2021 AUDI A6 lane assist

4K0012721BE

Assist systems

Surrounding area
detection

Sensor and camera coverage areas

RAZ-0610)




B8V-0687


Fig. 90 Rearview camera coverage area
The assist systems analyze the data from various
sensors and cameras installed in the vehicle. Do
not use any assist systems if there is damage to
the vehicle in an area where sensors and cameras
are located or on the vehicle underbody, or if the
vehicle was involved in a collision. The functional-
ity of the sensors and cameras could be impaired,
or they could malfunction. Have an authorized
Audi dealer or authorized Audi Service Facility
check their function.
Radar sensors
Depending on the vehicle equipment, the area
surrounding the entire vehicle may be detected
> fig. 89 @.
The wheel sensors on the rear corners of the vehi-
cle are positioned so that the adjacent lanes to
the left and right are detected on roads with a
normal lane width.
Ultrasonic sensors
Depending on vehicle equipment, various areas
may be displayed in the MMI using the ultrasonic
sensors > fig. 89.
The range of the displays depends on the location
of the ultrasonic sensors:
@ Approximately 4 feet (1.20 m)
@® Approximately 3 feet (0.90 m)
@® Approximately 5.2 feet (1.60 m)
© Approximately 3 feet (0.90 m)
© Approximately 3 feet (0.90 m)
The side area © is detected and evaluated when
passing. There may have been changes to the sur-
rounding area after switching the ignition off and
on again, after opening the doors, or if the vehi-
cle is left stationary for a period of time. In this
case, the area will appear black until the area has
been detected and evaluated.
Cameras
Use the camera image on the display to assist you
only if it shows a good, clear picture. Keep in
mind that the image in the display is enlarged
and distorted. Under certain circumstances, ob-
jects may appear different and unclear on the dis-
play.
The rearview camera can only detect the area
marked in red > fig. 90. Only this area is dis-
played on the upper display > A\.

ZA WARNING
Sensors and cameras have spots in which the
surrounding area cannot be detected. Objects,
animals, and people may only be detected
with limitations may not be detected at all.
Always monitor the traffic and the vehicle's >


123

4K0012721BE
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. 97 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 135, fig. 97.
> 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.
135
>

Driver assistance


— 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. No messages
are displayed when in the "S" driving pro-
gram.
Adaptive cruise assist
(eee ieleur isola)
Applies to: vehicles with adaptive cruise assist

Depending on the vehicle equipment, the adap-
tive cruise assist may consist of the following
functions:
Within the limits of the system, the adaptive
speed assist assists the driver in controlling the
speed and the set distance to the vehicle driving
ahead. If the system detects a vehicle driving
ahead, the adaptive speed assist can brake and
accelerate your vehicle within the limits of the
system. On open roads with no traffic, it func-
tions like a cruise control system. The stored
speed is maintained. When approaching a vehicle
driving ahead, the adaptive speed assist auto-
matically brakes to match that vehicle's speed
and then maintains the set distance as much as
possible. Once the system does not detect a vehi-
cle driving ahead, adaptive speed assist will ac-
celerate up to the set speed.
The additional lane guidance assists the driver
with corrective steering in order to stay in the
lane. You can adjust if the adaptive cruise assist
will provide support with lane guidance
= page 141, Switching lane guidance on and off.
In stop-and-go traffic and in traffic jams, the ve-
hicle may brake to a full stop and then may also
138

start driving again automatically under certain
conditions.
Applies to: vehicles with efficiency assist: Predic-
tive control can adjust the speed based on traffic
and road conditions > page 142, Predictive con-
trol.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
@ Tips
The system complies with United States FCC
regulations and ISED regulations > page 311.

Applies to: vehicles with adaptive cruise assist
B4m-0093

Fig. 98 Example: driving into a curve
In some situations, the adaptive cruise assist
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. 98 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 123, fig. 89.
— When driving around tight curves, a vehicle
driving ahead that was previously detected may
no longer be detected, and the adaptive cruise
assist may accelerate unexpectedly.

