Get Driving -> Adaptive cruise control Guide for Citroen C4 SUV Third Generation (2020-2025)

Driving

► Press this button successively again until the

OFF mode is displayed on the instrument panel.

► After a few seconds, the Highway Driver

Assist mode is deselected. The Driving aids

mini-view disappears.

Selecting/Deselecting the

system

6

To do this, the system uses a camera ﬁtted at the

top of the windscreen and a radar ﬁtted in the

front bumper.

Adaptive cruise control

Primarily designed for driving on main

roads and motorways, this system only

works with moving vehicles driving in the

same direction as your vehicle.

For more information, refer to the

General recommendations on the use

of driving and manoeuvring aids and the

Cruise control - particular

ASSIST

► Press this button successively until the

Highway Driver Assist mode is displayed on the

instrument panel.

► After a few seconds, the Highway Driver

Assist mode is selected. The Driving aids mini-

view is displayed on the instrument panel.

recommendations.

If the driver activates the direction

indicator to overtake a slower vehicle,

cruise control may temporarily reduce the

distance to the target vehicle to facilitate

overtaking, without exceeding the speed

setting.

This system automatically maintains the vehicle

speed at a value set by the driver (speed

setting), while respecting a safety distance from

the vehicle in front (target vehicle) previously set

by the driver. The system automatically manages

the acceleration and deceleration of the vehicle.

With the Stop function, the system manages

braking until the vehicle comes to a complete

stop.

The colour of the symbols, representing the

steering wheel and the side lines, depends on

the operating state of the system:

(grey)

One or more operating conditions is not

met; the system is paused.

(green)

With the Stop & Go function, the system

manages braking until the vehicle comes to a

complete stop and restarts the vehicle.

The brake lamps come on if the vehicle

is slowed down by the system.

It can be dangerous to drive if the brake

lamps are not in perfect working order.

All operating conditions are met; the

system is active.

(orange)

System malfunction.

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Driving

The symbol for the Adaptive cruise control

system is displayed on the instrument

Steering-mounted controls

Information displayed on

the instrument panel

panel.

Switching on cruise control

With an EAT8 automatic gearbox or a drive

selector, your speed must be between 0 and

112 mph (0 and 180 km/h).

System activation is also subject to the following

conditions:

– driver's door closed.

– driver's seat belt fastened.

– mode D selected on the automatic gearbox.

– parking brake released.

– if the vehicle is stationary, brake pedal

depressed.

► Press 3 or 4-OK: the current speed becomes

the speed setting (minimum 19 mph (30 km/h))

and cruise control is immediately activated

(green display).

1. Selection/deselection of cruise control only or

Highway Driver Assist (depending on version)

2. Switch on/pause cruise control at the

previously saved speed setting

Conﬁrmation of vehicle restart after automatic

stop (version with Stop & Go function)

3. Increase/Decrease the speed setting (if

cruise control activated)

5. Cruise control activated (green)/paused

(grey)

6. Speed setting value

7. Speed suggested by the Road signs

recognition function

8. Vehicle held stationary (version with

Stop&Go function)

9. Inter-vehicle distance setting

10. Position of the vehicle detected by the

system

Modifying the speed setting

To change the speed setting using the vehicle’s

current speed:

► For steps of +/- 1 mph (1 km/h), make

successive short presses upwards/downwards

on 3 to increase/decrease.

Activation of cruise control in progress (if

cruise control deactivated)

Display and conﬁguration of the inter-vehicle

distance setting

4. Activation of cruise control in progress

Use the speed suggested by the Road signs

recognition function

► For steps of +/- 5 mph (5 km/h), press and

hold upwards/downwards on 3 to increase/

decrease.

Use

Selecting the system

For more information on the Road signs

recognition function, refer to the corresponding

section.

Prolonged pressing and holding

upwards/downwards on 3 causes a rapid

change in vehicle speed.

► With the engine running, press 1-ASSIST to

select cruise control mode.

120

Driving

To change the speed setting using the

speed suggested by the Road signs

recognition function and displayed on the

instrument panel:

Cruise control remains active following a

gear change.

maintained. The speed next to the symbol

disappears from the instrument panel.

