2021 CADILLAC XT6 ESP

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
DRIVING AND OPERATING 251
displayed in the instrument cluster.
For more information on AWD Mode,
seeAll-Wheel Drive 0245.
Mode Descriptions
Tour : Tour Mode operates in FWD to
improve fuel economy. This setting
provides balance between comfort and
handling. This is the standard/default
mode and should be used during
normal driving operations. There is no
persistent indicator in the instrument
cluster for this mode.
Sport : Sport Mode improves vehicle
handling and acceleration on dry
pavement. When active, Sport Mode
modifies steering efforts, transmission
shifting, AWD torque, and suspension
tuning (if equipped). Choosing Sport
Mode also engages AWD (if equipped).
The Performance Algorithm Liftfoot
(PAL) feature is enabled in Sport
Mode. PAL allows the transmission to
hold the current gear after a quick
release of a heavily applied accelerator
pedal. This provides greater engine
braking and enhanced vehicle control. When PAL is activated, there may be
an additional green gear symbol which
appears in the instrument cluster
display. See
Performance Shifting Light
0 119.
AWD : AWD Mode provides drive
torque to all four wheels. Select AWD
to improve traction and control on
slippery road surfaces, such as gravel,
sand, wet pavement, snow, and ice For
more information on AWD Mode, see
All-Wheel Drive 0245.
Snow/Ice (FWD Vehicles Only) :
Snow/Ice Mode improves vehicle
acceleration on snow and ice covered
roads. This mode will adjust
acceleration to optimize traction on a
slippery surface. The accelerator pedal
will reduce engine torque at small
pedal inputs.
Off-Road : Use this mode for off-road
recreational driving. When active,
Off-Road Mode modifies accelerator
pedal response, AWD torque, TCS,
ABS and ESC settings. Choosing
Off-Road Mode also engages AWD.
Cruise Control
{
Warning
Cruise control can be dangerous
where you cannot drive safely at a
steady speed. Do not use cruise
control on winding roads or in
heavy traffic.
Cruise control can be dangerous on
slippery roads. On such roads, fast
changes in tire traction can cause
excessive wheel slip, and you could
lose control. Do not use cruise
control on slippery roads.
With cruise control, a speed of about
40 km/h (25 mph) or more can be
maintained without keeping your foot
on the accelerator. Cruise control does
not work at speeds below about
40 km/h (25 mph).
If the Traction Control System (TCS)
or StabiliTrak/Electronic Stability
Control (ESC) system begins to limit
wheel spin while using cruise control,
cruise control automatically
disengages. See Traction Control/
Electronic Stability Control 0248. If a

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
254 DRIVING AND OPERATING
Ending Cruise Control
There are four ways to end cruise
control:
.Step lightly on the brake pedal.
.Press*.
.Shift the transmission to
N (Neutral).
.PressJ.
Erasing Speed Memory
The cruise control set speed is erased
from memory if
Jis pressed or if the
ignition is turned off.
Adaptive Cruise Control
(Advanced)
If equipped, Adaptive Cruise Control
(ACC) allows the cruise control set
speed and following gap to be
selected. Read this entire section
before using this system. The
following gap is the following time
between your vehicle and a vehicle
detected directly ahead in your path,
moving in the same direction. If no
vehicle is detected in your path, ACC works like regular cruise control. ACC
uses camera and radar sensors. See
Radio Frequency Statement
0406.
If a vehicle is detected in your path,
ACC can speed up the vehicle or apply
limited, moderate braking to maintain
the selected following gap. To
disengage ACC, apply the brake.
If ACC is controlling your vehicle
speed when the traction control
system (TCS) or StabiliTrak electronic
stability control system activates, ACC
may automatically disengage. See
Traction Control/Electronic Stability
Control 0248. When road conditions
allow ACC to be safely used, ACC can
be turned back on.
Disabling the TCS or StabiliTrak/ESC
system will disengage and prevent
engagement of ACC.
ACC can reduce the need for you to
frequently brake and accelerate,
especially when used on expressways,
freeways, and interstate highways.
When used on other roads, you may
need to take over the control of
braking or acceleration more often.
{Warning
ACC has limited braking ability and
may not have time to slow the
vehicle down enough to avoid a
collision with another vehicle you
are following. This can occur when
vehicles suddenly slow or stop
ahead, or enter your lane. Also see
“Alerting the Driver” in this section.
Complete attention is always
required while driving and you
should be ready to take action and
apply the brakes. See Defensive
Driving 0219.
{Warning
ACC will not detect or brake for
children, pedestrians, animals,
or other objects.
Do not use ACC when:
.On winding and hilly roads or
when the sensors are blocked by
snow, ice, or dirt. The system
(Continued)

