2021 AUDI A4 automatic

8W1012721BC
Driver assistance

Driver assistance
Cruise control system
Applies to: vehicles with cruise control system
The cruise control system assists the driver in
maintaining a constant speed above approxi-
mately 15 mph (20 km/h). The system maintains
the desired speed by braking and accelerating.

ZA WARNING
— Always pay attention to the traffic around
your vehicle when the cruise control system
is in operation. As the driver, you are always
responsible for controlling your vehicle
speed and the distance between your vehicle
and
other vehicles.
— For safety reasons, cruise control should not
be used in the city, in stop-and-go traffic, on
winding roads, and when road conditions are
poor (such as ice, fog, gravel, heavy rain,
and conditions that could lead to hydroplan-
ing), because this increases the risk of an ac-
cident.
— Switch the cruise control off temporarily
when driving in turning lanes, highway exits,
or in construction zones.
—To reduce the risk of an accident, you should
only resume the stored speed if it is suitable
for the current traffic conditions.

() Note
Before driving downhill a long distance ona
steep hill, decrease your speed and select a
lower gear. This makes use of the engine brak-
ing effect and reduces the load placed on the
brakes.
@ Tips
The brake lights turn on when the brakes are
applied automatically.
Switching the system on
Applies to: vehicles with cruise control system

BFV-0220



Fig. 105 Operating lever: switching the system on
Requirement: the ignition must be switched on.
> To switch the system on, pull the lever toward
you to position ©.
The Gia or i$) indicator light and the corre-
sponding message will appear in the instrument
cluster.

ZA\ WARNING
If the brakes are malfunctioning (for example,
overheating) while the cruise control system
is switched on, the regulating functions may
shut off automatically.



estate Rem lad lite: Rag ena)
speed
Applies to: vehicles with cruise control system
When the vehicle is stationary, you can preselect
the cruise control speed or activate the speed
while driving.
Requirement: the system must be switched on.
> To preselect a cruise control speed when the ve-
hicle is stationary, tap the lever toward @)/G)
=> page 127, fig. 105.
> To activate the cruise control speed, pull the
lever
toward position @ while driving.
> To set the current driving speed as the cruise
control speed, press the button @) on the lever.
The active cruise control speed is indicated with
the Gg or kl indicator light in the instrument
cluster. >
127

8W1012721BC
Driver assistance

Situation symbols
Depending on vehicle equipment, the following
symbols may be shown. The symbols indicate the
situation to which the efficiency assist is respond-
ing.
Some symbols only appear if Predictive messag-
es are switched on, and some symbols only ap-
pear if Predictive control is switched on and Audi
adaptive cruise control” is actively regulating the
vehicle.


Symbol |Description

Slow down
(predictive messages only)
Adjustment to curves along route
(predictive control only) Additional
symbols are shown in the Driver as-
sistance display.
Speed limit
Speed limit
Exit ahead
Intersection ahead
Traffic circle ahead
(predictive control only) If the indica-
tor light turns on in green and red, it
is indicating that there is a difference
between the speed limit and the set
speed.

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

@ Tips
— The functions depend on the navigation da-
ta* being up-to-date and correct identifica-
tion by the traffic sign recognition*.
— The system only detects traffic signs that
specify a speed limit.
— The display in the instrument cluster is
based on the units of measurement used for
speed in the country where the vehicle is be-
ing operated. As a result, a display of 50 in
the instrument cluster can mean either
km/h or mph, depending on the country.
— Except for the road network, which is re-
corded in the navigation system’s map infor-
mation, certain functions may not be availa-
ble.
— Certain settings are automatically stored
and assigned to the remote control key be-
ing used.
Predictive messages
Applies to: vehicles with efficiency assist
The symbol BS appears in the instrument cluster
display if efficiency assist recommends removing
your foot from the accelerator pedal.
Additional symbols that indicate the situation to
which the efficiency assist is reacting are shown
in the Driver assistance display > page 129, Sit-
uation symbols.
Requirements
— The cruise control system* or Audi adaptive
cruise control* must not be actively regulating.
— The vehicle speed must be at least 20 mph
(30 km/h).
— The remaining distance until the situation is
reached must be large enough to allow the sys-
tem to react to the situation.
— The automatic transmission is not in the “S”
driving program.
Switching messages on and off
You can switch the system off or on. The adjust-
ment options depend on the vehicle equipment.
Applies to: MMI: Select on the home screen: VE-
HICLE > (Charging & Efficiency) > Efficiency as-
sist > Predictive messages.

