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ACC and Lane Assist Retrofit

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18K views 19 replies 10 participants last post by  Richie  
#1 ·
Good day all,
I'm looking for some expertise in the Flexray protocol. I've done some retrofits on my 2013 Touareg TDI that have to date only involved CANBUS connections. Specifically, I've done the Area View camera and the Side Assist (Blind Spot warning), and I've been successful with this. I've been wanting to do the Adaptive Cruise Control and Lane Assist retrofit for a good while now, but frankly, I haven't had the time to get the windshield replaced. I got a rock hit a while back, which I thought was just going to be a fill, but turned out it was too close to the A-Pilar, so it needed to be replaced. :grin2:

So, before the windshield guy showed up, I ran the wiring for the Lane Assist, including the On Board Camera, the Pitch Sensor, the image processing control module, as well as the ACC wiring. Turns out, they are all on the same wiring diagram in ELSA, so it made sense to do it all at once.

So my windshield is in, VCDS see's the onboard camera (CANBUS connection), but it doesn't see my ACC radars or the Image Processor. I've used the coding from a 2015 as a reference, and have been going back and forth with Ross-tech for the better part of a week. They just won't show up.

I've verified the wiring like 20 times by now, checked the power connections, and so on and so on. The thing they have in common is that they are both Data bus wire (FlexRay bus), which unlike CAN BUS, has a direct connection to the CAN Gateway, vs taping in anywhere along the line. The lines are twisted, and from everything I've read, don't require shielding. I tried to contact Kufatec to see maybe if I'm missing something and if they would make a custom wire (read between the lines, paid for), and they were utterly unhelpful.

So, I'm stuck trying to figure out what could be wrong. I know there are people on the Audi forums that have installed both ACC and Lane Assist, so I'm absolutely positive I can do it.

Is it possible I'm missing something with the Flexray. I've read on general garage forums that Flexray needs to be terminated, but it could be terminated in the CAN Gateway.

Any ideas?
 
#2 ·
Damn, that's impressive. I am sorry, I can't help you.. but, if you wanted to do a write up on how to get area camera working on my 2017 Touareg Wolfsburg (I upgraded the mirrors to an executive, so they have cameras in them, but no wiring and no front camera).

Anyway, nice work and good luck!
 
#3 ·
Impressed by what all you’ve done -installation of all that complex wiring.
If you need to verify vcds configuration then let me know
 
#6 ·
The Side Assist retrofit is fairly involved, in that that you have to replace the side view mirrors. There are indicators on the inside of the mirror caps that turn amber when a car is in your blind spot. When I did it, I did it at the same time I did the Area View 360, because the mirrors I found for the Area View 360 (camera on the bottom) also had the Side Assist indicators. I don't know if they come in a manner where they only have one or the other. Replacing the mirrors also means replacing the door wiring harness, and running wiring to the back of both sides of the car, where the radar sensors are mounted. It's certainly not an easy undertaking, but my family and I just went on a long trip, and when it's dark in the middle of nowhere, it's nice to have that amber light come on when there is another vehicle beside you.
 
#12 ·
Tamorgen, I'm in the same situation like you...

I'm having a problem with my 2015 Touareg because I retrofited several driver assistance items and cannot turn them working...
The retrofit I made was adding the windshield camera, image processing unit and rate pitch sensor to have lane assist and traffic sign recognition.
The cables are from Kufatec and after conencting all the wires when I connect VCDS, I have errors on module 19 Can Gateway and 8E Image processing.
This is part of the scan.

The error on module 8E (cannot be reached) could be because my gateway cannot handle flexray?