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
258 DRIVING AND OPERATING
Selecting the Follow Distance Gap
When a slower moving vehicle is
detected ahead within the selected
following gap, ACC will adjust the
vehicle's speed and attempt to
maintain the follow distance gap
selected.
Press
[on the steering wheel to
adjust the following gap. Each press
cycles the gap button through three
settings: Far, Medium, or Near.
When pressed, the current gap setting
displays briefly on the instrument
cluster and HUD (if equipped).
Subsequent presses cycle the gap
button through three settings: Far,
Medium, or Near. The gap setting will
be maintained until it is changed.
Since each gap setting corresponds to
a following time (Far, Medium,
or Near), the following distance will
vary based on vehicle speed. The
faster the vehicle speed, the further
back your vehicle will follow a vehicle
detected ahead. Consider traffic and
weather conditions when selecting the following gap. The range of selectable
gaps may not be appropriate for all
drivers and driving conditions.
Changing the gap setting
automatically changes the alert timing
sensitivity (Far, Medium, or Near) for
the Forward Collision Alert (FCA)
feature. See
Forward Collision Alert
(FCA) System 0272.
Alerting the Driver
With Head-Up Display
Without Head-Up Display If ACC is engaged, driver action may
be required when ACC cannot apply
sufficient braking because of
approaching a vehicle too rapidly.
When this condition occurs, the
collision alert symbol will flash on the
windshield. Either eight beeps will
sound from the front, or both sides of
the Safety Alert Seat will pulse five
times. See
“Collision/Detection
Systems” underVehicle Personalization
0 130.
See Defensive Driving 0219.
Approaching and Following a
Vehicle
The vehicle ahead indicator is in the
instrument cluster and HUD display,
if equipped.
The vehicle ahead indicator only
displays when a vehicle is detected in
your vehicle’s path moving in the
same direction.

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
DRIVING AND OPERATING 259
If this symbol is not displaying, ACC
will not respond to or brake to
vehicles ahead.
ACC automatically slows the vehicle
down and adjusts vehicle speed to
follow a detected vehicle ahead at the
selected follow gap. The vehicle speed
increases or decreases to follow a
detected vehicle in front of your
vehicle when that vehicle is traveling
slower than your vehicle set speed.
It may apply limited braking,
if necessary. When braking is active,
the brake lamps will come on. The
automatic braking may feel or sound
different than if the brakes were
applied manually. This is normal.
Passing a Vehicle While Using ACC
If the set speed is high enough, and
the left turn signal is used to pass a
vehicle ahead in the selected following
gap, ACC may assist by gradually
accelerating the vehicle prior to the
lane change.{Warning
When using ACC to pass a vehicle
or perform a lane change, the
following distance to the vehicle
being passed may be reduced. ACC
may not apply sufficient
acceleration or braking when
passing a vehicle or performing a
lane change. Always be ready to
manually accelerate or brake to
complete the pass or lane change.
Stationary or Very Slow-Moving
Objects
{Warning
ACC may not detect and react to
stopped or slow-moving vehicles
ahead of you. For example, the
system may not brake for a vehicle
it has never detected moving. This
can occur in stop-and-go traffic or
when a vehicle suddenly appears
due to a vehicle ahead changing
lanes. Your vehicle may not stop
and could cause a crash. Use (Continued)
Warning (Continued)
caution when using ACC. Your
complete attention is always
required while driving and you
should be ready to take action and
apply the brakes.
Irregular Objects Affecting ACC
ACC may have difficulty detecting the
following objects:
.Vehicles with cargo extending from
the back end.
.Non-standard shaped vehicles, such
as vehicle transport, vehicles with a
side car fitted, or horse carriages.
.Objects that are close to the front of
your vehicle.
ACC Automatically Disengages
ACC may automatically disengage and
the driver will need to manually apply
the brakes to slow the vehicle when:
.The sensors are blocked.
.The Traction Control System (TCS)
or StabiliTrak/ESC has activated or
been disabled.
.There is a fault in the system.