6

Deselecting the system

When cruise control is paused and the

driver tries to reactivate it, the message

"Activation refused, conditions unsuitable"

is temporarily displayed if reactivation is

impossible (required conditions not met).

► Press 1-ASSIST until the symbols disappear

from the instrument panel.

– When passing the sign:

► Press 4-OK to save the suggested speed.

This value is then immediately shown as the new

speed setting on the instrument panel.

– After passing the sign:

Messages and alerts

The actual order of display of the

► Press 4-OK. The message "OK?" is

displayed to conﬁrm the request to save.

► Press 4-OK again to save the suggested

speed. The new speed setting value is displayed

on the instrument panel.

Changing the programmed speed setting

with the Road signs recognition function

messages or alerts may be diﬀerent.

(grey symbol)

► Press 4-OK to accept the speed suggested

by the function on the instrument panel, then

press again to conﬁrm.

Cruise control selected, but

cannot be activated.

All the operating conditions have

not been met.

Pausing/resumption of cruise control

If the selected speed is far from the

current vehicle speed, a strong

acceleration or deceleration is felt.

► Press 2-I I> or depress the brake pedal. The

symbol turns grey.

Cruise control may also have been paused:

– automatically, if the electronic stability control

(ESC) system is triggered.

– by shifting to neutral or engaging reverse gear.

– by using the electric parking brake.

– by unfastening the seat belt.

– by opening the driver's door.

► Press 2-I I> or 4-OK to reactivate cruise

control.

With an EAT8 gearbox or a drive selector,

following braking that has brought the vehicle

to a complete stop, if the traﬃc conditions do

not allow the vehicle to begin moving again

within 3 seconds of stopping, press 2-I I> or the

accelerator pedal to move oﬀ.

(grey symbol)

Cruise control selected, awaiting

activation.

All the operating conditions are

met.

Changing the inter-vehicle distance

► Press 3 to display the distance setting

thresholds ("Distant", "Normal" or "Close"),

then make successive short presses upwards/

downwards to select a threshold.

After a few seconds, the option is accepted and

will be memorised when the ignition is switched

oﬀ.

(grey symbol)

Cruise control paused, but

cannot be reactivated.

All the operating conditions have

not been met.

The driver must keep a suﬃcient safety distance

from the vehicle in front.

Temporarily exceeding the speed setting

► Depress the accelerator pedal. The system

is suspended as long as the acceleration is

121

Driving

Within 3 seconds of stopping, the vehicle

gradually and automatically begins moving

again.

Beyond 3 seconds of stopping, the driver must

accelerate or press 2-I I> to move oﬀ.

(green symbol)

Cruise control active, vehicle

detected.

– Vehicles crossing your lane.

– Vehicles driving in the opposite direction.

Situations where the driver must suspend the

system:

If the driver takes no action after the

vehicle has been stopped, the electric

parking brake is applied automatically after

about 5 minutes.

(green symbol)

Cruise control suspended,

following brief acceleration by

the driver.

While the vehicle is immobilised, the

following recommendations apply:

– The driver should not leave the vehicle.

– Do not open the boot.

– Do not drop oﬀ or pick up passengers.

– Do not engage reverse gear.

(orange)

"Take back control"

► Brake or accelerate, depending on the

context.

(red)

"Take back control"

– Vehicles in a tight bend.

When restarting the vehicle, beware of

cyclists, pedestrians or animals who are

not taken into account by the system.

The driver must monitor their surroundings.

► Take back control of the vehicle

immediately: the system cannot manage the

current driving situation.

– When approaching a roundabout.

"Activation refused, conditions

unsuitable"

The system refuses to activate cruise control, as

the necessary conditions are not fulﬁlled.

Operating limits

Cruise control operates by day and night, in dry

weather or moderate rainfall.

Stop & Go function

– When following a narrow vehicle.

Reactivate the system when conditions allow.

Situations in which the driver is prompted to

immediately resume control:

– Excessively sharp deceleration by the vehicle

in front of you.

Certain situations cannot be managed by the

system and require driver intervention.

Cases not taken into account by the system:

– Pedestrians, cyclists, animals.

– Stationary vehicles (e.g. traﬃc jams,

breakdown).

(green symbols)

The system has brought the

vehicle to a complete stop. The

symbol "I I" is displayed.

