2020 AUDI S4 ESP

Driver assistance

— When a route is planned using the naviga-
tion system*, then system displays messag-
es based on an assumed route. Without
route guidance, the system displays mes-
sages based on an assumed route.
— The wording of the message may vary de-
pending on the selected Audi drive select*
mode and the selected gear. No messages
are displayed when in the "S" driving pro-
gram.
Predictive control
Applies to: vehicles with Audi adaptive cruise control and effi-
ciency assist
With predictive control, efficiency assist adapts
the set speed in adaptive cruise control @
=> page 128 based on detected speed limits and
the upcoming route. Once the system no longer
detects any incidents ahead, adaptive cruise con-
trol will accelerate back up to the last speed that
the driver set. After switching on the ignition, the
availability of predictive control is indicated by a
message when the adaptive cruise control is first
activated.
The displays depend on the vehicle equipment.
Requirements
— Adaptive cruise control is actively regulating
=> page 129.
— The system can only react to speed limits that
are 15 mph (20 km/h)2) or higher.
Overriding control
The driver can override the predictive control to
the route ahead at any time by pressing the ac-
celerator or brake pedal. If the system changes
the vehicle speed to adapt to speed limits, you
can change the speed using the lever
=> page 129, fig. 116.
Setting predictive control
You can switch off predictive control functions or
adjust them individually. The settings depend on
the vehicle equipment.

D_ This is not available in some countries.
2) Analog instrument cluster: 20 mph (30 km/h)
126
Applies to: MMI: Select on the home screen: VE-
HICLE > Driver assistance > Audi adaptive cruise
control > Predictive control.
Possible settings:
Set speed limit - Adjusts to speed limits. You can
also set With tolerance if desired. In this scenar-
io, you may fall below or exceed the set speed in
favor of increased efficiency.
Adjustment to curves along route - Regulates
based on the route ahead, for example by con-
trolling the speed at which the vehicle drives
through curves.
Messages
Ife and a message with Predictive control is
displayed when there is a malfunction, the effi-
ciency assist functions are unavailable or limited.
A message that indicates the cause and possible
solution may appear with some displays. The
weather conditions may be too poor or a sensor
may be covered. Clean the area in front of the
sensors > page 116 and try to turn on the sys-
tems again later.
If the malfunction remains, drive to an author-
ized Audi dealer or authorized Audi Service Facili-
ty immediately to have the malfunction correct-
ed.

ZX WARNING
— Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.
— Pay attention to traffic and the area around
your vehicle when predictive control is
switched on. The driver is always responsible
for assessing the traffic situation.
— The system does not consider “right of way”
rules and does not respond to traffic lights,
so lack of driver attention in these situations
can increase the risk of an accident.
— The speed when driving through curves may
be different from what you as a driver would
do or may not be suitable for the weather

8W1012721BB
Driver assistance


and road conditions. If necessary, apply the
brakes and reduce the selected speed to be
maintained in the Adjustment to curves
along route setting to reduce the risk of an

accident.

G) Tips
— Predictive control can exceed or drop below
the maximum permitted speed. The driver
is responsible for adhering to the permitted
speed limit.
— The traffic signs on the road always take pri-
ority over the display. The driver is always
responsible for adhering to the regulations
applicable in the country where the vehicle
is being operated.
— Ifa speed limit is detected, the marking @
= page 128 of the set speed limit will be ad-
justed even if Audi adaptive cruise control is
not actively regulating.
— Control by the system depends on which
adaptive cruise control driving program is
set or on the selected Audi drive select*
mode.
— After switching on the ignition and first
driving onto a freeway or similar road with-
out a speed limit, the system will regulate
the speed to 80 mph (130 km/h)). Then
the system adjusts to the last speed set by
the driver.
— There is no adaptation to speed limits when
driving through highway interchanges and
when driving on or off the expressway.
— The system can fail to provide control or the
control may be faulty if the values from the
camera-based traffic sign recognition” are
incorrect or the navigation system map data
is outdated.
— When route guidance is switched on, the
system adapts to the route provided by the
navigation system. Driving without route
guidance or leaving a route can result in
faulty control.

D_ In certain countries
Audi adaptive cruise
control
General information
Applies to: vehicles with Audi adaptive cruise control
Depending on vehicle equipment, Audi adaptive
cruise control may consist of the following func-
tions:
Within the limits of the system, the adaptive
speed
and distance control assists the driver in
controlling the speed and the set distance to the
vehicle driving ahead. If the system detects a ve-
hicle driving ahead, the adaptive cruise control
can brake and accelerate your vehicle within the
limits of the system. On open roads with no traf-
fic, it functions like a cruise control system. The
stored speed is maintained. When approaching a
vehicle driving ahead, the adaptive cruise control
system automatically brakes to match that vehi-
cle's speed and then maintains the set distance
as much as possible. As soon as the system does
not detect a vehicle driving ahead, adaptive
cruise control accelerates up to the stored speed.
In stop-and-go traffic, the vehicle may brake to a
full stop and then may also start driving again
automatically under certain conditions.
Applies to: vehicles with traffic jam assist: In
traffic jams or in stop-and-go traffic, the traffic
jam assist can assist the driver to stay within the
lane detected by the system > page 134.
Applies to: vehicles with efficiency assist: Predic-
tive control can adjust the set speed based on
traffic and road conditions > page 126.

