is you will need FSC codes for the KAFAS High. I am not sure if our ICM will support this even with 2021 software update which i have already done.

[R4yF15]

Originally Posted by SaNGRia

It is not about coding. G series (Also F90 and F95 which considered G) uses Kafas High and FRR-02 . Kafas High comes with 3 camera which watches the road alot more advance than our KAFAS 2 with single camera. Plus FRR-02 is way more advance ultrasonic device than FRR-01 which makes the Driving Assistant Pro much more reliable and professional.

I believe it is possible to upgrade that 2 on our vehicle. But the issue is you will need FSC codes for the KAFAS High. I am not sure if our ICM will support this even with 2021 software update which i have already done.

Well anyone up for that challenge?

Anyway as an update, I've increased TJA speed limit to 149kmh and funnily the dashboard message would show "TJA available up to >9kmh" when it's activated. Somehow beyond 99kmh it will start to show funny symbol instead of the actual numbers. Expected as other thread reported the same finding.

On the driving experience however, I am glad to report that it worked pretty well on highway. I did cruising at 110kmh when I activated the TJA and both road marker lines was identified as well as the car in front was recognised as usual with good weather outside.

The steering didn't veer much when it followed the car in front on the left most lane (we are following UK roads and it is expected as car in front was managing his line quite well). Things got more interesting when the front car switched to the right lane to overtake, TJA system recognized this and as it tried to swerve to the right lane just before it hits the road line markings, the system buzzed and turned off saying typical lane too narrow message.

I did this scenario few times over the 300km drive and can confidently says that the system will intervene and disabled itself when it tries to follow front car going outside current lane.

In overall, the cruising experience felt much more relaxed at 110kmh highway speed as I started to trust the system. At higher speed however it felt a bit overwhelmed as the auto steering couldn't keep up with more than 5degree turn (estimated).

A bit lengthy post but just sharing in case anyone wanted to try higher speed for that long highway drive ahead.

[SaNGRia]

Thanks for sharing. I will never going to trust KAFAS2 over 60 mph in the state since lanes are alot wider than european autobahn. I am good with 63 limit.

Originally Posted by R4yF15

Well anyone up for that challenge?

Anyway as an update, I've increased TJA speed limit to 149kmh and funnily the dashboard message would show "TJA available up to >9kmh" when it's activated. Somehow beyond 99kmh it will start to show funny symbol instead of the actual numbers. Expected as other thread reported the same finding.

On the driving experience however, I am glad to report that it worked pretty well on highway. I did cruising at 110kmh when I activated the TJA and both road marker lines was identified as well as the car in front was recognised as usual with good weather outside.

The steering didn't veer much when it followed the car in front on the left most lane (we are following UK roads and it is expected as car in front was managing his line quite well). Things got more interesting when the front car switched to the right lane to overtake, TJA system recognized this and as it tried to swerve to the right lane just before it hits the road line markings, the system buzzed and turned off saying typical lane too narrow message.

I did this scenario few times over the 300km drive and can confidently says that the system will intervene and disabled itself when it tries to follow front car going outside current lane.

In overall, the cruising experience felt much more relaxed at 110kmh highway speed as I started to trust the system. At higher speed however it felt a bit overwhelmed as the auto steering couldn't keep up with more than 5degree turn (estimated).

A bit lengthy post but just sharing in case anyone wanted to try higher speed for that long highway drive ahead.

[11earl]

Hi -

I would love to install this mod but am totally intimidated by the work :-).

Is there someone in MA, USA who is interested in installing it on my '16?

[amritbanerjee]

Originally Posted by R4yF15

Well anyone up for that challenge?

Anyway as an update, I've increased TJA speed limit to 149kmh and funnily the dashboard message would show "TJA available up to >9kmh" when it's activated. Somehow beyond 99kmh it will start to show funny symbol instead of the actual numbers. Expected as other thread reported the same finding.

On the driving experience however, I am glad to report that it worked pretty well on highway. I did cruising at 110kmh when I activated the TJA and both road marker lines was identified as well as the car in front was recognised as usual with good weather outside.

