bmw e70 active cruise control retrofit

Moscow Boat Tour

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Description

See all the gems of historical and cultural center of the capital in short time and without traffic jams or tiresome walking.

Depending on the itinerary and duration of the Moscow River boat trip, the tour can be 3 or 5 hours.

Highlights of the tour

• St Basil’s Cathedral;
• Stalin skyscraper on Kotelnicheskaya (Tinkers) embankment;
• The Kremlin;
• “House on the Embankment” Stalin skyscraper;
• Monument to Peter I;
• The Central House of Artists;
• Christ the Savior Cathedral;
• Gorky Park;
• Moscow State University;
• Russian Academy of Sciences;
• Luzhniki stadium;
• Novodevichy Monastery;
• Kiev railway station;
• Europe Square;
• Moscow City Hall;
• Government House;
• Expocentre Exhibition Complex;
• and other famous sights.

You will learn about the different epochs of the city from the foundation in 1147 till Soviet times of 20 th  century.

Moscow River

Moskva river has the form of a snake and is the main waterway of Moscow, consisting of a cascade of reservoirs. Within the city, Moskva river is 80 km long, 120 m - 200 m wide and up to 14 m deep. The narrowest part of the river is the Kremlin area in the city center, and the most extensive is around the Luzhniki Stadium in the south. 

Bridges in Moscow

Undoubtedly, bridges and embankments are among the most scenic spots and main attractions of Moscow. Plus, they are so romantic.

• Bolshoy Kamenny Bridge –  Great Stone Bridge –  is the main bridge of Moscow . The first stone bridge was constructed here in the 17th century.
• Patriarshy Bridge  is one of the youngest pedestrian bridges, built in 2004. The bridge connects the iconic Christ the Saviour Cathedral with funky Bersenevskaya embankment, extremely popular place among locals for its trendy art galleries, cafes and panoramic views. Patriarshy Bridge used to be a shooting location for ex-Russian President Dmitry Medvedev's New Year speech to the nation.
• Borodinsky Bridge,  erected in honor of the 100th anniversary of the glorious victory in the Battle of Borodino (which every Russian kid knows about), a fierce legendary battle during the Russo-French war of 1812.
• Bagration Bridge  one of the  pedestrian bridges with most picturesque views of the Moskva River with its numerous upper-level observation platforms. The bridge was erected to celebrate the 850th anniversary of Moscow city in 1997.
• Krymsky Bridge  used to be in Top 5 Europe’s longest bridges some 100 years ago. The bridge got its name after the ancient Krymsky ford which Crimean Tartars used to invade Moscow in the 16 th  century.

Embankments of Moscow

Moscow river boats 37 embankments, the most popular being Kremlevskaya, Sofiyskaya, Pushkinskaya, Vorobyovskaya and Kolomenskaya.

You can get the most spectacular views of the Kremlin from  Kremlevskaya and Sofiyskaya embankments.

• Pushkinkaya embankment  is the most romantic in Moscow. It meanders along Gorky Park and Neskuchnyi garden and is rich for all kinds of entertainment as well as cozy nooks, including Olivkovy beach, the famous Zeleny theater as well as a pier for river cruisers.
• Vorobyevskaya embankment  is part of Sparrow Hills nature reserve. This place opens a beautiful panorama of the river and city from the observation deck and is considered to be the place for taking serious decisions in life.
• Embankment in Kolomenskoye  Museum-Reserve has a special charm due to its peculiar geographical relief. The boat trip around Kolomenskoye would be the most peaceful in your life.
• Taras Shevchenko embankment  is popular among photographers for its modern Moscow City skyscrapers. Highly recommended for your night boat trip.
• Embankments of Moscow are the pride of the capital. A distinctive feature of each of the promenades is its architecture and beautiful views. In addition, almost all the embankments of Moscow have a rich history and a lot of notable buildings.