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
DRIVING AND OPERATING 261
{Warning
The ACC will not automatically
apply the brakes if your foot is
resting on the accelerator pedal.
You could crash into a vehicle
ahead of you.
Curves in the Road
{Warning
On curves, ACC may not detect a
vehicle ahead in your lane. You
could be startled if the vehicle
accelerates up to the set speed,
especially when following a vehicle
exiting or entering exit ramps. You
could lose control of the vehicle or
crash. Do not use ACC while driving
on an entrance or exit ramp. Always
be ready to use the brakes if
necessary.
{Warning
On curves, ACC may respond to a
vehicle in another lane, or may not
have time to react to a vehicle in
your lane. You could crash into a
vehicle ahead of you, or lose control
of your vehicle. Give extra attention
in curves and be ready to use the
brakes if necessary. Select an
appropriate speed while driving in
curves.
ACC may operate differently in a
sharp curve. It may reduce the vehicle
speed if the curve is too sharp.
ACC automatically slows the vehicle
down while navigating the curve and
may increase speed out of the curve,
but will not exceed the set speed.
When following a vehicle and entering
a curve, ACC may not detect the
vehicle ahead and accelerate to the set
speed. When this happens, the vehicle
ahead indicator will not appear.
ACC may detect a vehicle that is not
in your lane and apply the brakes.
ACC may occasionally provide an alert
and/or braking that is considered
unnecessary. It could respond to
vehicles in different lanes, signs,

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
270 DRIVING AND OPERATING
Turning the Features On or Off
PressXon the center stack to turn
on or off the Front and Rear Park
Assist, Reverse Automatic Braking
(RAB), and the Backing Warning
System at the same time. The
indicator light next to the button
comes on when the features are on
and turns off when the features have
been disabled.
Turn off Park Assist, RCTA, and RAB
when towing a trailer.
RCTA can be turned on or off through
vehicle personalization. See “Collision/
Detection Systems” underVehicle
Personalization 0130.
Automatic Parking Assist (APA)
with Braking
If equipped, APA searches for and
steers the vehicle into parallel and
perpendicular parking spots. When
using APA, you must still shift gears,
while the system applies the brakes
and accelerator. A display and audible
beeps help to guide parking
maneuvers.
Do not use APA when towing a trailer.
{Warning
APA may not detect objects in the
parking space, objects that are soft
or narrow, objects high off the
ground such as flatbed trucks,
objects below ground level such as
large potholes, or moving objects
(e.g. pedestrians). Always verify that
the parking space is appropriate for
parking a vehicle. APA does not
respond to changes in the parking
space, such as movement of an
adjacent vehicle, or a person or
object entering the parking space.
APA does not detect or avoid traffic
that is behind or alongside of the
vehicle. Always be prepared to stop
the vehicle during the parking
maneuver.
Press
Oon the center stack to enable
the system to search for a parking
space that is large enough and within
1.5 m (5 ft) of the vehicle. The vehicle
speed must be below
30 km/h (18 mph). The system cannot:
.Detect whether it is a legal parking
space.
.Park exactly lined up with the
vehicle next to it if the spot is
approached at an angle or if the
parking space is angled.
.Park exactly centered in a spot that
is marked too large.
.Always detect short curbs.
When enabled, APA searches for
parallel parking spaces to the right of
the vehicle. To search for a parking
space to the left, turn on the left turn
signal or, if available, change the side
selection in the infotainment display.
To switch the parking mode between
parallel and perpendicular, press and
hold
Oduring the search process or,
if available, change the parking mode
in the infotainment display.