Z\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— Pay attention to traffic and the area around
your vehicle when efficiency assist is >

129

Driver assistance


switched on. The driver is always responsible
for assessing the traffic situation.
@ Tips
— 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.
— 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.

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
130
jam assist can assist the driver to stay within the
lane detected by the system > page 138.
Applies to: vehicles with efficiency assist: Predic-
tive control can adjust the set speed based on
traffic and road conditions > page 133.

Z\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
@) Tips
The system complies with United States FCC
regulations and ISED regulations > page 284.

Applies to: vehicles with Audi adaptive cruise control



Fig. 106 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. 106 and out of
a curve, 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 118, fig. 99.
— 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.

8W1012721BC
Driver assistance

— The system does not react to a stationary vehi- @ - @, you can find more detailed information
cle in the same lane if it expects that you can about the system. The displays depend on the
easily drive around the stationary vehicle by country and equipment.
turning the steering wheel.
— The system cannot react to stationary objects, Display th thespeedsmeter
such as vehicles at the end of a traffic jam, es- @ Marking for the set speed
pecially when traveling at high speeds. @ Current vehicle speed
— The system has a limited ability to detect © Available speed range for the adaptive cruise
vehicles that are a short distance ahead, off to control (example)
the side of your vehicle, or moving into your
iane: Image in the Driver assistance display
— Objects that are difficult to detect, such as mo- The display only appears when the Driver assis-
torcycles, vehicles with high ground clearance, tance display is open in the on-board computer
or vehicles with an overhanging load, may be > page 16.
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.
Messages and settings
Detected vehicle driving ahead
Set target distance
If you fall below the set distance, the dis-
tance bars turn red from the bottom upward.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117. Your
vehicle
Availability of Audi active lane assist
©O©©OQ®
COG®
Availability of traffic jam assist


Indicator lights
BI alo A - The speed/distance control is active. No
Applies to: vehicles with Audi adaptive cruise control

vehicles were detected ahead. The stored speed
is maintained.
RAZ-0205. a - The speed/distance control is active. A vehi-
cle was detected ahead. The system controls the
speed and distance from the vehicle driving
ahead, and accelerates and brakes automatically.
A - The speed/distance control is active but the
vehicle is not ready to drive. A vehicle was de-
tected ahead. Your vehicle is stationary and will
not start driving automatically. BI 3 9) nN | fac B - The speed/distance control is active but the
vehicle is not ready to drive. No vehicles were de-
tected ahead. Your vehicle is stationary and will
not start driving automatically.
aA - The automatic braking is not enough to
maintain a sufficient distance from a vehicle driv-
Fig. 108 Instrument cluster: driver assistance display ing ahead. You must intervene > page 137, Driv-
er intervention request. >

Indicator lights and messages in the speedome-
ter @ -@ inform you about the driving situation
and the settings. In the Driver assistance display
131

Driver assistance


ZA\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
Operating Audi adaptive cruise control
Applies to: vehicles with Audi adaptive cruise control


RAZ-0096

B4M-0232



Fig. 110 Operating lever: changing the speed
Switching on
> To switch on the adaptive cruise control, pull
the lever up to position @ until it engages.
Storing the speed and activating regulation
If you have switched the system on, you can set
the current speed as the “regulated speed” and
activate regulation:

> Press the [SET] button (2). The set speed is indi-
cated with a marking in the speedometer (@)
=> page 131, fig. 107 and shown in the instru-
ment cluster > A\.
> To save the speed while the vehicle is station-
ary, also hold the brake pedal down.


D_ Analog instrument cluster: 20 mph (30 km/h)
2) Depends on the country and engine
132
You can set any speed between 15 mph
(20 km/h)» and the maximum possible speed
range @)?) > page 131, fig. 107.
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 Ba 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 G) 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 131, fig. 107
has reached the desired speed.
Applies to: vehicles with efficiency assist: Predic-
tive control can automatically adjust the set
speed based on traffic and road condi-
tions > page 133.
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.

8W1012721BC
Driver assistance

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
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— 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.
— If you press the [SET] button @) when driv-
ing at speeds below 15 mph (20 km/h)»,
the minimum possible speed that the sys-
tem can maintain will be set. If no vehicle is
detected ahead of you, the vehicle will accel-



erate 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.

) Analog instrument cluster: 20 mph (30 km/h)
— 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.
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 131, fig. 107 based on detected speed
limits and the upcoming route. Once the system
no longer detects any incidents ahead, adaptive
cruise control 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.
Incident symbols indicate the situation to which
predictive control is reacting > page 129, Situa-
tion symbols.
Requirements
— Predictive control is switched on in the MMI
=> page 137.
— Adaptive cruise control is actively regulating
=> page 132.
— The system can only react to speed limits that
are 15 mph (20 km/h)” 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 132, fig. 110.
133

8W1012721BC
Driver assistance

This may also occur in some situations when
there is no apparent obstacle.
> Press the brake pedal to slow your vehicle
down.