Different epochs

Taking a walk along the Moskva River by boat, you will witness the architecture of Moscow from different eras and styles. Archaeological studies indicate that already in the XI century there stood a fortified settlement on Borovitsky hill, which is now called the Kremlin. Little fortress could not accommodate all the residents of the rapidly growing city, and the Grand Duke ordered the construction of a new Kremlin, larger than the former.

Boat trip around Kolomenskoe Park

Moscow river boat trip starts from the pier Klenovy (Maple) Boulevard and provides reat views of Nicholas Perervinsky monastery.

Nicholas Perervinsky monastery was founded at the time of the Battle of Kulikov (1380). The monastery, got its name from the surrounding area – “Pererva”, which can be translated like “tear off” and because of the location –  here it abruptly changed its course, turning to Kolomna, standing on the opposite bank.

Nowadays Kolomenskoye is State Art, Historical, Architectural and Natural Landscape Museum-Reserve, which doors are open to everyone who wants to get in touch with the ancient history of Russia.

Take a break from the big city hustle in the shady parks and gardens of the Kolomenskoe Museum-Reserve. Don’t miss a wonderful Church of the Ascension and Tsar Alexey’s Palace in Kolomenskoye!

Monasteries and temples

• Novospassky Monastery
• Founded in the 13th century on the site where now is located the Danilovsky monastery. After a few decades, in 1330, Ivan Kalita moved the monastery onto the Borovitskii hill of the Kremlin. However, in the 15th century, Spassky Monastery again moved, this time to a more spacious place on Krasnoholmskaya waterfront.
• Church of St. Nicholas in Zayaitskom
• Erected in the middle of the XVIII century in baroque style. The building survived after the 1812 fire, but the utensils were destoyed. Parishioners collected donations and restored the temple on their own. In Soviet times, it was closed and re-opened only in 1992.
• Cathedral of Christ the Savior
• The church was originally erected in honor of the victory over Napoleon and was being under construction for long 44 years. Notoriously demolished in 1937 to be a giant swimming pool under open sky. The current building was constructed in 1990s. It is the tallest and one of the largest Orthodox churches in the world.
• The temple was built in 1679-82, during the reign of Tsar Fedor Alekseevich, in late Muscovite Baroque style and can be characterized as bonfire temple. Each gable is a symbol of a heavenly fire.
• Novodevichy Convent
• The most famous concent and monastery in Moscow, presumably founded in 1524. Novodevichy’s status has always been high among other monasteries, it was in this monastery where the women of the royal blood, the wives of Tsars and local rulers of Moscow were kept in prison as nuns.
• St. Andrew’s church  (male acts as Compound Patriarch of Moscow)
• St. Andrew’s church stands right on the slopes of the Sparrow Hills, on the way down to the Moskva River, on the territory of the Nature Reserve “Sparrow Hills”. The monastery is small in size but is very cozy. It’s situated in a quiet courtyard surrounded by temples, fruit trees and flowers.

What you get:

• + A friend in Moscow.
• + Private & customized Moscow river cruise.
• + An exciting pastime, not just boring history lessons.
• + An authentic experience of local life.
• + Flexibility: changes can be made at any time to suit individual preferences.
• + Amazing deals for breakfast, lunch, and dinner in the very best cafes & restaurants. Discounts on weekdays (Mon-Fri).
• + A photo session amongst spectacular Moscow scenery that can be treasured for a lifetime.
• + Good value for souvenirs, taxis, and hotels.
• + Expert advice on what to do, where to go, and how to make the most of your time in Moscow.

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Cruising the Moskva River: A short guide to boat trips in Russia’s capital

There’s hardly a better way to absorb Moscow’s atmosphere than on a ship sailing up and down the Moskva River. While complicated ticketing, loud music and chilling winds might dampen the anticipated fun, this checklist will help you to enjoy the scenic views and not fall into common tourist traps.

How to find the right boat?

There are plenty of boats and selecting the right one might be challenging. The size of the boat should be your main criteria.

