2017 AUDI S4 ESP

Assist
sensors and the area around the camera
~ page 97, fig. 90 or~ page 116, fig . 112.
Ill Audi pre sense: malfunction! Please contact
Service
This message appears when the pre sense func­
tion is affected. For examp le, this could be
caused by a faulty sensor. Dr ive to an authorized
Aud i dealer or a utho rized Aud i Serv ice Facility im­
mediately to have the malfunction cor rected.
Ill Audi pre sense: currently restricted. Towing
mode
Pre sense rear and the pre sense city braking in­
tervent ions sw itch off automatically when the
electrical connector in the factory-installed trail­
er hitch is connected. There is no gua rantee the
f unct ions will swi tch off when using a re trofitted
trai ler hitch .
Ill Audi pre sense: currently restricted
This message appears if the ESC is restr icted or
sw itched off, for example.
Ill Audi pre sense: currently restricted. See
owner's manual
This message appears when there is a temporary
fa ilur e in a subsystem, such as the ESC. If this
message appears repeated ly, dr ive to an author­
ized Audi dealer or authorized Audi Se rvice Facili­
ty to have the malfunction corrected .
Ii] Audi pre sense: emergency braking system
off
This message appears if the pre sense functions
are switched off through the Infotainment sys­
tem or if th e system is not ready.
Audi active Lane assist
Description
Applies to: veh icles w ith Audi active lane assist
Active lane assist (lane departure warning) de­
tects lane ma rker lines withi n the l imits of the
system using a camera in the windshield. If you
are approaching a detected lane marker line and it appears likely that you will leave the lane, the
system will warn you w ith corrective stee ring .
You can override this steering at any time . If you
112
pass over a line, the steering wheel will vibrate
lightly. In order for this warning vibration to oc­
cur, it must first be switched on in the Infotain­
ment system. Active lane ass ist is ready for oper­
a tion when the lane marker line is detected on at
least one side of the vehicle .
T he system is des igned for driving on express­
ways and highways and therefore on ly activates
a t speeds above approximately 40 mph (65 km/
h) .
Applies to vehicles with s ide ass ist*: if you acti­
vate a turn signa l when active lane assist is ready
a nd it classifies a lane change as critical bec ause
of veh icles traveling a longside you or approach ­
i ng you, there will be noticeable corrective steer­
i ng shortly before you leave the lane. This will at­
tempt to keep your vehicle in the lane.
Applies to vehicles without side assist* : the sys ­
tem does not warn when it is ready if you act ivate
the turn signal before crossing the lane marker
lin e. In this case, it assumes that you are chang­
in g lanes intent ionally.
Applies to vehicles with adaptive cruise contro l*:
there is no corrective steer ing or warnings if the
system recognizes a distinct passing maneuver.
If the conditions are met, congestion assist
switches on at speeds under approximately
40 mph (65 km/h)
¢page 104.
_& WARNING
-The system warns the driver that the vehicle
is leaving the lane using correct ive steering.
The driver is always responsible for keeping
the vehicle within the lane.
- The system can help you keep the vehicle in
the lane, but it does not drive by itself. Al­
ways keep your hands on the steering
wheel.
- Corrective steering may not occur in certain
situations, such as during heavy braking .
- There may be cases where the camera does
not recognize all lane marker lines. Correc­
tive steering can only take place on the side
of the vehicle where lane marker lines are
detected.

<( a, .... N ..... N .... 0 0
3 a,
are indicated, at the latest, by the time they en­
ter your "blind spot".
© Vehicles you are passing
If you slowly pass a vehicle that side assist has
detected (the difference in speed between the
veh icle and your vehicle is less than approximate­
ly 9 mph (15 km/h)), the display in the exterior
mirror turns on as soon as the vehicle enters your
blind spot.
The display will not turn on if you quickly pass a
vehicle that side assist has detected (the differ­
ence in speed is greater than approximately 9 mph (15 km/h)).
Functional limitations
The radar sensors are designed to detect the left
and right adjacent lanes when the road lanes are
the normal width. In some situations, the display
in the exterior mirror may turn on even though
there is no vehicle located in the area that is criti­
cal for a lane change. For example:
- If the lanes are narrow or if your are driving on
the edge of your lane. If this is the case, the system may have detected a vehicle in another
lane that is
not adjacent to your current lane.
- If you are driving through a curve. Side assist
may react to a vehicle that is in the same lane
or one lane over from the adjacent lane.
- If side assist reacts to other objects (such as
roadside structures like guard rails).
- In poor weather conditions . The side assist
functions are limited.