ZA WARNING
Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.
G) Tips
For an explanation on conformity with the
FCC regulations in the United States and the
Industry Canada regulations, see > page 275.

127

Driver assistance



Limitat

Applies to: vehicles with Audi adaptive cruise control

B8V-0630
Fig. 111 Example: vehicle changing lanes and stationary
vehicle
B4M-0093


Fig. 112 Example: driving into a curve
In some situations, the adaptive cruise control
function is limited and you must assume control
of the vehicle when necessary, for example by ap-
plying the brakes.
— When driving into a curve > fig. 112 and out of
acurve, the system may react to a vehicle in the
neighboring lane and apply the brakes. You can
override the system by pressing the accelerator
pedal briefly.
— The system works with the various sensors and
cameras in the vehicle. Vehicles can only be de-
tected once they are within the area and range
covered by the sensors > page 115, fig. 104.
— When driving around tight curves, a vehicle
driving ahead that was previously detected may
no longer be detected, and the system may ac-
celerate unexpectedly.
— The system does not react to a stationary vehi-
cle in the same lane if it expects that you can
easily drive around the stationary vehicle by
turning the steering wheel.
128
— The system cannot react to stationary objects,
such as vehicles at the end of a traffic jam, es-
pecially when traveling at high speeds.
— The system has a limited ability to detect
vehicles that are a short distance ahead, off to
the side of your vehicle, or moving into your
lane.
— Objects that are difficult to detect, such as mo-
torcycles, vehicles with high ground clearance,
or vehicles with an overhanging load, may be
detected late or not detected at all.
— The system does not respond to people, ani-
mals, or objects that are crossing or approach-
ing from the opposite direction.

ZA\ WARNING
Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.



Fig. 114 Instrument cluster: driver assistance display
Indicator lights and messages in the speedome-
ter inform you about the driving situation
and the settings. In the Driver assistance display
(4) - @, you can find more detailed information
abour the system. The displays depend on the
country and equipment.

Driver assistance

You can set any speed between 15 mph
(20 km/h)» and the maximum possible speed
range @)?) > page 128, fig. 113.
Pausing cruise control
The control can be stopped at any time:
>» While driving or when the vehicle is stationary:
Press the lever away from you in the direction
of the arrow. Or
» While driving: Press the brake pedal.
The A indicator light turns off.
Resuming regulation
The previously set speed can be resumed at any
time after a pause.
> To resume cruise control while driving, pull the
lever toward you in the direction of the arrow.
> To resume cruise control when stationary, pull
the lever toward you in the direction of the ar-
row while pressing the brake pedal.
Changing the speed
> To increase or decrease the set speed in smaller
increments, briefly tap the lever toward @) or
© to the first level.
> To increase or decrease the set speed in larger
increments, briefly tap the lever toward (@) or
© to the second level.
> To increase or decrease the set speed quickly,
hold the lever toward () or () until the mark-
ing in the speedometer (@) > page 128, fig. 113
has reached the desired speed.
Applies to: vehicles with efficiency assist: Predic-
tive control can adjust the set speed automati-
cally based on traffic and road condi-
tions > page 126.
Preselecting a speed
You can also preselect the speed when adaptive
cruise control is not active by moving the lever in
the desired direction @)/(). Activate the previ-
ously selected speed by pulling the lever toward
you in the direction of the arrow.

D Analog instrument cluster: 20 mph (30 km/h)
2) Depends on the country and engine
130
Switching off
If you do not want to use the adaptive cruise con-
trol for a long period of time, you can switch it
off.
> Push the lever away from you into position ©)
until it clicks into place.
The indicator light and the set speed will turn off.

Z\ WARNING
— Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.
— The activated adaptive cruise control is only
an assist system, and the driver is still re-
sponsible for controlling the vehicle. The
driver is especially responsible for braking,
steering, starting to drive, and controlling
the speed and the distance from other
vehicles.
— Turn on the adaptive cruise control only if
the surrounding conditions permit it. Always
adapt your driving style to the current visu-
al, weather, road, and traffic conditions.
— Switch adaptive cruise control off temporari-
ly when driving in turning lanes, on express-
way exits or in construction zones. This pre-
vents the vehicle from accelerating to the
stored speed when in these situations.
— Ifyou press the [SETIQ) button when driving
at speeds below 15 mph (20 km/h)”, the
minimum possible speed that the system
can maintain will be set. If no vehicle is de-
tected ahead of you, the vehicle will acceler-
ate up to that speed.


