The 2013 BMW X1 made its U.S. debut at the New York International Auto Show on Wednesday. Last week, we told you about the new compact crossover, which will slot below the X3, and compete with luxury compact SUVs like the Acura RDX and Audi Q5.

Full specs on the X1 haven’t been released, but BMW has announced pricing and trim levels for the new small SUV. Car and Driver writes that “the entry-level model will be the rear-wheel-drive X1 sDrive28i, powered by a 240-hp, 2.0-liter four and priced at $31,545. For another $1700, BMW will also offer an all-wheel-drive version with this engine, dubbed the X1 xDrive28i.” If you want more power, the X1 xDrive35i will start at $39,345 and features all-wheel drive and a 3.0-liter, turbocharged six-cylinder engine that produces 300 horsepower. All X1 models get an eight-speed automatic transmission.

BMW says in a press release that the X1 28i models will have a start/stop function, which helps conserve gas in stop-and-go traffic. Additionally, all models come with regenerative brakes to help reduce fuel consumption. There are no EPA fuel economy figures for the X1 yet.

While the X1 is smaller than the X3, initial impressions of its interior dimensions are favorable. Kicking Tires says “the X1 is roomier than you might think, with a backseat that can accommodate taller adults in reasonable comfort with headroom to spare. There's also a decent cargo area behind the second row, though the swept-forward liftgate lessens the amount of usable vertical space.”

With a base price of $33,245, the X1 xDrive28i undercuts the base price of the all-wheel drive Audi Q5 by $2,355, while the rear-wheel drive X1 costs $2,775 less than the redesigned 2013 Acura RDX. Still, the X1 has a higher base price than the all-wheel drive Mini Cooper Countryman, which starts at $27,750.

The 2013 BMW X1 will hit dealerships this fall.

Shopping for a BMW or another luxury compact SUV? Check out the U.S. News rankings of this year's best cars. Then, look for a great deal on a new car by checking out this month’s best car deals. You can also skip negotiating with a dealer by using our Best Price Program. Also, be sure to follow us on Twitter and Facebook.