122

Driving

If the vehicle has undergone any of the

following modiﬁcations, do not use the

system:

– Carrying long objects on roof bars.

– Towing.

6

– Use of the "space-saver" type spare wheel

(depending on version).

– Front end of the vehicle modiﬁed (for

example by adding long-range headlamps or

painting the front bumper).

– When a vehicle cuts in sharply between your

vehicle and the one in front.

The system identiﬁes the edges of the traﬃc lane

and steers the vehicle to keep it inside this lane

and maintain the lateral position chosen by the

driver.

To do this, the system uses a camera placed on

the upper part of the windscreen.

Some vehicles on the road may be

poorly perceived or interpreted by the

camera and/or the radar (e.g. truck), which

can lead to an incorrect evaluation of

distances and result in inappropriate

acceleration or braking of the vehicle.

– Obstructed radar and/or camera.

This system is particularly suited to driving on

motorways and main roads.

Malfunction

In the event of a malfunction,

dashes are displayed instead of

the speed setting.

Activation/Deactivation

The Lane positioning assist system is

automatically activated, after selecting Highway

Driver Assist mode.

For more information on the Highway Driver

Assist system, refer to the corresponding

section.

The selection is conﬁrmed by the display of

the symbols on the instrument panel or on the

head-up display (if ﬁtted), representing the

steering wheel and the side lines.

The colour of the symbols depends on the

operating state of the system:

(grey)

Pay particular attention:

– When motorcycles are present and

when there are vehicles staggered across the

traﬃc lane.

– When entering a tunnel or crossing a

bridge.

This warning lamp comes on,

accompanied by a message and an

audible signal, to conﬁrm the malfunction.

Have it checked by a CITROËN dealer or a

qualiﬁed workshop.

If any of the following malfunctions

occurs, do not use the system:

– Following an impact on the windscreen

close to the camera or on the front bumper

(versions with radar).

Lane positioning assist

For more information, refer to the

General recommendations on the use

of driving and manoeuvring aids.

– Brake lamps not working.

One or more operating conditions is not

met; the system is paused.

(green)

123

Driving

All operating conditions are met; the system is

active.

At any time, the driver can change the position of

the vehicle by intervening on the steering wheel

and maintaining the position until the system has

taken it into account. If the chosen position is too

oﬀ-centre, an automatic re-centering manoeuvre

can occur. The system adjusts to the newly

deﬁned position.

Automatic suspension

Suspension of the system is accompanied by a

speciﬁc audible signal.

– Triggering of the ESC system.

– Insuﬃcient lane detection. In this case, the

Lane keeping assist function can take over,

and the system will reactivate itself once the

operating conditions are met again.

(orange)

System malfunction.

If the driver no longer wishes to use the system

for some time, they can deactivate it by pressing

the button again (conﬁrmed when the symbol

disappears).

Pausing/Suspending the

system

The system status is saved when the

ignition is switched oﬀ.

Paused by the driver

– Travelling outside the lane limits.

– Too tight a grip on the steering wheel or

dynamic action on the steering wheel.

– Action on the brake pedal (resulting in a pause

until cruise control is reactivated) or accelerator

pedal (suspension for as long as the pedal is

depressed).

The driver must act promptly if they

believe that the traﬃc conditions or the

state of the road surface require their

intervention, by moving the steering wheel to

temporarily suspend system operation. Any

action on the brake pedal that causes the

Adaptive cruise control system to be paused

will also cause the system to be paused.

Operating conditions

– Adaptive cruise control active.

– ESC system operational.

– ASR system activated.

– No trailer detected.

– No 'space-saver' spare wheel in use.

– Vehicle not subject to strong lateral g-forces.

– Direction indicators not activated.

– Pausing of the Adaptive cruise control system.

– Deactivation of the ASR system.

If the system detects that the driver is not

holding the wheel ﬁrmly enough, it

triggers a series of gradual alerts and then

deactivates itself if there is no response from

the driver.

Regulation

The driver must hold the steering wheel

properly.

When regulation is activated, the symbols are

displayed in green: with small steering inputs,

the system steers the vehicle and keeps it in the

position chosen by the driver in the traﬃc lane.

This position is not necessarily the centre of the

lane.