4K0012721BE
Driver assistance

— 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.
— 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
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.



Display overview
Applies to: vehicles with adaptive cruise assist
RAZ-0205.
zy S| 5 | i?) nN | fac

Fig. 100 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
@- @, you can find more detailed informati
about the system. The displays depend on th
country and equipment.
Display in the speedometer
on
€
The display in the speedometer is not available in
all layouts*.
@ Marking for the set speed
@® Current vehicle speed
@ Available speed range for adaptive cruise as-
sist (example)
Image in the Driver assistance display
The display only appears when the Driver assis-
tance display is open in the on-board computer
=> page 17.
Messages and settings
Your vehicle
Detected vehicle driving ahead
Messages and settings
Set target distance
©O©©QOCO® If you fall below the set distance, the dis
tance bars turn red from the bottom upward.
Lane departure warning availability
©© Availability of lane guidance for adaptive
cruise assist
Indicator lights
A - The speed/distance control is active. No
vehicles were detected ahead. The stored speed
is maintained.
A - The speed/distance control is active. A vehi-
cle was detected ahead. The system controls
speed and distance from the vehicle driving the
ahead, and accelerates and brakes automatically.
EB - 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.
Ba - 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.
B.- The automatic braking is not enough to
maintain a sufficient distance from a vehicle
139
>

Driver assistance

driving ahead. You must intervene > page 146,
Driver intervention request.
> 4] - Lane guidance is active.
- Lane guidance is switched on but not active.
Applies to: vehicles with Audi virtual cockpit
w - The limits of the system have been reached.
Take over steering.
[BV B33 - The indicator light turns on if the
steering intervention request is providing a warn-
ing. Always keep your hands on the steering
wheel so you can be ready to steer at any time
=> page 142.

ZX WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
Using adaptive cruise assist
Applies to: vehicles with adaptive cruise assist


RAZ-0096


B4M-0232



Fig. 102 Operating lever: changing the speed

D_ Analog instrument cluster: 20 mph (30 km/h)
140
Switching on
> To switch on the adaptive cruise assist, 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 139, fig. 99 and shown in the instru-
ment cluster > /\.
> To save the speed while the vehicle is station-
ary, also hold the brake pedal down.

You can set any speed between 15 mph
(20 km/h)» and the maximum possible speed
range 3) > page 139, fig. 99.
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 G) or () until the

4K0012721BE
Driver assistance

marking in the speedometer @ > page 139,
fig. 99 has reached the desired speed.
Preselecting a speed
You can also preselect the speed when adaptive
cruise assist 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.
Switching off
If you do not want to use the adaptive cruise as-
sist for a longer 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.

ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— The adaptive cruise assist is only an assist
system, and the driver is still responsible for
controlling the vehicle. The driver is espe-
cially responsible for braking, steering,
starting to drive, and controlling the speed
and the distance from other vehicles.
— Turn on the adaptive cruise assist only if the
surrounding conditions permit it. Always
adapt your driving style to the current visu-
al, weather, road, and traffic conditions.
— Switch the adaptive cruise assist off tempo-
rarily when driving in turning lanes or high-
way exits. This prevents the vehicle from ac-
celerating 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.




D Analog instrument cluster: 20 mph (30 km/h)
2) Incertain countries.
@) 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.
— If you switch the ignition or the adaptive
cruise assist off, the stored speed is erased
for safety reasons.
— When the adaptive cruise assist is switched
on, the ESC and the ASR are switched on au-
tomatically.
— The system cannot be switched off or it may
be interrupted if the road exceeds the maxi-
mum possible grade for safe operation.
Switching lane guidance on and off
Applies to: vehicles with adaptive cruise assist and lane guid-
ance

BaVv-0692


Fig. 103 Turn signal lever: button for lane guidance and
lane departure warning
Within the limits of the system, lane guidance
provides corrective steering to assist the driver
with keeping the vehicle in the center of the lane
as much as possible. This feature can be deacti-
vated.
Ina traffic jam, lane guidance also helps with
leaving a space for emergency vehicles 2) by
steering your vehicle as close to the edge of your
lane as possible.
141
>