Plenty of small boats cruise the Moskva River, and the most vivid one is this yellow Lay’s-branded boat. Everyone who has ever visited Moscow probably has seen it.

This option might leave a passenger disembarking partially deaf as the merciless Russian pop music blasts onboard. A free spirit, however, will find partying on such a vessel to be an unforgettable and authentic experience that’s almost a metaphor for life in modern Russia: too loud, and sometimes too welcoming. Tickets start at $13 (800 rubles) per person.

Bigger boats offer smoother sailing and tend to attract foreign visitors because of their distinct Soviet aura. Indeed, many of the older vessels must have seen better days. They are still afloat, however, and getting aboard is a unique ‘cultural’ experience. Sometimes the crew might offer lunch or dinner to passengers, but this option must be purchased with the ticket. Here is one such  option  offering dinner for $24 (1,490 rubles).

If you want to travel in style, consider Flotilla Radisson. These large, modern vessels are quite posh, with a cozy restaurant and an attentive crew at your service. Even though the selection of wines and food is modest, these vessels are still much better than other boats.

Surprisingly, the luxurious boats are priced rather modestly, and a single ticket goes for $17-$32 (1,100-2,000 rubles); also expect a reasonable restaurant bill on top.

How to buy tickets?

Women holding photos of ships promise huge discounts to “the young and beautiful,” and give personal invitations for river tours. They sound and look nice, but there’s a small catch: their ticket prices are usually more than those purchased online.

“We bought tickets from street hawkers for 900 rubles each, only to later discover that the other passengers bought their tickets twice as cheap!”  wrote  (in Russian) a disappointed Rostislav on a travel company website.

Nevertheless, buying from street hawkers has one considerable advantage: they personally escort you to the vessel so that you don’t waste time looking for the boat on your own.

Prices start at $13 (800 rubles) for one ride, and for an additional $6.5 (400 rubles) you can purchase an unlimited number of tours on the same boat on any given day.

Flotilla Radisson has official ticket offices at Gorky Park and Hotel Ukraine, but they’re often sold out.

Buying online is an option that might save some cash. Websites such as  this   offer considerable discounts for tickets sold online. On a busy Friday night an online purchase might be the only chance to get a ticket on a Flotilla Radisson boat.

This  website  (in Russian) offers multiple options for short river cruises in and around the city center, including offbeat options such as ‘disco cruises’ and ‘children cruises.’ This other  website  sells tickets online, but doesn’t have an English version. The interface is intuitive, however.

Buying tickets online has its bad points, however. The most common is confusing which pier you should go to and missing your river tour.

“I once bought tickets online to save with the discount that the website offered,” said Igor Shvarkin from Moscow. “The pier was initially marked as ‘Park Kultury,’ but when I arrived it wasn’t easy to find my boat because there were too many there. My guests had to walk a considerable distance before I finally found the vessel that accepted my tickets purchased online,” said the man.

There are two main boarding piers in the city center:  Hotel Ukraine  and  Park Kultury . Always take note of your particular berth when buying tickets online.

Where to sit onboard?

Even on a warm day, the headwind might be chilly for passengers on deck. Make sure you have warm clothes, or that the crew has blankets ready upon request.

The glass-encased hold makes the tour much more comfortable, but not at the expense of having an enjoyable experience.

Getting off the boat requires preparation as well. Ideally, you should be able to disembark on any pier along the way. In reality, passengers never know where the boat’s captain will make the next stop. Street hawkers often tell passengers in advance where they’ll be able to disembark. If you buy tickets online then you’ll have to research it yourself.

There’s a chance that the captain won’t make any stops at all and will take you back to where the tour began, which is the case with Flotilla Radisson. The safest option is to automatically expect that you’ll return to the pier where you started.

