ESP CITROEN C4 2020 Workshop Manual

105
Driving
6For more information on the Speed
limiter, Cruise control or Adaptive
cruise control, refer to the corresponding
sections.
Steering-mounted controls



1. Select speed limiter mode
2. Select cruise control mode
3. Memorise the speed setting
Information displayed on the
instrument panel


4.Current speed setting
5. Speed memorisation prompt
6. Current speed limit indication
Memorising the speed setting
► Switch on the speed limiter 1-LIMIT or cruise
control 2.
Information related to the speed limiter or cruise
control is displayed.
When a new speed setting is detected, the
system displays the value and “ OK?“ flashes
for a few seconds to suggest saving it as a new
speed setting.
If there is a difference of less than 3 mph
(5 km/h) between the speed setting and
the speed displayed by the Road signs
recognition, the " OK?“ symbol is not
displayed.
Depending on the road conditions, several
speeds may be displayed.
►

Press
3-OK to confirm the new speed setting.
The display then reverts to its previous state.
Extended Traffic Sign
Recognition
For more information, refer to the
General recommendations on the use
of driving and manoeuvring aids .


This additional system recognises these road
signs and displays them on the instrument panel
if the appropriate display mode is selected:
–

No entry:
when entering a lane in the wrong
direction, an alert message, including the symbol
of this sign, is displayed on the instrument panel
(request to check the direction of traffic).
–

Other signs:
as you approach it, the symbol
of the corresponding sign is displayed on the
instrument panel.
The actual road signs always take priority over the display from the system.
The signs must comply with the Vienna
Convention on road signs.
Activation / Deactivation
It is set via the Driving / V ehicle touch
screen menu.
Speed limiter
For more information, refer to the
General recommendations on the use
of driving and manoeuvring aids .
This system prevents the vehicle from
exceeding the speed programmed by the
driver (speed setting).

106
Driving
The speed limiter is switched on manually.
The minimum speed setting is 19 mph (30 km/h).
The speed setting remains in the system
memory when the ignition is switched off.
Steering-mounted controls



1. Speed limiter selection
2. Switch on/pause the speed limiter at the
previously saved speed setting
3. Increase/Decrease the speed setting
4. Activate the speed limiter at the previously
saved speed setting
Use the speed suggested by the Road signs
recognition function
For more information on the Road signs
recognition


function, refer to the corresponding
section.
Information displayed on
the instrument panel


5. Speed limiter mode selection indication
6. Speed limiter on (green)/pause (grey)
indication
7. Speed setting value
8. Speed suggested by the Road signs
recognition function (depending on version)
Switching on/Pausing
► Press 1-LIMIT to select the speed limiter
mode; the function is paused (grey).
►

If the limit speed setting is suitable (most
recent speed setting programmed in the system),
press

2-I I> or 4-OK to switch the speed limiter
on (green).
►

Pressing
2-I I> again temporarily pauses the
function.
When the speed setting remains below
the vehicle's speed for a prolonged
period of time, an audible warning is emitted.
Adjusting the speed setting
You do not have to switch the speed limiter on in
order to set the speed.
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.
►

For steps of +/- 5 mph (5
km/h), press and
hold upwards/downwards on 3 to increase/
decrease.
To modify the cruise speed setting based on the speed suggested by the Road signs recognition,
as shown on 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:
►


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.
Temporarily exceeding the
speed setting
► Fully depress the accelerator pedal.

107
Driving
6The speed limiter is temporarily deactivated and
the displayed speed setting flashes.
►
Release the accelerator pedal to return to
below the speed setting.
When exceeding the speed is not due to the
driver's action (e.g.

