2021 AUDI A6 sensor

Driver assistance

Distance warning
Applies to: vehicles with distance warning
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Applies to: vehicles with adaptive cruise assist
Fig. 109 Instrument cluster: display of the current dis-
tance
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Applies to: vehicles with adaptive cruise assist:
Fig. 110 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, the system warns you of
the hazard with the f indicator light.
Image in the Driver assistance display
Applies to: vehicles with adaptive cruise assist
The display only appears if the Driver assistance
display is selected on the on-board computer
=> page 17 and the adaptive cruise assist 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.
@ The actual distance is smaller than the set
distance and you will be informed about the
danger.
148
Adjusting the distance warning
The system can be switched on and off in the
MMI > page 125.
You can adjust the distance warning threshold to
your preferences. The settings depend on the ve-
hicle equipment.
— Applies to MMI: Select on the home screen: VE-
HICLE > Driver assistance > (3) > Distance
warning
Messages
ir or 3! is displayed when there is a malfunc-
tion, the distance warning functions may be un-
available 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 124 and try to turn the system on
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
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
G) 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.

4K0012721BE
Driver assistance

Lane departure warning
General information
Applies to: vehicles with lane departure warning
The lane departure warning can detect lane
marker lines within the limits of the system. If
you are approaching a detected lane marker and
it appears likely that you will leave the lane, the
system can warn you with corrective steering and
a steering wheel vibration, if necessary.
The system functions in the speed range of ap-
proximately 40 mph - 155 mph (65 km/h -
250 km/h).

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


B8V-0692


Fig. 111 Turn signal lever: lane departure warning button
RAZ-0107

Fig. 112 Instrument cluster: driver assistance display
Switching the lane departure warning on and
off
> To switch the system on or off, press the button
=> fig. 111. The respective indicator light in the
instrument cluster will turn off or on.
Display and warning
The availability and readiness to provide warn-
ings will be indicated with the HH indica-
tor lights. You can also open the Driver assis-
tance display in the on-board computer
= page 17. The display matches the functions of
the indicator lights.
@ White lines: the lane departure warning is
switched on but not ready to provide warn-
ings.
@ Green line: the lane departure warning is
ready to provide warnings on the respective
side.
® Corrective steering will be indicated with i.
If the lane departure warning must intervene
for a long period of time, a message will re-
quest the driver to drive in the center of the
lane. The steering wheel can also vibrate to
warn you if lane boundaries are detected dur-
ing a passing maneuver.
The lane departure warning is ready to provide
warnings if an object is detected on at least one
side of the individual lane.
If the | i | indicator light turns on, the lane depar-
ture warning is not ready to provide warnings.
This may occur due to the following 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 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.
Steering intervention request
If the lane departure warning 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 EE.
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
149
>

Driver assistance

ready to provide warnings after a short time, and
it will only become active again later.
If the driver does not take over steering, the lane
departure warning will no longer be ready to pro-
vide warnings. If the vehicle is equipped with
emergency assist and it is ready to function, it
will be activated > page 158.
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, the lane departure warning is
ready, and a lane change has been classified as
critical by the lane departure warning due to
vehicles traveling beside you or due to approach-
ing vehicles, then a noticeable corrective steering
movement will occur shortly before exiting the
lane. This will attempt to keep your vehicle in the
lane.

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

@ 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.
150
— The system does not provide any corrective
steering or steering wheel vibrations if it de-
tects that you are passing another vehicle.
PN Ut ae MAMLUK (Slade RN eal Lar)
Applies to: vehicles with lane departure warning
The additional warning using vibration in the
steering wheel can be switched off or on. The set-
tings depend on the vehicle equipment.
— Applies to MMI: Select on the home screen: VE-
HICLE > Driver assistance > (3) > Lane depar-
ture warning > Vibration warning.
Messages
Applies to: vehicles with lane departure warning
ray or is displayed when there is a malfunc-
tion, the lane departure warning and lane guid-
ance functions of the adaptive cruise functions
may be 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 the cam-
era may be covered. Clean the area in front of the
camera > page 124 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:

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Driver assistance

— 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 front) can detect an impending
frontal impact and react with warnings, braking
interventions, and preemptive safety measures
for the vehicle occupants.
— Audi pre sense rear monitors the rear traffic
behind your vehicle and can react to an impend-
ing rear impact.
— Audi pre sense side can detect an impending
side impact from cross-traffic and vehicles com-
ing from the side, and can initiate preemptive
safety measures.
— 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.
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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

Z\ WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
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-