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• E60 / E61 (2004 - 2010)

Active Cruise Control (ACC2) with stop and go retrofit question and possible write up

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Does anyone know if this (retrofitting ACC2 to an E60 LCI) has been successfully completed and document previously? after some online searching, i wasn't able to find a write up on this, but still planning to tackle the job once all parts are collected. The car in question is a 2010 E60 535i XDrive with professional Nav. and cruise control with braking function. The parts that are needed (let me know if i got anything wrong): 1) Part number 34516783371 (34516784162 | 34516780652) : RP hydraulic unit DSC (the ABS pump) (only BMW 5 series) 2) Part number 66549164992 (66549141606, 66549132753, 66549125733, 66546988774, 66546969824, 66546969822) : Night Vision camera (BMW 6 and 7 series has it too) 3) 66546986459 : holder for the night vision camera (only 5 series) 4) 66549164992 (66549129760, 66549125736) : Control unit, Night Vision Camera (BMW 6 and 7 series has it too) 5) 66316781590: Sensor LRR (only BMW 5 and 6 series has it, different part number for 7 series, so 7 series LRR will not fit) 6) 66316774507: Bracket for sensor, LRR (only 5 series) 7) 66316790877 : Sensor SRR (there are 2 units needed to complete the installation) (BMW 6 and 7 series has it too) 8) 66316774510 : Bracket for sensor, SRR (there are 2 units needed to complete the installation) (BMW 5 series only) 9) 66316784844 (66316783908, 66316782707, 66316782230) : Control unit LDM (BMW 5 and 6 series only) 10) 51117178101 : Grid lateral left NVC / ACC2 (the grill in front of the radar sensor that comes with 51117178104 : Insert ACC2) (BMW 5 series only) 11) 51117178102 : Grid lateral right NVC / ACC2 (the grill in front of the nigh vision camera that comes with 51117178103 : Insert NVC) (BMW 5 series only) 12) 51117178113 : Edge trim, center (BMW 5 series only) 13) 61316957763 : ACC cruise control switch (behind the steering wheel) (BMW 5 and 6 series) There are a couple/few trim parts that are missing from the list above, but the control units and radar etc are of importance. slowly collecting the parts required. and plan to start working in the next couple of months. Note: the list above is specific to the car in question. Access to ISTA and INPA etc. is required. A lot of wires with different colors and gauges, and soldering experience/heat shrink/BMW pins/tape to mimic OEM wiring are also required. I found a detailed PDF retrofit instructions for the Night vision camera (i know it's pointless to have in most cases, but it's a cool feature, if you're going this deep, might as well do it all) but none for the ACC2, anyone has experience with the Active cruise control installation that can shed some light on the retrofit?  

I admire your tenacity, but if you're buying these parts new, be prepared for some sticker shock.  

ABCarr, not at all, i'm sourcing the parts used. that's why it's taking some time... but i reckon that i'll have everything in a couple of months. then maybe a month or two to install.  

the build date of my vehicle is October 2009. the ABS pump part number is 34516783366 (which i couldnt find as shown here ) the part number for the abs pump with stop and go function is 34516783371 as shown in this link i will be looking for the correct pump (Part number 34516783371) thats needed for the upgrade, but i'm curious to know if the pump already installed in the car is able to provide the stop and go function, how would i find out? and thoughts?  

A lot of this thread applies to the ACC2 sensor. Good background info, though of course Stop and Go with the LDM adds complexity. ACC retrofit-Active Cruise Control Attached is the BMW Technician training literature for when ACC2 Stop and Go was released.  

