adaptive cruise control for audi a4

adaptive cruise control with stop & go function

The central element of the Audi driver assistance systems is the adaptive cruise control with stop & go function, an automatic distance control system. The system, which is available in a number of larger models, regulates the speed and the interval to the vehicle ahead by automatically accelerating and braking in a speed range of 0 to 250 km/h (0 – 155.34 mph).

The ACC stop & go uses two radar sensors installed at the front of the vehicle which are automatically heated when it is cold. They transmit radar waves at a frequency of 76.5 gigahertz covering a roughly 40 degree wedge-shaped field measuring approx. 250 meters (820 ft) in length. A computer processes the signals and thus detects vehicles ahead. The driver can influence the function of the ACC stop & go; the interval to the vehicle ahead and the control system dynamics are adjustable in steps. The system accelerates smoothly or sharply, depending on the setting. Deceleration is limited to roughly 4 m/s2 (13.12 ft/s²), which is a good third of what is possible. In stop-and-go traffic, the ACC stop & go automatically slows the car to a stop. After a brief stop, the vehicle moves off again automatically and follows the vehicle ahead. After a longer stop, the driver must tap the accelerator or the cruise-control lever. The adaptive cruise control with stop & go function is a highly intelligent system – thanks to its broad networking. It works closely together with other driver information systems, and each of them contributes its own specific strengths. All told, the ACC stop & go in the Audi A8 takes data from around 30 control units, with which it works to continuously analyze the complete area around the vehicle. This expanse of knowledge enables the system to recognize complex scenarios and predictively support the driver. Because it also cooperates with the navigation system, it knows the course of the selected route in advance and can also compute the lane in curves, for example. The ACC stop & go uses its networked knowledge in numerous situations. Whether quickly passing a car turning right from an interurban road or if another vehicle pulls into the lane occupied by the vehicle on the highway, the system handles many situations with the reflection and composure of a skilled driver, making driving even more fluid and harmonious. Audi offers the adaptive cruise control in a number of different versions, with and without stop & go function, depending on the model series. The function of the individual versions varies slightly due to the different degrees of networking and the expansion levels.

Status: 2011

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Radar sensor: the ACC in the Audi A4

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Field of view: the ACC stop & go covers a wide, wedge-shaped field

Driver assistance

A suite of advanced features that heighten your awareness and security on the road—only from audi., helping you drive with confidence..

Audi's lineup of advanced driver assistance systems can enhance the safety of everyday driving. The combination of various assist features is designed to identify and help mitigate the possibility and severity of accidents. This page outlines some of these available features, how they work and the system limitations. These features can assist with but are not substitutes for attentive driving. As features vary between vehicles, please check your Owner's Manual for more information.

Adaptive Cruise Control

Adaptive Cruise Control with Traffic Jam Assist

Dramatization. Model may not appear as shown. Driver Assistance features are not substitutes for attentive driving. Please see your Owner’s Manual for further details and important limitations.

Adaptive Cruise Assist

Driver assistance.

Parking Assistance

Helping you make the most of your Audi

For more information about the advance safety systems that come with your vehicle, always refer to your Owner's Manual. For additional questions on these features, you can contact us or your local dealer

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Driver assistance systems

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Audi assists drivers with a broad range of assistance systems – from turn and parking assistants to the camera-based road sign recognition. They deliver more safety, convenience and efficiency, and they pave the way for piloted driving.

Turn assist

Turn assist monitors the road lane with oncoming traffic by means of radar sensors, the front camera and, in certain models, a laser scanner. Monitoring is initiated as soon as the driver sets the turn signal. When driving off from a stop, or during slow driving up to a speed of 10 km/h (6.2 mph) , the system can intervene by applying the brakes to prevent the car from colliding with an oncoming vehicle when turning left or right (country-dependent). This brake intervention keeps the vehicle within its own driving lane. The driver is informed of the intervention by an indicator in the instrument cluster.

Adaptive cruise control (with Stop&Go function)

Adaptive cruise control (ACC) offers relief to drivers especially on long trips and in stop-and-go traffic. It maintains a preset distance to the vehicle ahead by automatically accelerating and braking. The driver can choose from five distance levels and adjust acceleration and control system dynamics with Audi drive select.

The system uses radar sensors and a front camera. They detect vehicles ahead and measure the distance to them. In interplay with S tronic or tiptronic, the system covers the entire speed range from 0 to 250 km/h (155.3 mph) . With a manual transmission, it starts at 30 km/h (18.6 mph) . When the system is deactivated, the distance indicator shows the distance to the car ahead and warns drivers when they are tailgating. Its operating speed range is 60 km/h (37.3 mph) and above.

When combined with S tronic or tiptronic, ACC also includes the Stop&Go function. In heavy traffic, it autonomously decelerates the car to a stop. After a brief stop, it automatically resumes driving, following the vehicle ahead. After a longer stop, the driver must tap the accelerator pedal or the control stalk on the steering column. In addition to the radar sensors and front camera, ultrasonic sensors also monitor the vehicle’s immediate surroundings.

Adaptive cruise assist

The adaptive cruise assist (ACA) assists the driver with longitudinal and lateral control over the entire speed range – substantially enhancing comfort on long journeys, in particular. It incorporates the functions of adaptive cruise control, traffic jam assist and active lane assist. Depending on the model, the ACA uses the radar sensor in the nose of the vehicle, the laser scanner, the front camera and the ultrasonic sensors to permanently monitor the vehicle’s surroundings.