Do not cover the radar sensors ¢
fig. 112 with
stickers, deposits, bicycle racks or other objects,
because this will impair their function. Do not
use side assist when towing a trailer. For infor­
mation on cleaning, refer to¢
page 33 7.
A WARNING
- Always pay attention to traffic and to the
area around your vehicle. Side assist cannot
replace a driver's attention. The driver alone
is a lways responsible for lane changes and
similar driving maneuvers.
Assist
-In some situations, the system may not
function or its function may be limited. For
example:
- If vehicles are approaching or being left
behind very quickly. The display may not
turn on in time.
- In poor weather conditions such as heavy
rain, snow or heavy m ist.
- On very wide lanes, in tight curves, or if
there is a rise in the road surface. Vehicles
in the adjacent lane may not be detected
because they are outside of the sensor
range.
(D Note
The sensors can be displaced by impacts or
damage to the bumper, wheel housing and
underbody. This can adversely affect the sys­
tem. Have an authorized Audi dealer or au­
thorized Audi Service Facility check their func­
tion.
(D Tips
If the window glass in the driver's door or
front passenger's door has been tinted, the
display in the exterior mirror may be incor­
rect.
Switching on and off
App lies to : vehicles wi th Audi sid e ass ist
The system can be switched on/off in the Info­
tainment system.
If the system is activated, the displays in the ex­
terior m irrors will turn on briefly when the igni­
tion is switched on.
.,. Select in the Infotainment system:
I MENU ! but­
ton
> Vehicle > left control button > Driver as­
sist
> Audi side assist. Off switches the system
off.
(D Tips
When you switch side assist on or off, the exit
warning system activates or deactivates
¢ page 118.
117

Ass is t
Adjusting the display brightness
Applies to: ve hicles w ith Audi side assis t
The display brightness con be adjusted in the In­
fotainment system.
• Se lect in the Infotainment system : I MENU I but­
ton
> Ve hicle > left control button > Dr ive r as­
s is t
> Audi side a ssist .
The display brightness adjusts automatically to
the brightness of the surroundings, both in the
i n formation and in the warning stage . In very
dark or very br ight surroundings, the automat ic
ad justment will set the disp lay to the min imum
or maxim um level. In s uch cases , you may notice
no change when adjust ing the b rightness, or the
change may only be noticeable once the s ur­
roundings change .
Adj ust the brightness to a level where the disp lay
in the informa tion stage w il l no t dis rup t your
view ahead. If you change the brightness, the dis­
p lay in the exterior mirror will briefly show the
brightness level in the information stage . The
brightness of the warning stage is linked to the
brightness in the information stage and is adjust­
ed along with the information stage.
@ Tips
- Side assist is not active wh ile you are mak­
i ng the adjustment.
- Your settings are automatically stored and
assigned to the remote control key being
used.
Exit warning system
A ppl ies to: ve hicles w ith exit warning system
F ig. 11 3 Examp le display
118
F ig. 11 4 Door : warn ing str ip
When the vehicle is stationary, the exit war ning
system warns the passenge rs of a poss ible coll i­
s io n when opening the doo r. Wi thin the limits of
the system, the system monitors the
areas be­
hind and next to the vehicle using the radar sen­
sors
¢ page 116, fig . 112. Moving objects that
are approached from behind, such as cars, are
detected
¢fig. 113.
When you open the door, the warning strip on
the affected door blinks
¢ fig. 114 if anothe r
road user is detected and the situation is classi­
fied as crit ical. The d isp lay in the exterior mirror
on the affected side flashes at the same time.
If
the door is already ope n and another road user is
detected and the sit uat ion is classified as cr itica l,
then the co rresponding disp lays t urn on.
A WARNING
-
- Always pay attention to traffic and to the
area around your vehicle. The ex it wa rning
sys tem does not rep lace the attention o f the
passengers. The veh icle passengers are al ­
ways responsible for opening the doors and
exiting the vehicle.
- The exit warning system can be ava ilab le for
up to approximately three minutes after un­
lock ing the vehicle and opening the door as
well as after switching off the ignition. Then
the system switches off w ith a br ief flashing
of the d isplays.
- The exit warning system ca nnot notify you
of every app roaching object or person, such
as joggers or pe destrians.

_& WARNING
The exit warning system is subject to limita­
tions and cannot warn you before every im­
pending collision:
- If the vehicle is too wide for the parking
space and covered by the neighboring
vehicles.
- Approaching objects or people such as cy­
cl ists o r skateboarders may not be detected
under certain circumstances.
- The system does not react to stationary ob­
jects.