(i) Tips
— Always keep your hands on the steering
wheel so you can be ready to steer at any
time. The driver is always responsible for
adhering to the regulations applicable in
the country where the vehicle is being oper-
ated.

8W1012721BB
Driver assistance

— If you switch the ignition or the adaptive
cruise control system off, the set speed is
erased for safety reasons.
— When adaptive cruise control is switched
on, the ESC and ASR automatically switch
on.
— The system cannot be switched off or it may
be interrupted if the road exceeds the maxi-
mum possible grade for safe operation.
Setting the distance
Applies to: vehicles with Audi adaptive cruise control

B4M-0234


Fig. 117 Operating lever: setting the distance
If you adjust the speed, you must also change the
time gap to the vehicle driving ahead. The higher
the speed, the greater the distance that is need-
ed.
> Tap the rocker switch to display the distance
that is currently set.
> To increase or decrease the distance in incre-
ments, tap the switch again toward @) or G).
The newly-set distance will be shown briefly, for
example with the indicator light. In the Driv-
er assistance display, a graphic display is shown
instead of the indicator lights > page 128,
fig. 114. The display matches the functions of
the indicator lights.
When approaching a vehicle driving ahead, the
adaptive cruise control system brakes to match
that vehicle's speed and then adjusts to the set
distance. If the vehicle driving ahead accelerates,
then the adaptive cruise control will accelerate
up to the speed that you have set.
The following distances can be set:

Meaning

The time between is approximately 1
eee second. This setting corresponds toa
= distance of approximately 92 feet (28
m) when traveling at 62 mph (100
km/h).
The time between is approximately 1.3
seconds. This setting corresponds toa
distance of approximately 118 feet (36
m) when traveling at 62 mph (100
km/h).
The time between is approximately 1.8
seconds. This setting meets the general
recommendation of “half the speed
shown on the speedometer”. This cor-
responds to a distance of approximate-
ly 164 feet (SO m) when traveling at
62 mph (100 km/h).
The time between is approximately 2.4
seconds. This setting corresponds to a
distance of approximately 219 feet
(67 m) when traveling at 62 mph (100
km/h).
The time between is approximately 3.6
seconds. This setting corresponds toa
distance of approximately 328 feet
(100 m) when traveling at 62 mph (100
km/h).
i)
1D



Z\ WARNING
Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.

G@) Tips
— When setting the distance, the driver is re-
sponsible for adhering to any applicable le-
gal regulations.
— Depending on the selected driving program
and distance, driving behavior when acceler-
ating may vary from moderate to sporty
=> page 133, Adjusting adaptive cruise con-
trol.
— The distances provided are specified values.
Depending on the driving situation and how
the vehicle ahead is driving, the actual >
131

8W1012721BB
Driver assistance

B - Traffic jam assist switches off if the driver
does not take over steering after multiple driver
intervention requests. The system brakes the ve-
hicle until it is stationary.
Steering intervention request
If no steering activity is detected or the steering
power from the system is not sufficient, the driv-
er steering intervention request will alert the
driver using audio and visual signals. Take over
the steering and keep your hands on the steering
wheel so that you will be ready to steer at any
time.
If the driver does not take over steering, adaptive
cruise control (with traffic jam assist) will be
switched off. The system brakes the vehicle until
it is stationary.*

ZA WARNING
— Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras © page 114.
— The activated traffic jam assist is only an as-
sist system, and the driver is still responsi-
ble for controlling the vehicle. The driver is
especially responsible for braking, steering,
starting to drive, and controlling the speed
and the distance from other vehicles.
— Turn on the traffic jam assist only if the sur-
rounding conditions permit it. Always adapt
your driving style to the current visual,
weather, road, and traffic conditions.
— Switch the traffic jam assist off temporarily
when driving in turning lanes or highway ex-
its. This prevents the vehicle from accelerat-
ing to the stored speed when in these situa-
tions.

G) Tips
— Always keep your hands on the steering
wheel. The driver is always responsible for
adhering to the regulations applicable in
the country where the vehicle is being oper-
ated.
— Pay attention to applicable local regulations
relating to driving tasks, leaving space for
emergency vehicles, etc. The driver is always
responsible for following the laws that are
applicable in the location where the vehicle
is being operated.
— If traffic jam assist was deactivated through
the MMI, you can continue operating the
Audi active lane assist using the > fig. 121
button > page 137. The traffic jam assist
functions are no longer available.
— You are not necessarily guided to the center
of your lane.
Messages
Applies to: vehicles with traffic jam assist
If or |i is displayed when there is a mal-
function, the traffic jam assist functions may be
unavailable or may be limited.
A message that indicates the cause and possible
solution may appear with some displays. The
weather conditions may be too poor or a sensor
may be covered. Clean the area in front of the
sensors > page 116, fig. 106 and try to turn on
the systems again later.
If the malfunction remains, drive to an author-
ized Audi dealer or authorized Audi Service Facili-
ty immediately to have the malfunction correct-
ed.
135