Attachments

• 05_Longitudinal Dynamics Systems.pdf 953.1 KB Views: 231

@rippjd thank you for the information, it will come in handy, I'm still sourcing the parts, the seemingly "mythical" ABS pump is very hard to find (that's required for ACC with stop and go function) i was able to find the Short range radars, and the long range radar, and the LDM in parallel, i'm looking for Night vision parts, i was able to get the controller for the Night vision (waiting for it to ship), now looking for a good deal on the Camera itself and the bracket (that holds the camera to the car, it seems like the 7 series from the same era, had a compatible night vision camera with the E60 but a different bracket... Head up display seems to be contained as a unit (module is integrated into the unit), i'm considering adding that too... but there seems to be a roadblock, a small reinforcement bracket (an oddly shaped piece of metal, part number 62306936871 shows up as less than $6 on realoem (item #07 in this digram ), but the internet seems to disagree, and everyone is posting it online for no less than $180... anyone out there with an extra dash that can sell me that part?? the headlight switch needs to be changed if you are adding night vision and/or Head-up display...  

sannouni said: @rippjd thank you for the information, it will come in handy, I'm still sourcing the parts, the seemingly "mythical" ABS pump is very hard to find (that's required for ACC with stop and go function) i was able to find the Short range radars, and the long range radar, and the LDM in parallel, i'm looking for Night vision parts, i was able to get the controller for the Night vision (waiting for it to ship), now looking for a good deal on the Camera itself and the bracket (that holds the camera to the car, it seems like the 7 series from the same era, had a compatible night vision camera with the E60 but a different bracket... Head up display seems to be contained as a unit (module is integrated into the unit), i'm considering adding that too... but there seems to be a roadblock, a small reinforcement bracket (an oddly shaped piece of metal, part number 62306936871 shows up as less than $6 on realoem (item #07 in this digram ), but the internet seems to disagree, and everyone is posting it online for no less than $180... anyone out there with an extra dash that can sell me that part?? the headlight switch needs to be changed if you are adding night vision and/or Head-up display... Click to expand...

Update: I think i found a used ABS pump that claims to be for ACC!!!, but the junkyard only gives 30 day warranty... and i wont have all the parts for the complete retrofit by then.... Question for you guys, can the ABS pump be swapped out without installing the rest of the active cruise control system? i.e. install the the ABS pump, bleed the lines etc, to make sure that the pump works ? i found some videos online that use INPA to bleed the ABS pump. so i may be able to do this at home, with a couple of bottles of DOT4 fluid. any help is appreciated.  

@SteveinArizona , you can try to post the question in the G30 forum... but I'll give it a shot, I'm not sure if this is what you're looking for, according to RealOEM.com - Online BMW Parts Catalog , if you have night vision, there is a light switch that accommodates for that button (which is in line with what you explained), but as far as i can see, there is no HUD button option in that light switch (there is no such option for the light switch for G30's according to the link above link, but there may be another location where such a button exists)  

Update: I think i found a used ABS pump that claims to be for ACC!!!, but the junkyard only gives 30 day warranty... and i wont have all the parts for the complete retrofit by then.... Question for you guys, can the ABS pump be swapped out without installing the rest of the active cruise control system? i.e. install the the ABS pump, bleed the lines etc, to make sure that the pump works ? i found some videos online that use INPA to bleed the ABS pump. so i may be able to do this at home, with a couple of bottles of DOT4 fluid. any help is appreciated. Click to expand...

• Using WinKFP, scan the coding of the factory ABS pump (the one already installed)
• Keep a copy of the coding file.
• install and bleed the replacement ABS pump (using inpa)
• Keep a copy of the coding from the new pump (to be used after completing the ACC2 install and wiring etc.)
• apply the coding of the factory pump to the new pump.
• update software of replacement pump (if not already done previously)

UPDATE: Got the ACC2 DSC unit... and Here's what happened.... Installed, and used ISTA+ to bleed the Unit, along with some BMW Dot4 fluid (Note: INPA will not work since it cannot communicate with the DSC controller, whether its ACC or not... which i found to be weird.. just keep that in mind if you ever want to do this, you will have to use ISTA+, and use the "for special cases" option in ISTA+, and follow the instructions in the program, to the letter) now the DSC is installed and seems to work fine (i've put around 50 miles on the car so far, no warning lights), but the Cruise control function is no longer working (i'm guessing it's because the DSC can only work with an LDM, and an active cruise control switch and equipment, etc. which i have not yet installed/wired yet...) Just a note: initially i thought the DSC unit was broken because i had some warnings on the dash (related to DSC, TPMS, ABS), but then i found out that the DSC unit seems to program itself to match the car (i didn't need to do any programming, except using ISTA+ to adjust the longitudinal/acceleration sensor, as soon as it finished calibrating the sensors, the warnings disappeared from the dash) I'll wait for more parts to come in and update as i install/wire/program more parts...  