- The view of the radar sensors may be im­
paired by leaves, snow, heavy spray or d irt.
Clean the area in front of the sensors
r:!vpage 116, fig. 112.
(D Note
Also read this information ¢0 in General in­
formation on page 117.
@ Tips
- The ex it warning system is switched on and
off through the side assist¢
page 117.
-The display brightness for the exit warning
system cannot be adjusted.
- The system is not available when towing a
trailer.
Rear cross-traffic assist
A ppl ies to: vehicl es with rear cross-traffic assist
Fig. 115 Example display
Assist
Fig. 116 Infotainment system: rear c ross -tra ffic assist dis­
play
The rear cross-traffic ass ist can warn the driver of
a potential collision with approach ing cross-traf­
fic when driving in reve rse. Within its limits, the
system monitors the areas behind and next to
the vehicle using the radar sensors when leaving
a parking space
r:!vpage 116, fig. 112. Moving ob­
j ects that are approaching, such as cars, are de­
tected
¢ fig. 115.
If the system detects critical cross traffic when
backing out of a parking space, it wi ll react as fol­
lows:
- Visual indicator : an indicator appears in the In­
fotainment system disp lay with a red arrow
symbo l. The arrow points in the direction from
which the object is approaching
¢fig. 116.
-Audible warning signal: a continuous tone may
sound as an additional indicator when driving in
reverse.
- Automatic brake activation : a brief activation
of the brakes may also warn you of a potent ial
collision with an approaching object.
Requirements for using the rear cross-traffic
assist :
-The parking aid m ust be switched on
¢page 124.
-Reverse gear m ust be engaged.
- The speed must not be higher than approxi-
mate ly 9 mph (15 km/h).
A WARNING
- The rear cross-traffic assist is an assist sys­
tem and cannot prevent a co llision by itself.
The driver must always intervene. The driver
is always responsible for braking at the cor-
rect time .
~
119

<( a, .... N ,....
N .... 0 0
3 a,
The rear cross-traffi c assist is not ava ila ble . E i­
ther the ESC is switched off, or the radar sensors may be covered by a b ike rack, stickers, leaves,
snow or other objects. Switch the ESC on, or
clean the area in front of the sensors if necessary
c> page 116, fig. 112 . If this message cont inues
to be d isplayed, d rive immed iate ly to an au thor­
iz ed A udi dealer o r autho rized Audi Servi ce Fac ili­
ty to have t he malfunc tion repa ired.
Audi drive select
Introduction
Applies to: vehicles with Audi drive select
Drive se lect makes it possible to experience dif­
fe rent types of vehicle settings in one vehicle.
The dr ive r can se lect
Comfort , Auto a nd Dynamic
modes in the I nfota inme nt system to switch be­
tween , fo r exa mple, a sporty and a co mfo rtable
d riving mo de. Settings ca n be ad justed to your
p e rs o nal pr efe ren ces in
Individual m ode. This
makes it poss ible to comb ine settings su ch as a
sporty eng ine setting w ith smooth stee ring.
Descript ion
Applies to: vehicles with Audi drive select
The fo llow ing systems, among other things, are
i nfluenced by drive select:
Engine and automatic transmission
D epending on the mode, the en gine and auto­
mat ic transmission respond more quickly o r in a
mo re balanced ma nner to accelerator pe dal
movements . In the spo rty
Dynamic mode, the
transmission shifts at higher speed ranges.
Steering
The power s teering adapts. Ind irect s teer ing t hat
moves easi ly as in
comfort mode is espec ia lly
suited to long drives on highways . The
dynamic
mode p rovides sporty, d irect steering.
The fo llow ing applies to vehicles wi th dynam ic
steer ing* : the stee ring rat io chan ges base d on
ve hicle speed in or der to ma inta in optim um
steer ing effort for the drive r at all times. This
sets the steer ing to be less sensitive at higher
speeds i n order to prov ide improved vehicle con-
Assist
t ro l. At r educed spee ds, steeri ng is more direct in
o rder to kee p the steering effort as minima l as
poss ib le when the drive r is maneuvering t he vehi­
cle. Dynam ic steer ing* also p rovides more re­
spons ive steering performance at low and aver­
age speeds .
Suspension control*
The ada ptive dampers * use sensors to reco rd in ­
f ormat ion regard ing steering movements, b rak ­
ing and accele ration operations by the dr iver,
road s urface, driving speed, and load. This makes
it possible to adapt damping to the d riv in g situa­
t io n virtu ally in rea l ti me . Wi th drive select, you
can ad just th e adap tiv e dam pers to sporty
(Dy ­
nami c),
comfo rtable (Comfort ) or balan ced (Au­
to ).