D_ This is not available in some countries.
ces. Certain functions can be adjusted or
skipped if necessary.
— Audi pre sense may be restricted or unavail-
able under certain circumstances, for exam-
ple if:
— There are passengers with unfastened
safety belts
— After turning on the ignition, as long as
the & indicator light is on.
— When driving in reverse.
— There is an airbag control module mal-
function
— System functions may not be available if
the ESC is limited or switched off, or if
there is a malfunction.
Audi pre sense basic
Applies to: vehicles with Audi pre sense basic
Audi pre sense basic is automatically active at
speeds of approximately 20 mph (30 km/h) and
higher. Audi pre sense basic can trigger preemp-
tive safety measures during emergency braking
and dangerous braking maneuvers as well as in
unstable driving situations, such as oversteering
or understeering > page 151, Audi pre sense pre-
emptive safety measures.
The message Audi pre sense Bo will warn you
about the danger.

ZA WARNING
Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
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Applies to: vehicles with Audi pre sense front


Within the limits of the system, Audi pre sense
front can warn about an impending front end col-
lision and brake the vehicle strongly, if necessary.
The system uses the camera behind the wind-
shield and is available at speeds above approxi-
mately 6 mph (10 km/h).
151

Driver assistance

Driving situations
The situations to which the system reacts de-
pends on the vehicle speed.
Up to speeds of approximately 50 mph
(85 km/h), the system may react to the following
situations:
— Pedestrians and cyclists in your lane
Up to speeds of approximately 155 mph
(250 km/h), the system may react to the follow-
ing situations:
— A vehicle driving ahead clearly applies the
brakes
— When approaching a vehicle ahead that is clear-
ly traveling more slowly
— When approaching a stationary vehicle
Prewarning
To warn about detected dangers, Audi pre
sense o will appear in the instrument cluster
and an audio signal will sound.
A brief application of the brakes
If a collision is imminent, there may be an acute
warning using a brief application of the brakes.
You will also be warned about the danger by an
indicator in the instrument cluster display. You
may only be able to avoid a collision by swerving
or braking strongly.
Automatic braking force increase
If there is an impending collision and you are not
applying the brakes enough, the braking force
may be increased, depending on the situation.
Automatic braking
If you do not react to the acute warning, the sys-
tem may apply the brakes with strong braking
force within the limits of the system in order to
reduce the speed of impact in the event of a colli-
sion.
If the brakes were applied until the vehicle stop-
ped, © Please take over! will appear in the in-
strument cluster and you must take over control
of the vehicle.
152

ZA WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— Audi pre sense front cannot overcome natu-
ral physical laws. It is a system designed to
assist and it cannot prevent a collision in ev-
ery circumstance. The driver must always in-
tervene. The driver is always responsible for
braking at the correct time. Do not let the
increased safety provided tempt you into
taking risks. This could increase your risk of
a collision.
— Audi pre sense front does not react to cer-
tain objects, such as animals, crossing or on-
coming vehicles, bars, railings, or railcars.
— Audi pre sense front may be limited or un-
available when driving in curves.
— 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.
ONT Tee
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 122.
— Audi pre sense rear does not react to pedes-
trians, animals, crossing objects, and ob-
jects not detected as vehicles.

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@) Tips
Audi pre sense rear functions may also switch
off if there is a malfunction in the side assist
system.
Audi pre sense side
Applies to: vehicles with Audi pre sense side
Within the limits of the system, Audi pre sense
can warn about impending collisions with cross-
traffic and vehicles approaching from the side,
and trigger Audi pre sense preemptive safety
measures.
The system uses additional sensors in the front
and rear areas and is active at speeds up to ap-
proximately 35 mph (60 km/h).

ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— Audi pre sense side does not react to pedes-
trians, animals, and objects not detected as
vehicles.

Driver assistance

ZA\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— Swerve assist does not react to pedestrians,
animals, crossing objects, and objects not
detected as vehicles.
@ Tips
— System functions may not be available if the
ESC is limited or switched off, or if there is a
malfunction.
—An indicator in the instrument cluster will
inform you when there is an intervention.
see
Applies to: vehicles with turn assist

When turning left, turn assist can help to reduce
the risk of a collision with an oncoming vehicle by
using braking action to keep your vehicle in its
lane. The function is only available when the turn
signal is turned on and at speeds up to maximum
of 6 mph (10 km/h).