in case of a steep slope), an
audible signal is triggered immediately.
On a steep descent or in the event of
sharp acceleration, the speed limiter will
not be able to prevent the vehicle from
exceeding the speed setting.
If necessary, apply the brakes to control your
vehicle’s speed.
When the vehicle speed returns to the speed
setting level, the speed limiter operates again:
the speed setting display becomes fixed again.
Off
► Press 1-LIMIT: the speed limiter information
display disappears.
Malfunction
In the event of a malfunction, dashes are
displayed flashing and then fixed instead of the
speed setting.
Have it checked by a CITROËN dealer or a
qualified workshop.
Cruise control - Specific
recommendations
The cruise control function does not guarantee compliance with the maximum
authorised speed and the safety distance
between vehicles, the driver remains
responsible for their driving.
In the interest of public safety, only use cruise
control if the traffic conditions enable vehicles
to drive at a steady speed and maintain an
adequate safety distance.
Remain vigilant while cruise control is
activated. If you press and hold one of the
speed setting modification buttons, your
vehicle may change speed very abruptly.
When descending a steep hill , the cruise
control system cannot prevent the vehicle
from exceeding the set speed. Brake if
necessary to control the vehicle speed.
On steep climbs or when towing, the set
speed may not be reached or maintained.
Exceeding the programmed speed
setting
You can temporarily exceed the speed
setting by pressing the accelerator pedal (the
programmed speed flashes).
To return to the speed setting, release the
accelerator pedal (when the set speed is
reached again, the displayed speed stops
flashing).
Operating limits
Never use the system in the following
situations:
–

In an urban area with the risk of
pedestrians crossing the road.
–


In heavy traffic (except versions with the
Stop & Go function).
–


On winding or steep roads.
–


On slippery or flooded roads.
–


In poor weather conditions.
–


Driving on a speed circuit.
–


Driving on a rolling road.
–


When using snow chains, non-slip covers
or studded tyres.
Cruise control
For more information, refer to the
General recommendations on the use
of driving and manoeuvring aids and the
Cruise control - particular
recommendations.
This system automatically maintains the vehicle’s speed at the value programmed
by the driver (speed setting), without the use of
the accelerator pedal.
Cruise control is switched on manually.
It requires a minimum vehicle speed of 25 mph
(40

km/h).
With a manual gearbox, third gear or higher must
be engaged.

108
Driving
With an automatic gearbox, mode D or second
gear or higher in mode M must be engaged.
With a drive selector, mode
D or B must be
engaged.
Cruise control remains active after
changing gear, regardless of the gearbox
type, on engines fitted with the Stop & Start
function.
Switching off the ignition cancels any
speed setting.
Steering-mounted controls



1. Cruise control selection
2. Switch on/pause cruise control at the
previously saved speed setting 3.
Increase/Decrease the speed setting (if
cruise control activated)
Activation of cruise control in progress (if
cruise control deactivated)
4. Activation of cruise control in progress
Use the speed suggested by the Road signs
recognition
For more information on the Road signs
recognition

function, refer to the corresponding
section.
Information displayed on
the instrument panel


5. Cruise control mode selection indication
6. Cruise control on (green)/pause (grey)
indication
7. Speed setting value
8.Speed suggested by the Road signs
recognition function (depending on version)
Switching on/pausing
► Press button 1 to select the cruise control
mode; the function is paused (grey).
►

Press
3 upwards/downwards, or press 4-OK
to activate the cruise control and save a speed
setting as soon as the vehicle speed reaches the
desired level (green).
►

Pressing button 2-I I>

temporarily pauses the
function.
►

Pressing
2-I I> or 4-OK again will reactivate
cruise control (green).
Cruise control operation is also
temporarily interrupted (pause):
–

by pressing the brake pedal.
–


automatically
, if the electronic stability
control (ESC) system is triggered.
–

by shifting to neutral or engaging reverse
gear

.
–

by using the electric parking brake.
Modifying the speed setting
The cruise control must be active.
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.

109
Driving
6► For steps of +/- 5 mph (5 km/h), press and
hold upwards/downwards on 3 to increase/
decrease.
Prolonged pressing and holding
upwards/downwards on 3 causes a very
rapid change in vehicle speed.
As a precaution, we recommend setting a cruise speed fairly close to the current
speed of your vehicle, to avoid any sudden
acceleration or deceleration of the vehicle.
To change the speed setting using the speed suggested by the Road signs recognition
displayed on 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:
►