Saturday,10,April,2021,17:02:57:55334
VCDS -- Windows Based VAG/VAS Emulator Running on Windows 7 x64
VCDS Version: 21.3.0.0 (x64) HEX-V2 CB: 0.4543.4
Data version: 20210226 DS325.0
www.Ross-Tech.com
VIN: WVGZZZ7PZFD009373 License Plate:
Mileage: 114642km-71235mi Repair Order:
Chassis Type: 7P-VW52 (7P6)
Scan: 01 02 03 05 06 08 09 10 15 16 17 19 22 32 34 36 42 46 52 53
55 56 5F 62 65 69 6C 72 85 8E
VIN: WVGZZZ7PZFD009373 Mileage: 114642km-71235miles
01-Engine -- Status: OK 0000
02-Auto Trans -- Status: OK 0000
03-ABS Brakes -- Status: OK 0000
04-Steering Angle -- Status: OK 0000
05-Acc/Start Auth. -- Status: OK 0000
06-Seat Mem. Pass -- Status: OK 0000
08-Auto HVAC -- Status: OK 0000
09-Cent. Elect. -- Status: OK 0000
10-Park/Steer Assist -- Status: OK 0000
15-Airbags -- Status: OK 0000
16-Steering wheel -- Status: OK 0000
17-Instruments -- Status: OK 0000
19-CAN Gateway -- Status: Malfunction 0010
22-AWD -- Status: OK 0000
32-Differential Locks -- Status: OK 0000
34-Level Control -- Status: OK 0000
36-Seat Mem. Drvr -- Status: OK 0000
42-Door Elect, Driver -- Status: OK 0000
46-Central Conv. -- Status: OK 0000
52-Door Elect, Pass. -- Status: OK 0000
53-Parking Brake -- Status: OK 0000
55-Headlight Range -- Status: OK 0000
56-Radio -- Status: OK 0000
5F-Information Electr. -- Status: Malfunction 0010
62-Door, Rear Left -- Status: OK 0000
65-Tire Pressure -- Status: OK 0000
69-Trailer -- Status: OK 0000
6C-Back-up Cam. -- Status: OK 0000
72-Door, Rear Right -- Status: OK 0000
85-On Board Cam. -- Status: OK 0000
8E-Image Processing -- Status: Cannot be reached 0100
-------------------------------------------------------------------------------
Address 19: CAN Gateway (J533) Labels:* None
Part No SW: 7P6 907 530 M HW: 7P6 907 530 F
Component: GW-CAN-L-MOST H13 6042
Revision: -------- Serial number: 00000001669421
Coding: 000D0FAD00
Shop #: WSC 31414 790 00001
ASAM Dataset: EV_GatewVW526UDS 001007
ROD: EV_GatewUDS_VW52.rod
VCID: 42DCB5BC5402537BD97-8016
Battery Monitoring Control Module:
Subsystem 1 - Part No SW: 7P0 915 181 B HW: 7P0 915 181
Component: Batt_Sensor H07 0190
Serial number: 41328F28565701129653
Voltage stabilizer:
Subsystem 2 - Part No SW: 7PP 959 663 E HW: 7PP 959 663 E
Component: J532_DCDCStab H17 0042
Serial number: 14343005053021200181
Battery Monitoring Control Module 2:
1 Fault Found:
0276 - FlexRay Databus
U1032 00 [009] - Initialization Failed

Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 1
Reset counter: 41
Mileage: 114642 km
Date: 2021.04.10
Time: 16:56:52
Voltage terminal 30: 12.3 V
Voltage terminal 15: 12.3 V
Control Module temperature: 35 °C
System status: Terminal 15 on
IN ESP_standstill flag: standstill detected
Engine running: OFF
IN ZAS_Te_X: On
Terminal 15 status via CAN: On
Terminal 15 status: On
Datenfeld: 0
-------------------------------------------------------------------------------
Address 8E: Image Processing
Cannot be reached

End----------(Elapsed Time: 02:14, VBatt start/end: 12.4V/12.4V)-----------
 
#13 ·
Finaly, it's done!
But I have a doubt...

In module 85 Camera, there is a byte that I can turn on. Byte 0, bit 4. When I try to code it, the message "Error 31: Request out of range" appears...

243877


The option seams quite importante to activate but, I don't know how, the traffic signs show on MFA.
In some other foruns, people are saying that this byte/bit isn't doing anything. Strange...

How can I enable byte 0, bit 4 on module 85?
 
#14 ·
You don't need to enable this bit/byte for traffic sign
 
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#16 ·
I bought a whole lot of parts to do the retrofit then realised the enormity of the task so ended up selling them. The challenges I had were can bus integration. I thought I saw the radar sensors get picked up by the gateway but couldn't go any further. Also my understanding is that the acc uses both windscreen mounted adas camera along with the radar sensors as part of a system. Since I hadn't acquired a camera I found it highly unlikely I would get all this to work. Another thing I have heard is that the abs module must be acc capable, could anyone confirm?
 
#18 ·
Hi, how did you wire the windshield camera as there are no wires if the car wasn't fitted with it from factory. There are two plugs on the camera, one is the video cable and the other is a 12 pin plug. I have the 4 pin cable going to the image processor, but don't have the 12 pin plug and wiring.
 
#19 ·
You have to replace gateway with one finishing with g letter to have flexray protocol. You have to get unlocked of component protection from be dealer. After changing gateway it will show“gateway CAN-L-MOST-FR, the FR is for flexray