Cornering light*
T he co rne ring light adapts the high beams to the
direction of the curve de pending on the speed .
T he pivo ting ac tion and the lighting also a dapt to
t h e mode.
Adaptive cruise cont rol (ACC)*
The behavio r whe n accelerati ng ca n be adjusted
from comfortable to s porty, depending on the
dr ive selec t mode . Adap tive cruise control also
r espon ds to the dr iv ing behav ior of t he vehicle
ahea d in a m ore conse rv a tive or sporty m an ner.
Engine sound*
The eng ine sound adapts to the c urrent mode
and can be subtle to sporty .
(D Tips
The S selector leve r posit ion automatically en­
gages whe n the
Dynamic mode is select ed.
121

Parking systems
Parking systems
General information
A ppl ies to: ve hicles w ith a rea r parking sys te m /pa rking sys ­
tem p lus/rearv iew camera/peripheral ca meras
Depending on your vehicle's equipment , various
parking aids will help you when parking and ma­
neuvering.
The
rear parking system is an audible parking aid
that warns you of obstacles
behind the vehicle
¢ page 125.
Parking system plus assists you when parking by
using audio and visual signals to indicate objects
detected in
front of and behind the vehicle
¢ page 125.
The rearview camera shows the area behind the
vehicle in the Infotainment display . The lines in
the rearview camera image help you to park or
maneuver ¢
page 126. The parking system plus
functions are also available
¢page 125.
The peripheral cameras give various views to
help you when parking or maneuvering
¢ page 128 . fhe parking system plus functions
are also available
¢ page 125.
A WARNING
- Always look for traffic and check the area
around your vehicle by looking at it directly
as well. The parking system cannot replace
the driver 's attention. The driver is always
responsible when entering or leaving a park­
ing space and during similar maneuvers.
- Please note that some surfaces, such as
clothing, are not detected by the system.
-
- Sensors and cameras have blind spots in
which people and objects cannot be detect­ ed . Be especially cautious of small children
and animals .
- Always keep your eyes on the vehicle's sur­
roundings, using the rearview mirror as
well .
- The sensors can be displaced by impacts or
damage to the radiator grille, bumper,
wheel housing and the underbody . The park­
ing system may be impaired as a result.
Have an authorized Audi dealer or author-
124
ized Audi Service Facility check their func­
tion .
(D Note
-Some objects are not detected or displayed
by the system under certain circumstances:
- Objects such as barrier chains, trailer draw
bars, vertical poles or fences
- Objects above the sensors such as wall ex­
tensions
- Objects with certain surfaces or structures
such as chain link fences or powder snow
- If you continue driving closer to a low ob­
ject, it may disappear from the sensor range. Note that you will no longer be
warned about th is obstacle .
- Keep enough distance from the curb to
avoid damage to the rims.
(D Tips
-The system may provide a warning even
though there are no obstacles in the cover­
age area in some situations, such as :
- certain road surfaces or when there is tall
grass.
- external ultrasonic sources such as from
cleaning vehicles .
- in heavy rain, snow, or thick vehicle ex­
haust.
- We recommend that you practice parking in
a traffic-free location or parking lot to be­
come familiar with the system . When doing
this, there should be good light and weath­
er conditions.
- You can change the volume of the signals
and the display ¢
page 131.
-Please refer to the instructions for trailer
towing in
¢page 132.
- What appears in the infotainment display is
somewhat time-delayed.
- Th e sensors must be kept clean and free of
snow and ice for park assist to operate.

General information
Applies to: vehicles with peripheral cameras
Fig. 128 Loca tion of peripheral c amera s
The four periphe ral cameras are located in the ra­
diator grille, in the luggage compartment lid and
on both exterior mirrors
q fig . 128 . Make sure
that the lenses are not covered by deposits or any
other obstructions as this may impair the system.
For information on cleaning, refer to
¢page 337.
Black corners are shown in the vehicle silhouette
when in
Surrounding mode. Objects in these
areas are outside of the camera's field of view
and are not detected .
A WARNING
-Always read and follow the applicable warn­
ings
~ &. in General information on
page 124.
- If the position or the installation angle of a
camera was changed, for example after a
collision, do not continue to use the system
for safety reasons . Have it checked by an au­
thorized Audi dealer or authorized Audi
Service Facility .
- Keep in mind that the image in the display is
incorrect if the exterior mirror housing has
been manually adjusted .
- Use the
Rear mode and the corner view
(rear)
mode only when the luggage com­
partment lid is fully closed. Otherwise the
image in the display will be incorrect.