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
DRIVING AND OPERATING 275
or shadows. These alerts are normal
operation and the vehicle does not
need service.
Cleaning the System
If the FCA system does not seem to
operate properly, this may correct the
issue:
.Clean the outside of the windshield
in front of the rearview mirror.
.Clean the entire front of the vehicle.
.Clean the headlamps.
Automatic Emergency
Braking (AEB)
If the vehicle has Forward Collision
Alert (FCA), it also has AEB, which
includes Intelligent Brake Assist (IBA).
When the system detects a vehicle
ahead in your path that is traveling in
the same direction that you may be
about to crash into, it can provide a
boost to braking or automatically
brake the vehicle. This can help avoid
or lessen the severity of crashes when
driving in a forward gear. Depending
on the situation, the vehicle may
automatically brake moderately or
hard. This automatic emergencybraking can only occur if a vehicle is
detected. This is shown by the FCA
vehicle ahead indicator being lit. See
Forward Collision Alert (FCA) System
0
272.
The system works when driving in a
forward gear between 8 km/h (5 mph)
and 80 km/h (50 mph), or on vehicles
with Adaptive Cruise Control (ACC),
above 4 km/h (2 mph). It can detect
vehicles up to approximately 60 m
(197 ft).
{Warning
AEB is an emergency crash
preparation feature and is not
designed to avoid crashes. Do not
rely on AEB to brake the vehicle.
AEB will not brake outside of its
operating speed range and only
responds to detected vehicles.
AEB may not:
.Detect a vehicle ahead on
winding or hilly roads.
.Detect all vehicles, especially
vehicles with a trailer, tractors,
muddy vehicles, etc. (Continued)
Warning (Continued)
.Detect a vehicle when weather
limits visibility, such as in fog,
rain, or snow.
.Detect a vehicle ahead if it is
partially blocked by pedestrians
or other objects.
Complete attention is always
required while driving, and you
should be ready to take action and
apply the brakes and/or steer the
vehicle to avoid crashes.
AEB may slow the vehicle to a
complete stop to try to avoid a
potential crash. If this happens, AEB
may engage the Electric Parking Brake
(EPB) to hold the vehicle at a stop.
Release the EPB or firmly press the
accelerator pedal.
{Warning
AEB may automatically brake the
vehicle suddenly in situations
where it is unexpected and
undesired. It could respond to a (Continued)

Cadillac XT6 Owner Manual (GMNA-Localizing-U.S./Canada-14574701) -
2021 - CRC - 2/8/21
276 DRIVING AND OPERATING
Warning (Continued)
turning vehicle ahead, guardrails,
signs, and other non-moving
objects. To override AEB, firmly
press the accelerator pedal, if it is
safe to do so.
Intelligent Brake Assist (IBA)
IBA may activate when the brake
pedal is applied quickly by providing a
boost to braking based on the speed
of approach and distance to a vehicle
ahead.
Minor brake pedal pulsations or pedal
movement during this time is normal
and the brake pedal should continue
to be applied as needed. IBA will
automatically disengage only when
the brake pedal is released.
{Warning
IBA may increase vehicle braking in
situations when it may not be
necessary. You could block the flow
of traffic. If this occurs, take your
foot off the brake pedal and then
apply the brakes as needed.AEB and IBA can be disabled through
vehicle personalization. See
“Collision/
Detection Systems” underVehicle
Personalization 0130.
{Warning
Using AEB or IBA while towing a
trailer could cause you to lose
control of the vehicle and crash.
Turn the system to Alert, or if the
vehicle has ACC to Off, when
towing a trailer.
A system unavailable message may
display if:
.The front of the vehicle or
windshield is not clean.
.Heavy rain or snow is interfering
with object detection.
.There is a problem with the
StabiliTrak/Electronic Stability
Control (ESC) system.
The AEB system does not need
service.
Front Pedestrian Braking
(FPB) System
If equipped, the FPB system may help
avoid or reduce the harm caused by
front-end crashes with nearby
pedestrians when driving in a forward
gear. FPB displays an amber indicator,
~, when a nearby pedestrian is
detected ahead. When approaching a
detected pedestrian too quickly, FPB
provides a red flashing alert on the
windshield and rapidly beeps or pulses
the driver seat. FPB can provide a
boost to braking or automatically
brake the vehicle. This system
includes Intelligent Brake Assist (IBA),
and the Automatic Emergency Braking
(AEB) system may also respond to
pedestrians. See Automatic Emergency
Braking (AEB) 0275.
The FPB system can detect and alert
to pedestrians in a forward gear at
speeds between 8 km/h (5 mph) and
80 km/h (50 mph). During daytime
driving, the system detects
pedestrians up to a distance of
approximately 40 m (131 ft). During
nighttime driving, system performance
is very limited.