The steering didn't veer much when it followed the car in front on the left most lane (we are following UK roads and it is expected as car in front was managing his line quite well). Things got more interesting when the front car switched to the right lane to overtake, TJA system recognized this and as it tried to swerve to the right lane just before it hits the road line markings, the system buzzed and turned off saying typical lane too narrow message.

I did this scenario few times over the 300km drive and can confidently says that the system will intervene and disabled itself when it tries to follow front car going outside current lane.

In overall, the cruising experience felt much more relaxed at 110kmh highway speed as I started to trust the system. At higher speed however it felt a bit overwhelmed as the auto steering couldn't keep up with more than 5degree turn (estimated).

A bit lengthy post but just sharing in case anyone wanted to try higher speed for that long highway drive ahead.

You seem to be from Australia?

Btw I already have ACC and my VIN is WBAKS420400J64078. Can i code TJA only with the Steering mod from ebay or am I missing some sensors etc?

[640ijims]

Unbelievable mod…wow!

[R4yF15]

Originally Posted by amritbanerjee

You seem to be from Australia?

Btw I already have ACC and my VIN is WBAKS420400J64078. Can i code TJA only with the Steering mod from ebay or am I missing some sensors etc?

No I am from Malaysia actually.

And yes u can. U just need the TJA module + codings to make TJA work. Simple enough imo

[Napas]

hello SaNGRia

In reality how much canbus cable did you spend ?
I have a few meters with copper ofc from BMW but the longest i have is 5M= 16 feet

Thank you!

[SaNGRia]

Originally Posted by Napas

hello SaNGRia

In reality how much canbus cable did you spend ?
I have a few meters with copper ofc from BMW but the longest i have is 5M= 16 feet

Thank you!

Hey, I used about 2,5meter in total

[JaysonGoh]

Hi, I’m planning to retrofit ACC to my F30. My car come with Adaptive Suspension and HUD and my ICM version is v7.3 part number 34526867170. May I know will my ICM work with the ACC retrofit or I should look for a ICM v5.4? I hope someone can give me info regarding this retrofit, thanks!

[SaNGRia]

Originally Posted by JaysonGoh

Hi, I’m planning to retrofit ACC to my F30. My car come with Adaptive Suspension and HUD and my ICM version is v7.3 part number 34526867170. May I know will my ICM work with the ACC retrofit or I should look for a ICM v5.4? I hope someone can give me info regarding this retrofit, thanks!

ICM is fine. Do u have Parking Assist?

[JaysonGoh]

Originally Posted by SaNGRia

ICM is fine. Do u have Parking Assist?

No, I don’t have parking assist would that be my ICM not compatible? Based on my research I need ACC Radar, ABS pump, ABS wheel speed sensor, steering wheel with ACC control button and last which I’m unsure about is the ICM. Because most of the people is recommend getting V5.4 that’s why I’m a bit confused if mine ICM can work it out or not.

[JaysonGoh]

And regarding the ACC Radar module, can I get other chassis to work in my F30? Example can I buy a used Radar which original dismantle from a 5 series with BE2 on the label to use it on my F30?

[SaNGRia]

BE2 is correct. No need new steering wheel just get emulator for HOD. U need DSC ACC. Your ICM is good! 5.4 and up is compatible!

[aussiem3]

Hats off to you two. Brave and helpful to the BMW community. It's a very interesting challenge despite being visually daunting. Wouldn't mind tackling if there is an end-to-end DIY. Having said that, not all F85 and F86 configuration and equipment levels are the same.

Well done!

[JaysonGoh]

Originally Posted by SaNGRia

BE2 is correct. No need new steering wheel just get emulator for HOD. U need DSC ACC. Your ICM is good! 5.4 and up is compatible!

Ok bro, so basically BE2 from any chassis is able to use on my F30 right. Do I need to flash it or code it to my chassis or VO code BE2 Radar already do the trick?

I guess I can start hunting for parts already
Just I wasn’t too sure about ICM because some member in the forum said I need to use ICM v5.6 and I checked my ICM part number it was stated as ICM Plus instead of High