Driver assistance

Switching lane guidance on and off
Requirement: lane guidance must be preselected
in the MMI > page 146.
> To activate or deactivate the availability of the
lane guidance, press the button on the turn sig-
nal lever > fig. 103.
The system will assist the driver by providing cor-
rective steering only when adaptive cruise assist
is actively regulating and availability is switched
on.
Overview of displays and lane guidance
limitations
The availability of lane guidance is shown with in-
dicator lights and with arrows @)) > page 139,
fig. 100 in the Driver assistance display.
> 4 - Lane guidance is active.
ri turns on (applies to vehicles with Audi vir-
tual cockpit) or the Z indicator light blinks (ap-
plies to vehicles with analog instrument cluster),
the limits of the system have been reached (for
example, the system does not have enough steer-
ing power in tight curves). Take over steering.
rg turns white, lane guidance is switched on
but is not active. This may occur due to the fol-
lowing system limits or situations:
— 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 lane is too narrow or too wide
— The curve is too narrow
— Visibility is obstructed by a rise or dip.
— The driver's hands are not on the steering
wheel
— The turn signal was activated.
Steering intervention request
If no steering activity is detected or the limits of
the system are reached, the driver steering inter-
vention request will alert the driver using audio
and visual signals, such as B or 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 will become inactive after a
short time and will only be active again later.
142
If the driver does not take over steering, adaptive
cruise assist will be canceled. If the vehicle is
equipped with emergency assist and it is ready to
function, it will be activated if possible
> page 158.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
(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.
— Audi recommends only switching on lane
guidance on well-constructed roads.
—The & fig. 103 button switches lane guid-
ance availability and the lane departure
warning on or off simultaneously, if lane
guidance is preset in the adaptive cruise as-
sist settings.

Predictive control
Applies to: vehicles with adaptive cruise assist and efficiency
assist



Applies to: vehicles with Audi virtual cockpit
Fig. 104 Instrument cluster: speedometer: predictive con-
trol display
With predictive control, efficiency assist adapts
the set speed in adaptive cruise control @ based
on detected speed limits and the upcoming
route. Once the system no longer detects any in-
cidents, adaptive cruise control will accelerate
back up to the last speed that the driver set. Af-
ter switching on the ignition, the availability of >

4K0012721BE
Driver assistance

@) 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 146, Adjusting the adaptive cruise
assist.
— The distances provided are specified values.
Depending on the driving situation and how
the vehicle ahead is driving, the actual dis-
tance may be more or less than these target
distances.
Overriding control
Applies to: vehicles with adaptive cruise assist

RAZ-0096



Fig. 106 Lever: overriding the control
Requirement: the adaptive cruise assist must be
switched on.
Overriding control
You can completely override the control, for ex-
ample when passing or if you would like to accel-
erate more quickly.
> To accelerate manually, pull the lever toward
you in the direction of the arrow and hold it
there, or press the accelerator pedal.
> To resume the usual cruise control, release the
lever or remove your foot from the accelerator
pedal.
When you are in the Driver assistance display,
the message Overridden will appear.
Decreasing the distance
The function decreases the set distance and pro-
vides assistance, for example when merging
when a lane is ending.
> To further reduce the distance to the vehicle
ahead temporarily, pull the lever toward your-
self in the direction of the arrow and hold it in
that position.
> To resume the system control, release the lever.
The adaptive cruise assist reduces the distance
and, if necessary, accelerates the vehicle above
the set speed. When you are in the Driver assis-
tance display, the message Overridden will ap-
pear.

ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— Resting your foot on the accelerator pedal
could override the cruise control. Braking in-
terventions and corrective actions by the
system may not occur.

g in stop-and-go traffic
Applies to: vehicles with adaptive cruise assist


Fig. 107 Instrument cluster: safe start monitor
Stopping with adaptive cruise assist
The adaptive cruise assist also assists you in stop-
and-go traffic. Within the limits of the system,
your vehicle may brake and remain at a stop if a
vehicle driving ahead stops.
145