- The vehicle surroundings are shown using
the camera images . The vehicle image is
shown by the system. Objects and obstacles
above the camera are not displayed.
Parking systems
-Camera lenses enlarge and distort the field
of vision. The objects appear both altered
and inexact on the screen .
(D Note
-Always read and follow the applicable warn­
ings
~ CD in General information on
page 124.
- The Infotainment display shows the direc­
tion in which the rear of the vehicle is travel­ ing based on the steering wheel angle. The
front of the vehicle swings out more than
the rear of the vehicle . Maintain plenty of
distance so that an exterior mirror or a cor­
ner of the vehicle does not collide with any
obstacles.
(D Tips
If the 8/fl;!J/c::5 symbol appears in the dis­
play and the respective display area is grayed
out, then the power exterior mirrors were
folded in or the driver's door/front passeng­
er's door/luggage compartment lid was
opened.
Switching on/off
Applies to: vehicles with peripheral cameras
-----------
' :_~ '.!! _:-,~~
~ !i'! .. ' !J -,1~ ===:.===. ,
Fig. 129 Center console: button P.a
Fig. 130 In fo tai nment syste m: select the mode
129

Parking sy stem s
The new ly selected level is demonstrated briefly
by the sound generator .
View * -switch betwee n an optical d isp lay
(Graphi c) and camera image (Camera ) in the
right area o f the disp lay .
Tr ail er view * -show trailer view
Auto . front /rear camer a change * -the view be­
h ind the veh icle
( Rear mode) is displayed auto­
mat ica lly when you shift into reverse gear . The
view in front of the vehicle
( Fr ont mode) is d is­
p layed automatically whe n you shift into t he for­
ward gea rs. When first activating in a forwar d
gear with the P"'~ button, the front s ide v iew is
disp lay ed
(Co rner view (front) mode).
If yo u do not se t the./, th e view behind the vehi ­
cle
( Re ar mode) is a lways d isplayed and it does
not switch to the
F ront mode when a forward
gear is selected .
{D Tips
-Seve ral menus can be accessed w ith the
right contro l button only when the park ing
aid is active.
- T he volume settings are a utomat ica lly stor­
ed and ass igned to the remote cont ro l key
that is being used.
Error messages
Applies to: vehicles with a rear parking system/parking sys­
tem plus/rearview camera/peripheral cameras
Ill Rear parking aid : malfunction! Ob stacle s
c annot be d etected
Ill Front parking aid : malfunction! Obstacles
cann ot be d etected
Ill Parking aid: mal funct ion! Obstacles cannot
be d etected
When one of these messages appears, there is a
system ma lf u nction. The LED in the P
11.A. button a l­
so blinks when switching it on. The relevant mes­
sage only appears again when you manua lly act i­
vate the parking aid w it h the button .
Ill Rear pa rki ng a id: obstacle detect ion restrict·
ed
132
The rear cross -traffic ass ist* is not ava ilable
¢ page 119 , Rear cross-traffic assist. Either the
ESC is switched off, or the radar sensors may be
covered by a b ike rack, st ickers, leaves, snow or
other objects . Switch the ESC on, or clean the
area in front of the sensors if necessary
¢ page 116, fig. 112 . If this message continues
to be displayed, dr ive immediately to a n author­
iz ed Audi dealer or author ized A udi Se rvice Fa cili­
ty to have the m alfu nction repaired.
Parking system plus*
If a sensor or speaker is faulty, the J¼ symbol
will appear in front of/behind the vehicle in the
Infotai nment system d isplay. If a rear sensor is
faulty, only obstacles that are in areas @and @
a re show n
¢page 125, fig. 119 . If a front senso r
is fau lty, only obsta cles tha t are in a reas © and
@ are shown.
Peripheral cameras*
There is a system malfunction if the % symbol
appears and the co rresponding area of the dis ­
play is show n in bl ack. The c amera is not wo rking
i n th is area.
D rive to an author ized A udi dealer or autho riz ed
A udi Se rvice Facil ity immed iate ly to have the
malfu nction cor rec ted .
Trailer hitch
Applies to: vehicles with a rear parking system/parking sys­
tem plus/rearview camera/peripheral cameras and trailer hitch
When the trailer soc ket is in use, th e parking sys­
tem rear sensors are not act ivated when you sh ift
i nto reverse gear or when you press the p,,1, but­
ton . Th is resu lts in the following restrict ions .
Rear parking system*
There is no distance warning.
Park ing system plus*
There is no distan ce warn ing for the rear. The
front senso rs remain activated. The visu al display
switches to trailer mode . ..,.