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.
Off
► Press 1: the cruise control information display
disappears.
Malfunction
In the event of a malfunction, dashes are
displayed flashing and then fixed instead of the
speed setting.
Have it checked by a CITROËN dealer or a
qualified workshop.
Highway Driver Assist
Only available on versions with the EAT8
automatic gearbox and drive selector.
This system automatically adjusts the speed
and corrects the trajectory of the vehicle, using
Adaptive cruise control with Stop&Go function in
conjunction with Lane Positioning Assist.
These two functions must be activated and in
operation.
For more information on Adaptive cruise
control and Lane Positioning Assist, refer to
the corresponding sections.
The system assists the driver by acting on the steering, acceleration and braking
within the physical limits
and capacities of the
vehicle. Certain road infrastructure elements
or vehicles in the surroundings may not be
properly seen or may be poorly interpreted by
the camera and radar, resulting in an
unexpected change in direction, a lack of
steering correction and/or inappropriate
management of acceleration or braking.
Primarily designed for driving on main
roads and motorways, this system only
works with moving vehicles driving in the
same direction as your vehicle.
Adaptive cruise control
For more information, refer to the
General recommendations on the use
of driving and manoeuvring aids and the
Cruise control - particular
recommendations.
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.
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.

11 0
Driving

To do this, the system uses a camera fitted at the
top of the windscreen and a radar fitted in the
front bumper.
Primarily designed for driving on main
roads and motorways, this system only
works with moving vehicles driving in the
same direction as your vehicle.
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.
Steering-mounted controls



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)
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 more information on the Road signs
recognition


function, refer to the corresponding
section.
Information displayed on
the instrument panel


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
Use
Selecting the system
► With the engine running, press 1-ASSIST to
select cruise control mode.

11 4
Driving

The system identifies the limits of the traffic
lane and steers the vehicle inside this lane to
maintain it in the lateral position chosen by the
driver.
To do this, the system uses a camera placed on
the upper part of the windscreen.
This function is primarily suitable for driving on
motorways and main roads.
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)
One or more operating conditions is not
met; the system is paused.
(green)
All operating conditions are met; the system is
active.
(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).
The system status is saved when the ignition is switched off.
Operating conditions
– Adaptive cruise control active.
– ESC system operational.
–

ASR system activated.
–


No trailer detected.
–


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


V
ehicle not subject to strong lateral g-forces.
–

Direction indicators not activated.
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.
The driver can feel movements in the steering
wheel.
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.
Pausing/Suspending the
system
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.
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.
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.

120
Driving
Function statusDisplayComments
ON



"Hold the wheel". If, while correcting the trajectory, the system determines that the correction will not be
enough and that a solid line will be crossed: the driver is warned that \
they must provide
additional trajectory adjustment.
If the steering wheel is not held properly, an audible warning sounds, accompanied by
a message, until the trajectory correction is completed or the driver ha\
s grasped the
steering wheel correctly.
The duration of audible warnings will increase if multiple corrections a\
re performed
in quick succession. The warning will become continuous, persisting until the driver
responds.
Operating limits
The system goes into standby automatically in
the following cases:
–

ESC deactivated or operation triggered.
–


Speed below 40 mph (65
km/h) or greater
than 112 mph (180
km/h).
–

Electrical connection to a trailer
.
–

Use of a"space-saver" spare wheel detected
(as detection is not immediate, deactivation of
the system is recommended).
–


Dynamic driving style detected, pressure on
the brake or accelerator pedal.
–


Driving over lane markings.
–


Activation
of the direction indicators.
–

Crossing the inside line on a bend.
–


Driving on a tight bend.
–


Inactivity by the driver detected during
correction.
–


Narrow lane detected.
The following situations may interfere with the operation of the system or
prevent it from working:
–

Insufficient contrast between the road
surface and the side of the road (e.g. shade).
–


Lane markings worn, hidden (snow
, mud)
or multiple (roadworks, etc.),
–

Close proximity to the vehicle in front (lane
markings may not be detected).
–


Roads that are narrow
, winding.
Risk of undesirable operation
The system should be deactivated in the
following situations:
–
When changing a wheel or working near a
wheel.
–


T
owing or with a bicycle carrier on a towing
device, especially with trailer not plugged in or
not approved. –

Road in poor condition, unstable or with very
poor grip (risk of aquaplaning, snow
, ice).
–
Adverse weather conditions.
–

Driving on racing circuits.
–

Driving on a rolling road.
Deactivation/Activation



► Press and hold this button to deactivate or
press briefly to reactivate the system at any time.
Deactivation is signalled by the lighting of
the indicator lamp in the button and this
warning lamp in the instrument panel.

