Rotation-rate sensor
WARNING: This page does not describe the selected car, but rather 45 other vehicles, including the 2016 BMW M5, 2016 BMW 550i xDrive, 2016 BMW 550i, 2016 BMW 535i xDrive, and 2016 BMW 535i. However, it is still accessible from the selected car via links, so may be relevant.
The yaw sensor integrated in the ICM (Integrated Chassis Management) detects the movement of the vehicle around the vertical axis, e.g. in a curve. The high-beam assistant uses the yaw rate to improve evaluation when the car corners.