If the function is suspended due to the

prolonged release of the force holding

the steering wheel, the system must be

reactivated by pressing the button again.

The driver can feel movements in the steering

wheel.

124

Driving

Driving situations and related alerts

6

The tables below describe the displays associated with the main driving situations. The actual order of display of these alerts may be diﬀerent.

The locations of these symbols vary according to the display mode selected on the instrument panel and whether or not the head-up display is activated (if

ﬁtted to vehicle).

Symbols

Comments

Cruise control paused.

Lane positioning assist not selected.

(grey)

Cruise control on.

Lane positioning assist not selected.

(green)

125

Driving

Symbols

Comments

Highway Driver Assist system activated.

Lane positioning assist is operating normally (steering wheel correction active).

(green)

(green lines)

(grey)

Highway Driver Assist system paused by the driver.

(grey)

126

Driving

Symbols

Comments

6

Highway Driver Assist system activated.

All the operating conditions for lane positioning assist have not been met.

(grey)

(green)

Highway Driver Assist system suspended.

Cruise control and lane positioning assist are suspended.

(grey)

(green)

Messages

Driving situations

"Keep your hands on the steering wheel"

Prolonged driving without holding the steering wheel, holding it improperly or without

applying any force.

"Hold the steering wheel"

"Take back control"

Actual or imminent loss of lane positioning assist.

Simultaneous loss of cruise control and lane positioning assist.

127

Driving

a trailer is not connected or the trailer is not

an approved type.

This system is particularly useful on

motorways and main roads.

Operating limits

The system may issue an alert when the

vehicle is travelling on a long, straight

road with smooth road surface even if the

driver thinks they are holding the steering

wheel correctly.

– Adverse weather conditions.

– Driving on slippery road surfaces (risk of

aquaplaning, snow, ice).

– In roadworks or toll booth areas.

– Driving on racing circuits.

– Driving on a rolling road.

The system may not operate or may produce

unsuitable corrections to the steering in the

following situations:

– Poor visibility (insuﬃcient road lighting,

snowfall, rain, fog).

Operating conditions

– Vehicle speed between 40 and 112 mph (65

and 180 km/h).

Malfunction

In the event of a malfunction, the

Service warning lamp comes on

– Road marked with a central dividing line.

– Steering wheel held in both hands.

– Direction indicators not activated.

– ESC system activated and operational.

– Dazzle (headlamps of an oncoming vehicle,

low sun, reﬂections on a wet road surface,

leaving a tunnel, alternating light and shade).

– Windscreen area in front of the camera

dirty, misted up, frost-covered, snow-covered,

damaged or covered by a sticker.

– Lane markings eroded, partially hidden (snow,

mud) or multiple (roadworks, surface joints).

– Travelling in a tight bend.

and this (orange) symbol appears on the

instrument panel, accompanied by the display of

a message and an audible signal.

Have it checked by a CITROËN dealer or a

qualiﬁed workshop.

The system helps the driver only if there

is a risk of the vehicle unintentionally

wandering from the lane it is being driven in. It

does not manage the safe driving distance,

vehicle speed or braking.

The driver must hold the steering wheel with

both hands in a way that allows control to

be maintained in circumstances where the

system is not able to intervene (for example, if

the central dividing line disappears).

Lane keeping assist

For more information, refer to the

General recommendations on the use

of driving and manoeuvring aids.

– Winding roads.

– Presence of a tarmac joint on the road.

Risk of undesirable operation

The system corrects the vehicle's trajectory by

alerting the driver as soon as it detects a risk of

involuntary lane departure or crossing of a verge

or hard shoulder (depending on version).

To do this, the system uses a camera, placed on

the upper part of the windscreen, identifying the

lane markings on the ground and the side of the

road (depending on version).

The system should be deactivated in the

following situations:

– Driving with a "space-saver" type spare

wheel.

– When towing or with a bicycle carrier

attached to a towing device, particularly when

Operation

As soon as the system identiﬁes a risk of

involuntarily crossing one of the lane markings

detected on the ground or a lane boundary

(e.g. grass verge), it performs the trajectory

128

Driving -> Adaptive cruise control for Your Citroen C4 SUV Third Generation (2020-2025)

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