@) Tips
The Audi pre sense side functions may also
switch off if there is a malfunction in the in-
tersection assistant*.
Swerve assist
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 swerve assist assists you by specifically
braking individual wheels and applying slight
steering adjustment to correct the steering
wheel angle as long as you are actively steering.
The swerve assist is available at speeds between
approximately 30 mph and 90 mph (50 km/h -
150 km/h).
Z\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— The turn assist does not react to pedes-
trians, animals, crossing objects, and ob-
jects not detected as vehicles.
@) Tips
— System functions may not be available if the
ESC is limited or switched off, or if there is a
malfunction.
— An indicator in the instrument cluster will
inform you when there is an intervention.
Adjusting Audi pre sense
Applies to: vehicles with Audi pre sense

The system can be switched on and off in the
MMI > page 125. You can adjust Audi pre sense
functions to your preferences. The adjustment
options depend on the vehicle equipment. >
153

Driver assistance

» Applies to MMI: Select on the home screen: VE-
HICLE > Driver assistance > (<3) > Audi pre
sense.
Setting the prewarning
You can adjust the warning time for the prewarn-
ing individually (Early/Medium/Late) or switch
the prewarning off.
Set the warning time for the early warning to
Early at first. If you feel that the prewarnings ap-
pear too early, then set the warning time to Me-
dium. The Late warning time should only be set
in special circumstances.
@ Tips
— If the system is switched off, it switches on
again automatically once the ignition is
switched on again).
— Switch Audi pre sense off when you are not
using public streets, when loading the vehi-
cle onto a vehicle carrier, train, ship, or oth-
er type of transportation, or when towing
the vehicle. This can help to prevent an un-
desired intervention from the Audi pre
sense system.
Messages
Applies to: vehicles with Audi pre sense
re is displayed when there is a malfunction,
the Audi pre sense 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. Bring the vehicle to a full stop,
switch the ignition off, and clean the area in front
of the sensors > page 124.
If the message still appears after switching the
ignition on again, have an authorized repair facili-
ty correct the malfunction as soon as possible.

D_Incertain countries.
154
Side assist
Description
Applies to: vehicles with side assist
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Fig. 113 Driving situations and exterior mirror display
General information
Side assist monitors the blind spot and traffic in
the adjacent lanes behind the vehicle. Within sys-
tem limits, side assist can detect traffic that is
approaching from behind and provide a warning
when you are changing lanes and turning. The
system uses the data from the radar sensors at
the rear corners of the vehicle.
The side assist is active at walking speeds and
higher. If an object that is classified as critical is
approaching, the display in the exterior mirror @
on the corresponding side of the vehicle will light
up.
Driving situations
The system can provide warnings about the fol-
lowing risks:
@ Approaching vehicles: a vehicle may be clas-
sified as critical in some cases, even if it is
farther away. The faster a vehicle

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Driver assistance

approaches, the sooner the display will turn
on.
@® Vehicles traveling in the same direction: the
display will turn on if vehicles traveling in the
same direction as your vehicle are classified
as critical. The side assist warns you of all de-
tected vehicles when they are in the “blind
spot” or before they reach that point.
@ Vehicles you are passing: the display only
turns on if you slowly pass a detected vehicle
(difference in speed between the two vehicles
is less than 9 mph (15 km/h)). There is no
display if you pass a vehicle more quickly.
Information stage
At the information level, the side assist informs
you of detected objects that are classified as criti-
cal. This is even possible when your vehicle is sta-
tionary and the turn signal is turned on, so that
the system can also assist you when turning.
From speeds of approximately 6 mph (10 km/h)
and higher, the system will warn you of detected
objects that are classified as critical, even if the
turn signal is not turned on.
The display remains dim in the information stage
so that you are not distracted while looking for-
ward.
Warning stage
If you activate a turn signal and the display flash-
es, side assist is warning about objects that have
been classified as critical.
Depending on the vehicle equipment and other
driver assistance systems, the display may also
flash if you have not activated a turn signal. If
you are approaching a detected lane marker line
and it appears you will be leaving the lane, the
display will warn you about detected vehicles
that are classified as critical. You can also be
warned with corrective steering > page 149,
Lane departure warning.
Detection range
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
may turn on even though there is no vehicle lo-
cated in the area that is critical for a lane change.
For example:
— If the lanes are narrow or if you 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).

Z\ WARNING
— Observe the safety precautions and note the
limits of the assist systems, sensors, and
cameras > page 122.
— The display may not appear on time when
vehicles are approaching or being passed
very quickly.
@) 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.

— The coverage areas of the sensors > fig. 113
are diagrams and do not represent a true-
to-scale image of the sensor ranges.
— The system complies with United States FCC
regulations and ISED regulations
=> page 311.
Oe ees
Applies to: vehicles with side assist
The system can be switched on and off in the
MMI > page 125. If the system is activated, the
displays will turn on briefly when the ignition is
switched on.
Adjusting the brightness
You can adjust the brightness of the display in
the exterior mirror. The settings depend on the
vehicle equipment.
> Applies to: MMI: Select on the home screen:
VEHICLE > Driver assistance > (<23) > Side as-
sist > Brightness.
155