update: There is no way to get the night vision system to function unless you have a set (night vision camera, and night vision module) from the SAME donor car, they are coded to each other. and even then you will need to separately purchase an "activator" unit to trick the night vision system to think that it's communicating with the original car VIN that it was programmed for. can anyone with experience in the subject confirm that the module and camera need to be from the same donor car? and can an FSC code generator from the navigation software update be used to generate an FSC code for the night vision camera ? or is it just completely different? i need some assistance to help me understand this  

I've always heard it said that the camera and module need to come from the same vehicle.  

@kd7iwp well... i fell for that one... this lesson has costed me 400 US ... pretty steep  

it took almost all day yesterday, but i was able to source a kit (module and camera from the same car) at a reasonable price, waiting for shipping.  

Regarding Night Vision, this thread has some good info in case you haven't already found it: Night vision retrofit Fabricating your own wire harness will be time consuming... if you need some video cable from the controller to your CIC (CVBS), I can probably part with some.  

Thank you for the reply. Anyone knows how to code the night vision camera system once done wiring. Its a 2010 535 xdrive with CIC What do I need to do in ncs expert and or ista?? Any input or guidance is appreciated.  

The activator was the problem. It wasn't meant for an e60. It was made for the f series. When replaced, all worked out fine. The pins in the back of the CIC were done as pin 2 and pin 12 (if I remember correctly) then the programming using NCSExpert (change night vision channel from wert_21 to wert_23) The image came to life... its been working for a while (more than a month). No issues so far.  

Finished the wiring and programming for the Active cruise control. Let me know if anyone needs help, I'll do my best to help. The system works, and it's a really nice feature to have.  

sannouni said: Finished the wiring and programming for the Active cruise control. Let me know if anyone needs help, I'll do my best to help. The system works, and it's a really nice feature to have. Click to expand...

Hi Sannouni, I'm thinking of adding acc to my f11. How did you wire the switch under the light switch so you could turn it on and off? Its the same control panel in the f10/f11 series to turn on the HUD, the driver assistance panel. The night vision switch is on there too along with the lane change warning, lane departure warning and the acc. RealOEM.com - Online BMW Parts Catalog  

hi @sweetdude1974 , the E60 doesn't have such a panel (under the light switch control). I wonder if you can get that panel with a pigtail wiring from an auto recycler or eBay or something, i think it would help to have the pigtail wiring and connector. i had that when i installed all but the Short Range Sensors, and it was a big hassle to get the connectors... for the wiring diagrams, I used ISTA. for the wires themselves, i basically went to a junk yard, and i pulled out the passenger side of the wiring harness from a wrecked E60, then i dismantled the wires, indexed them (i don't trust my crimping abilities, so i'd rather use BMW crimped wires)... then i used the wiring diagrams to know the colors and gauge of the wires, i used the same or better gauge wire (but i couldn't always match the same color wire, so i noted the new color wire in the wiring diagram (using paper then transferring to PDF, which came in handy with the diagnostics/double checking the wiring...)  

Hi @ sannouni going to a junk yard sounds like a good plan, I finally got ista to work last night and ive been hunting for all the wire connections that ill have to do. wish me luck lol  

@sannouni i truly admire your dedication and dyi Ethic..I been trying to find the best retro/swap/upgrade for my 2010 e60 m sport with cic system. The cheapest and best oem like setup. What’s your opinion?  

thank you @2010e60Msport . High beam assist would be the cheapest and fastest Mod, and it's a nice feature to have (especially if you drive between cities at night)...  

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