123
Driving
6

The vehicle has a multifunction camera located
at the top of the windscreen and, depending on
version, a radar located in the front bumper.
This system does not replace the need for vigilance on the part of the driver.
This system is designed to assist the driver
and improve road safety.
It is the driver's responsibility to continuously
monitor traffic conditions in accordance with
applicable driving regulations.
As soon as the system detects a potential obstacle, it prepares the braking
circuit in case automatic braking is needed.
This may cause a slight noise and a slight
sensation of deceleration.
Deactivation/Activation
By default, the system is automatically activated
at every engine start.
The settings are changed via the Driving/Vehicle touch screen menu.
Deactivation of the system is signalled by
the illumination of this warning lamp,
accompanied by the display of a message.
Operating conditions and
limits
Vehicle moving forward.
ESC system operational.
Seat belts fastened for all passengers.
Stabilised speed on roads with few bends.
In the following cases, deactivating the system
via the vehicle's configuration menu is advised:
–

T
owing a trailer.
–

Carrying long objects on roof bars.
–


V
ehicle with snow chains fitted.
–

Before using an automatic car wash, with the
engine running.
–


Before placing the vehicle on a rolling road in
a workshop.
–


T
owed vehicle, engine running.
–

Following
an impact to the windscreen close to
the detection camera.
The system is automatically deactivated when the use of certain types of
"space-saver" spare wheel (smaller diameter)
is detected, or if a fault with the brake pedal
switch or at least two brake lamps is detected.
It can be dangerous to drive if the brake
lamps are not in perfect working order.
It is possible that warnings are not given,
are given too late or seem unjustified.
The driver must always stay in control of the
vehicle and be prepared to react at any time
to avoid an accident.
Following an impact, the system is
automatically deactivated.
Have it checked by a CITROËN dealer or a
qualified workshop.
Collision Risk Alert
This function warns the driver that their vehicle
is at risk of a collision with the vehicle in front, or
with a pedestrian or cyclist present in their traffic
lane.
Modifying the alert trigger threshold
This trigger threshold determines the sensitivity
with which the function warns of the risk of
collision.
The threshold is set via theDriving/Vehicle touch screen menu.
►

Select one of the three pre-defined
thresholds: "Far", "Normal" or "Close".
The last threshold selected is memorised when
the ignition is switched off.
Operation
Depending on the degree of risk of collision
detected by the system and the alert trigger
threshold chosen by the driver, several different

125
Driving
6The driver can maintain control of the vehicle at any time by firmly turning the
steering wheel and/or firmly depressing the
accelerator pedal.
The brake pedal may vibrate slightly while the function is operating.
If the vehicle comes to a complete stop,
automatic braking is maintained for 1 to 2
seconds.
Malfunction
In the event of a malfunction, this warning
lamp lights up 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.
If these warning lamps come on
after the engine has been switched
off and then restarted, contact a CITROËN
dealer or a qualified workshop to have the
system checked.
These warning lamps light up on the instrument panel to indicate
that the driver's and/or front passenger's seat
belt is not fastened (depending on version). The
automatic braking system is deactivated until the
seat belts are fastened.
Distraction detection
For more information, refer to the
General recommendations on the use
of driving and manoeuvring aids .
Depending on version, the function consists of
either the "Coffee Break Alert" system alone or
combined with the "Driver Attention Warning"
system.
These systems are in no way designed to keep the driver awake or to prevent
the driver from falling asleep at the wheel.
It is the driver’s responsibility to stop if feeling
tired.
Take a break if you are feeling tired or at least
every 2 hours.
Activation/Deactivation
This function is set via the touch screen Driving/Vehicle menu.
The function is activated by default when the
ignition is switched on.
Coffee Break Alert
The system triggers an alert when it detects that the driver has not taken a
break after two hours of driving at a speed above
43 mph (70
km/h).
This alert is issued via the display of a message
encouraging the driver to take a break,
accompanied by an audible signal.
If the driver does not follow this advice, the alert
is repeated hourly until the vehicle is stopped.
The system resets itself if one of the following
conditions is met:
–

With the engine running, the vehicle has been
stationary for more than 15 minutes.
–


The ignition has been switched off for a few
minutes.
–


The driver's seat belt is unfastened and their
door is opened.
As soon as the speed of the vehicle drops below 43 mph (70 km/h), the
system goes into standby.
Driving time starts being counted again once
the speed reaches above 43
mph (70 km/h).
Driver Attention Warning
Depending on version, the Coffee Break Alert
system may be combined with the Driver
Attention Warning system.