Driver assistance

Distance warning
Applies to: vehicles with distance warning
S| iS 9] nN ‘|
ja

Applies to: vehicles with adaptive cruise control:
Fig. 122 Instrument cluster: display of the current dis-
tance
RAZ-0400

Applies to: vehicles with Audi adaptive cruise control
Fig. 123 Instrument cluster: distance warning
General information
At speeds above approximately 40 mph (65
km/h), this function measures the distance to the
vehicle ahead as time. If the distance falls below
the warning threshold and remains there, the
system will warn you of the hazard with the BB
indicator light.
Image in the Driver assistance display
Applies to: vehicles with Audi adaptive cruise control
The display only appears if the Driver assistance
display is selected in the on-board computer
= page 15 and the adaptive cruise control is not
actively controlling the vehicle.
@ Detected vehicle driving ahead
@ Use the markings to help you estimate the
distance to an obstacle. Each marking repre-
sents approximately one second.
@®) Set warning threshold. Depending on the set-
tings, the display will be colored in from the
bottom to the top.
136
@ The actual distance is smaller than the set
distance and you will be informed about the
danger.
Adjusting the distance warning
The system can be switched on or off in the MMI
and you can customize the distance warning
threshold. The settings depend on the vehicle
equipment.
— Applies to: MMI: Select on the home screen:
VEHICLE > Driver assistance > Distance warn-
ing.
Messages
ir °
tion, the distance warning functions may be un-
available or may be limited.

is displayed when there is a malfunc-
A message that indicates the cause and possible
solution may appear with some displays. The
weather conditions may be too poor or a sensor
may be covered. Clean the area in front of the
sensors > page 116 and try to turn on the sys-
tems again later.
If the malfunction remains, drive to an author-
ized Audi dealer or authorized Audi Service Facili-
ty immediately to have the malfunction correct-
ed.

ZA WARNING
Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.

Gi) Tips
— The driver is always responsible for adhering
to the regulations applicable in the country
where the vehicle is being operated.
— You may fall below the warning threshold
briefly when passing or when quickly ap-
proaching a vehicle driving ahead. There is
no warning in this scenario. A warning is giv-
en only if you fall below the warning thresh-
old for an extended period of time.

Driver assistance

Steering intervention request
If no steering activity is detected or the steering
power from the system is not sufficient, the driv-
er steering intervention request will alert the
driver using audio and visual signals. Take over
the steering and keep your hands on the steering
wheel so that you will be ready to steer at any
time. The system may no longer be ready to pro-
vide warnings after a short time, and it will only
become active again later.
If the driver takes over steering, active lane assist
will be switched off.
Behavior when a turn signal is active
Applies to: vehicles with side assist: The system
will not warn you if you activate a turn signal be-
fore crossing the lane marker line. In this case, it
assumes that you are changing lanes intentional-
ly.
Applies to: vehicles with side assist: If the side
assist system classifies a lane change as critical
due to other vehicles traveling with your vehicle
or approaching your vehicle when your turn sig-
nal is activated, there will be a noticeable steer-
ing correction shortly before your vehicle leaves
the lane. This will attempt to keep your vehicle in
the lane.

ZX WARNING
— Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.
— The system warns the driver that the vehicle
is leaving the lane using corrective steering.
The driver is always responsible for keeping
the vehicle within the lane.
— Corrective steering may not occur at all in
certain situations, such as during heavy
braking. Always be ready to intervene.

G) Tips
— Always keep your hands on the steering
wheel so you can be ready to steer at any
time. The driver is always responsible for

YD In certain countries
138
adhering to the regulations applicable in
the country where the vehicle is being oper-
ated.
— The system does not provide any corrective
steering or steering wheel vibrations if it de-
tects that you are passing another vehicle.
— The image in the Driver assistance display
only appears if it was opened in the on-
board computer = page 15.
Scare Le melal
Applies to: vehicles with Audi active lane assist

B8V-0692


Fig. 125 Turn signal lever: switching Audi active lane assist
on and off
Active lane assist switches on automatically as
soon as the ignition is switched on )).
> To switch the system on or off, press the button
=> fig. 125. The respective indicator light in the
instrument cluster will turn off or on.

ZA\ WARNING
Follow the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 114.
Adjusting Audi active lane assist
Applies to: vehicles with Audi active lane assist


You can adjust active lane assist individually. The
settings depend on the vehicle equipment.
> Applies to: MMI: Select on the home screen:
VEHICLE > Driver assistance > Audi active lane
assist
Possible settings: