2021 AUDI A4 wheel

8W1012721BC
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, such as
or E. 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
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras page 117.
— 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.

@) 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. 115
button > page 141. 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 119 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.
139

8W1012721BC
Driver assistance

Audi active lane assist/
lane departure warning
General information
Applies to: vehicles with Audi active lane assist
The Audi active lane assist/lane departure warn-
ing (called only Audi active lane assist in the vehi-
cle displays and in the information that follows in
this Owner's Manual) can detect lane marker
lines within the limits of the system. If you are
approaching a detected lane marker and it ap-
pears likely that you will leave the lane, the sys-
tem can warn you with corrective steering anda
steering wheel vibration, if necessary.

Applies to: vehicles with Audi active lane assist

Fig. 118 Instrument cluster: driver assistance display
The system functions in the speed range of ap-
proximately 40 mph - 155 mph (65 km/h -
250 km/h).
Applies to: vehicles with Audi adaptive cruise control and traf-
fic jam assist
If the conditions are met, traffic jam assist
switches on at speeds under approximately
40 mph (65 km/h) > page 138.

Z\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.

Display and warning
The availability, readiness to provide warnings,
and the warnings are indicated with indicator
lights. Audi active lane assist is ready to provide
warnings if an object is detected on at least one
side of the lane where your vehicle is traveling.




Driver assistance Indicator lights Meaning
display Audi virtual | Instrument
cockpit cluster (analog)
@ White 71% 7% Audi active lane assist is activated, but is not
lines ready to provide warnings.
@ Green ex 7\ Audi active lane assist is activated and ready to
line(s) provide warnings.
@ Red 7X 7 \ Blinking Audi active lane assist will warn you with correc-
line tive steering before exiting the lane. If the system
must intervene for a long period of time, a mes-
sage will request the driver to drive in the center
of the lane. The steering wheel will also vibrate
lightly when exiting the lane.

If the system is switched on but is not ready to
provide warnings, one of the following systems
limits or situations could be the cause:
— The necessary lane marker lines have not been
detected (for example, in a construction zone
or because the lines are obstructed by snow,
dirt, water, or lighting)
— The speed is below the activation speed
— The lane is too narrow or too wide
— The curve is too narrow
— The driver's hands are not on the steering
wheel
— Visibility is obstructed by a rise or dip.
141

Driver assistance

Steering intervention request
If Audi active lane assist intervenes multiple
times when no steering activity is detected, the
steering intervention request will provide a warn-
ing using audio and visual signals, such as BE.
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 provide warnings after a short time, and
it will only become active again later.
If the driver does not take over steering, Audi ac-
tive 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 turn
signal is activated, Audi active lane assist is
ready, and a lane change has been classified as
critical by lane assist due to vehicles traveling be-
side you or due to approaching vehicles, then a
noticeable corrective steering movement will oc-
cur briefly before exiting the lane. This will at-
tempt to keep your vehicle in the lane.

ZX WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— 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
adhering to the regulations applicable in
the country where the vehicle is being oper-
ated.
142
— 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 16.
Scale Rie mela
Applies to: vehicles with Audi active lane assist

B8V-0692


Fig. 119 Turn signal lever: button for Audi active lane as-
sist
> To switch the system on or off, press the button
on the turn signal lever > fig. 119. The respec-
tive indicator light in the instrument cluster
will turn off or on.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
Adjusting Audi active lane assist
Applies to: vehicles with Audi active lane assist

You can adjust Audi 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/Lane departure warning.
Possible settings:
— Steering correction - In the Late setting, the
steering correction will only occur shortly be-
fore a wheel crosses a detected lane marker
line. In the Early setting, steering correction
occurs continuously in order to help the driver
keep the vehicle in the center of the lane. If the >

8W1012721BC
Driver assistance

steering correction cannot be set, the steering
correction will function in the Late setting.
— Vibration warning - You can select if you would
also like to be warned using a vibration in the
steering wheel.
@) Tips
Certain settings are automatically stored and
assigned to the remote control key being
used.
Applies to: vehicles with Audi active lane assist
iff or is displayed when there is a malfunc-
tion, the active lane assist functions may be un-
available or limited.
A message that indicates the cause and possible
solution may appear with some displays. The
weather conditions may be too poor or the cam-
era may be covered. Clean the area in front of the
camera > page 119 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.
Audi pre sense
Introduction
Applies to: vehicles with Audi pre sense
Within the limits of the system, the Audi pre
sense functions can initiate measures in certain
driving situations to protect the vehicle occu-
pants and other road users. Depending on the ve-
hicle equipment, various Audi pre sense systems
may
be installed:
— Audi pre sense basic can react during emergen-
cy and dangerous braking maneuvers and un-
stable driving situations (such as oversteering
or understeering).
— Audi pre sense city and Audi pre sense front
can detect an impending frontal impact and re-
act with warnings, braking interventions, and
preemptive safety measures for the vehicle oc-
cupants.
— Audi pre sense rear monitors the rear traffic
behind your vehicle and can react to an impend-
ing rear impact.
— The swerve assist can help you to steer the ve-
hicle around an obstacle during an evasive ma-
neuver that is detected as critical.
— The turn assist can detect vehicles in the oppo-
site lane as critical during a turning maneuver
and react with braking maneuvers.
Audi pre sense safety measures
Applies to: vehicles with Audi pre sense
Depending on the vehicle speed and the vehicle
equipment, the following functions may be initi-
ated in certain situations:
— Visual and audio warnings
— Reversible tensioning of safety belts
— Closing the windows and panoramic glass roof
— Adjusting the seats
— Other preemptive safety measures by individual
systems

ZA\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
G) Tips
— Depending on the risk situation that is de-
tected and the selected Audi drive select*
mode, not all preemptive safety measures
may be initiated under certain circumstan-
ces. Certain functions can be adjusted or
skipped if necessary.
— Audi pre sense may also be limited or un-
available under certain circumstances, for
example if:

— There are passengers with unfastened
safety belts
— After turning on the ignition, as long as
the FJ or indicator light is on.
— When driving in reverse.
— The front passenger's airbag is switched
off
— There is an airbag control module mal-
function

143

8W1012721BC
Driver assistance


increased safety provided tempt you into
taking risks. This could increase your risk of
a collision.
— Audi pre sense city does not react to certain
objects, such as animals, crossing or oncom-
ing vehicles, bars, railings, or railcars.
— Audi pre sense may be limited or unavailable
in curves or when it is dark.
— Loose objects can be thrown around the ve-
hicle interior during sudden driving or brak-
ing maneuvers, which increases the risk of
an accident. Store objects securely while

driving.

G) Tips
Certain system functions may not be available
if the ESC is limited or switched off
=> page 114, if there is a malfunction, or if the
hill hold assist* is switched on > page 108.
ON eee Reels
Applies to: vehicles with Audi pre sense front
Audi pre sense front provides the same scope of
functions as Audi pre sense city, with a few ex-
ceptions > page 144. The system has an exten-
sive field of view due to additional sensors that
are installed. Because of this, vehicles that are
braking or traveling significantly more slowly can
be detected earlier and more clearly, depending
on the limits of the system.
The following features apply to Audi pre sense
front:
— Automatic braking interventions are available
at vehicle speeds up to approximately 155 mph
(250 km/h)
—The system does not detect pedestrians

ZA WARNING
— Observe the safety precautions > A\ in Audi
pre sense city on page 144.
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— Audi pre sense front does not react to cer-
tain objects, such as pedestrians, animals,

crossing or oncoming vehicles, bars, railings,
or railcars.
ONT eee
Applies to: vehicles with Audi pre sense rear

Within the limits of the system, Audi pre sense
rear uses data from radar sensors at the rear cor-
ners of the vehicle and calculates the probability
of a rear-end collision with the vehicle behind
you.
Audi pre sense preemptive safety measures can
be initiated if the risk of a collision with the vehi-
cle behind you is detected.

ZA WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— Audi pre sense rear does not react to pedes-
trians, animals, crossing objects, and ob-
jects not detected as vehicles.
G) Tips
Audi pre sense rear functions may also switch
off if there is a malfunction in the side assist
system.
Rati
Applies to: vehicles with swerve assist

The swerve assist can help you to steer the vehi-
cle around an obstacle detected in a critical area.
If you avoid an obstacle after the acute warning,
then the swerve assist assists you by applying
slight steering adjustment to correct your steer-
ing wheel angle as long as you are actively steer-
ing. Swerve assist is available at speeds between
approximately 20 mph (30 km/h) and 90 mph
(150 km/h).

ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and

cameras > page 117. >

145

8W1012721BC
Parking and maneuvering


ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and

cameras > page 117.
Activating and deactivating
Applies to: vehicles with rearview camera/peripheral cameras

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Fig. 126 Center console: parking aid button
Activating and deactivating
> Press the P4 button in the center console.
When activating, a brief tone will sound and
the LED in the button will turn on. Or
> Press CJ in the center display if the visual dis-
tance indicator is shown > page 151, fig. 124.
The system can be activated at low speeds, such
when maneuvering.
Automatic activation
The system activates automatically when reverse
gear is engaged while the engine is running. A
brief tone will sound.
Automatic deactivation
The system will deactivate automatically once
the vehicle exceeds a certain speed while driving
forward.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.


(ead a)
Applies to: vehicles with rearview camera/peripheral cameras
Depending on vehicle equipment, you may be
able to manually initiate rear view camera clean-
ing.
> Move the window wiper lever S7 into the posi-
tion for cleaning the rear window © & page 58.

ZA\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
Applies to: vehicles with rearview camera/peripheral cameras


Fig. 127 Center display: aiming at a parking spot
When parking with the rearview camera or pe-
ripheral camera, the parking aid plus audio and
visual warnings* will also assist you > page 151.
Visual orientation lines
@ The orange orientation lines show the vehi-
cle's direction of travel >@. Turn the steer-
ing wheel until the orange orientation lines
align with the parking space.
@ You can use the horizontal blue markings to
help you estimate the distance to an obsta-
cle. Each marking represents approximately 3
feet (1 meter). The blue area represents an
extension of the vehicle's outline by approxi-
mately 16 feet (5 meters) to the rear.
@® You can recognize the rear bumper in the
lower display.
@ You should stop driving in reverse when the
red orientation line touches the edge of an
object, at the latest.
153

Parking and maneuvering

Symbols
Applies to: vehicles with peripheral cameras
If 2/€9/< is displayed and the display area
represented by that symbol is not available, then
the camera on the that side is not available. The
power exterior mirrors may have been folded in
or a door or the luggage compartment lid may
have been opened.
If # is displayed, there is a system malfunction
and the display area represented by that symbol
is not available. The camera is not working in this
area.
If one of the symbols continues to be displayed,
drive immediately to an authorized Audi dealer or
authorized Audi Service Facility to have the mal-
function repaired.

Objects, animals, and people may only be
detected with limitations may not be detect-
ed at all. Always monitor the traffic and the
vehicle's surroundings directly and do not
become distracted.


ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— Sensors and cameras have spots in which

the surrounding area cannot be detected.

C) Note
— The orange orientation lines @) show the di-
rection the rear of the vehicle will be 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.
— Keep enough distance from the curb to
avoid damage to the rims.
— Only use the images provided by the camera
on the rear of the vehicle when the luggage
compartment lid is completely closed. Make
sure any objects you may have mounted on
the luggage compartment lid do not block
the rearview camera.
Operating the peripheral cameras
Applies to: vehicles with peripheral cameras

Fig. 128 Center display: peripheral cameras.
On vehicles with peripheral cameras, you can se-
lect among different views.
Selecting the views
> To display the entire selection bar, tap the cur-
rent view (d) or swipe at the edge of the selec-
tion bar from left to right.

2 Requirement: The vehicle surroundings (Camera) must be
selected in the View in the side area.
154
> To select a view, press (2) - ) in the center dis-
play or tap in an area to show the vehicle in the
side view ).
Selecting a view in the side area
The vehicle surroundings are shown in the side
area of the display. You can switch between a vis-
ual display (Graphic) and the vehicle surround-
ings (Camera).

> Select |--] > View in the center display when the
parking aid is active.

8W1012721BC
Parking and maneuvering


Symbol/Descrip-
tion
Description

Front corner
or Display selection
This view makes it easier to drive out of tight parking spaces or areas and
intersections with poor visibility. It shows an almost 180° panorama view

bar in front of the vehicle.
Front This view assists you in using the full area for maneuvering in front of the
vehicle.
This view helps you to maneuver and position the vehicle more precisely.
Surroundings _ |The area around the vehicle is shown using the camera images. The vehi-
cle image is shown by the system > A\.
Réae This view assists you in using the full area for maneuvering behind the ve-
hicle. This is the rearview camera image.

Rear corner
This view can assist you when driving out of tight parking spaces or areas
with poor visibility. It shows an almost 180° panorama view behind the
vehicle.

Front tires
This view helps you to see the distance between the front tires and the
curb and the steering wheel angle when parking.

G;/@}
©
|O|}
©
|/@]
©
Rear tires
This view helps you to detect the distance between the rear wheels and
the curb when parking.

Steering wheel an-
gle
The red lines represent the estimated direction of travel based on the
steering wheel angle >@.



ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— The Surroundings view is created from the
individual camera images. The vehicle image
is shown by the system. Objects and obsta-
cles above the camera are not displayed.

@) Note
— Only use the images provided by the camera
on the rear of the vehicle when the luggage
compartment lid is completely closed. Make
sure any objects you may have mounted on
the luggage compartment lid do not block
the rearview camera.
— 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
corner of the vehicle does not collide with
any obstacles.
(@) Tips
— Depending on the selected gear, it will auto-
matically switch between the Front and
Rear views. If you switch the view manually,
the automatic front/rear camera change will
be temporarily deactivated.
— When first activated while a forward gear is
engaged, the Front corner is displayed.
155