ZA WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 117.
— If the message B& ready to drive!) appears,
your vehicle will start driving even if there is
an obstacle between your vehicle and the ve-
hicle ahead. To reduce the risk of an acci-
dent, always make sure there are no obsta-
cles between your vehicle and the vehicle

driving ahead.
@ Tips
For safety reasons, the adaptive cruise control
will only be active if
—The driver's safety belt is fastened
— All doors and the hood are closed
— Your vehicle is not stopped for a long period
of time
Driver intervention request
Applies to: vehicles with Audi adaptive cruise control

al 3 3
S| | S| ee|

Fig. 114 Instrument cluster: request for driver interven-
tion
The request for driver intervention instructs you
to take over if the adaptive cruise control braking
function is not able to maintain a sufficient dis-
tance to the vehicle driving ahead. The system
will warn you of the hazard with the A indicator
light and the message Distance!. An audio signal
will also sound.

D_ This is not available in some countries.
The display @ only appears when the Driver as-
sistance display is open in the on-board comput-
er > page 16.

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

Adjusting adaptive cruise control
Applies to: vehicles with Audi adaptive cruise control

You can adjust the system individually. The set-
tings depend on the vehicle equipment.
> Applies to: MMI: Select on the home screen:
VEHICLE > Driver assistance > Audi adaptive
cruise control.
Possible settings:
Applies to: vehicles without Audi drive select
Driving program - Depending on the selected
driving program and distance, the vehicle han-
dling will be adjusted from Sport to Moderate.
Applies to: vehicles with Audi drive select
Vehicle handling will be adjusted based on the
set distance and the selected Audi drive select
mode > page 110.
Store last distance - The last distance that was
set will be stored after the ignition is switched
off. If the distance is not stored, distance B
(time distance of approximately 1.8 seconds) is
automatically preset every time the ignition is
switched on.
Predictive control > Set speed limit - adaptation
to speed limits can be switched On or Off. Regu-
lation With tolerance can also be selected, if de-
sired. In this scenario, you may fall below or ex-
ceed the set speed in favor of increased efficien-
cy.
Predictive control > Adjustment to curves along
route - Adjustment based on the road ahead can
be adjusted. The setting influences vehicle
137

Driver assistance

handling with predictive control, for example the
speed for driving through curves.
@) Tips
Certain settings are automatically stored and
assigned to the remote control key being
used.
Applies to: vehicles with Audi adaptive cruise control
If or is displayed when there is a mal-
function, the adaptive cruise control or 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.
Please take over!

This message appears if the vehicle rolls back
when starting on a slight incline, even though the
systems are active. Press the brake pedal to pre-
vent the vehicle from rolling or starting to move.
Traffic jam assist
Applies to: vehicles with traffic jam assist

B8V-0692


Fig. 115 Turn signal lever: button for traffic jam assist and
Audi active lane assist
138
Traffic jam assist supports the driver when driv-
ing in traffic jams or in heavy traffic.
In a speed range under 40 mph (65 km/h), the
system can help to keep the vehicle within a lane
calculated by the system. Within the limits of the
system, the system controls the steering auto-
matically when adaptive cruise control is switch-
ed on. Since traffic jam assist is only an assist
system, the driver must always keep his or her
hands on the steering wheel and be ready to
steer. The driver can override the control at any
time by actively steering.
The system is designed for driving on express-
ways and highways.
Requirements for using traffic jam assist:
> The traffic jam assist is preselected in the MMI
settings: Select on the home screen: VEHICLE >
Driver assistance > Traffic jam assist.
> Adaptive cruise control must be switched on
and active > page 132.
If you open the Driver assist display in the on-
board computer => page 16, the indicator
light and the message Traffic jam assist will turn
on when a traffic jam is detected.
Activating or deactivating traffic jam assist
> To activate or deactivate traffic jam assist,
press the > fig. 115 button.
Always switch off traffic jam assist in the
following situations:
— When increased attention is needed from the
driver
— In construction zones
— In city driving
— On stretches of road with curves
—In unclear traffic situations such as at intersec-
tions or toll stations
— The turn signal was activated.
Indicator lights
Traffic jam assist is available.
B and B - Traffic jam assist is switched on.
Vehicles driving ahead were detected. Your vehi-
cle adapts while driving.