Depending on the sensor set, the system detects lane markings, roadside structures, vehicles in adjacent lanes and vehicles driving ahead. The ACA uses this information to derive a virtual vehicle path and “guides” the vehicle within it. The system also includes helpful steering intervention so that the vehicle remains in the center of the lane. In some models based on the modular longitudinal platform, the system uses also the laser scanner: The ACA detects if the lane is too narrow to allow side-by-side driving and enables offset driving through narrow stretches.

The adaptive cruise assist maintains proper speed and following distance via targeted acceleration and braking. The car automatically adapts its speed to the traffic situation and the route, for example at curves and cross-ways. In stop-and-go traffic as well as traffic jam situations, the ACA can bring the car to a complete stop. Depending on the duration of the stop, the car can start automatically again.

Hold assist

Hold assist enables convenient drive-offs when the car is on the usual inclines and descents of street traffic, and it prevents the vehicle from rolling. The system automatically switches over to the electromechanical parking brake when the car is stopped for a longer period of time while hold assist is activated. This ensures that the car will remain stationary even without activation of the parking brake. In conjunction with S tronic, after a stop at a traffic light, for instance, the car drives off as soon as the driver presses the accelerator pedal. The system is activated by pushing a button.

Trailer maneuver assist

The trailer maneuver assist makes it easier to maneuver in reverse with a trailer. Depending on the operating concept the driver uses the rotary/push-button control or the MMI-display to variably adjust the angle at which the trailer should be backed up. The image from the rear view camera on the monitor shows lines that serve as a guide. Trailer maneuver assist turns the steering wheel and directs the trailer onto the selected course. It allows a driving speed of up to 10 km/h  (6.2 mph) . If the articulation angle is too large, the system emits a warning, and it brakes in case of an emergency. Depending on the version, either a sensor in the rotating tow bar of the trailer coupling, that senses the angle between towing vehicle and the trailer, or a rearward directed camera serves as the technical basis.

Audi active lane assist

Operating at speeds from 65 km/h  (40.4 mph) , Audi active lane assist helps the driver keep the vehicle in the driving lane. A camera detects lane lines and the track that the car is following between them. In this process, the camera can distinguish between yellow lines in construction zones and standard white markings. If the car approaches a line without the turn signal being activated, the system helps the driver to steer back into the lane by means of gentle but noticeable interventions in the electromechanical power steering. In the MMI system, the driver sets how early the control intervention should occur. In the case of an early steering intervention point, the system guides the driver towards the middle of the lane by gentle, centering steering interventions. With a late steering intervention point, Audi active lane assist does not intervene until shortly before the detected lane marking might be crossed; then it gives a corrective steering intervention in the proper direction. In addition, the driver may choose to be warned by a vibration of the steering wheel when crossing detected lane markings.

Audi pre sense 360˚

The Audi pre sense 360˚ detects collision hazards all around the car and initiates specific safety measures. It includes the following driver assistant systems:

• Audi pre sense front

• Audi pre sense rear

• Audi pre sense basic

• Audi pre sense side

Audi pre sense basic

Audi pre sense basic initiates preventive safety measures for occupants as soon as it recognizes a critical driving state. It utilizes information from various vehicle systems to determine this. For instance, it intervenes if the Electronic Stabilization Control (ESC) sensors detect skidding or hard braking. Then the system pretensions the seat belts of the driver and front passenger electrically to reduce their forward or lateral movements. The side windows and sliding sunroof are automatically closed. In addition, the hazard warning lights are activated to alert following traffic. 

Audi pre sense front / Audi pre sense city

Audi pre sense front and Audi pre sense city utilize the data of radar sensors and/or the front camera, depending on the car model, to compute the probability of a collision. Within the limitations of the system, it warns of collision threats and initiates braking at specific vehicle speeds. Vehicles are detected in the driving speed range of up to 250 km/h (155.3 mph) , pedestrians up to around 65 km/h (40.4 mph) or 85 km/h (52.8 mph) depending on the model, as well as cyclists, depending on the system.

If a collision is imminent, the system warns the driver with visual, acoustic and haptic warnings based on a multistage warning concept. If necessary, the system provides braking assistance to reduce vehicle speed or initiates a full brake application to avoid the collision under certain circumstances. Actions are also taken to protect occupants. The hazard warning lights are activated, the seat belts are reversibly pretensioned, the seat position is optimized, and the windows and optional panoramic glass sunroof are closed.

Audi pre sense rear

Audi pre sense rear uses radar sensors in the rear bumper to detect an impending rear-end collision, and it initiates preventive safety measures. These include pretensioning the front seat belts by electric power and closing the windows and sliding sunroof. In addition, the system activates the hazard warning lights to alert following traffic to the critical situation. In this process, the Rear-end collision alert signal (RECAS) is triggered, which flashes the hazard warning lights at a high frequency. Audi pre sense rear is active in background over the car’s entire driving speed range with the exception of trailer towing situations.

Audi pre sense side

Audi pre sense side reacts in the event of a collision from the side. Amongst ohthers it uses the radar sensors of the crossing assist to calculate the probability of an accident involving traffic approaching from the side. The system can detect the threat of side collisions at speeds of up to approx. 60 km/h (37.3 mph) and apply preventative measures to help protect occupants. These include: activating the hazard lights, tensioning the safety belts, optimizing the seating position, and closing windows as well as the optional panoramic glass roof.

In an impending lateral collision at more than 25 km/h (15.5 mph) , the suspension actuators of the optional Audi AI active suspension raise the body on the side exposed to the danger by up to 80 millimeters (3.1 in) within half a second. The other vehicle therefore hits the car in an even more impact-resistant zone. The side sills and floor structure accommodate a large portion of the impact forces. Deformation of the cabin and the loads acting on the occupants, above all to the chest and abdomen areas, are reduced by up to 50 percent compared with a lateral collision with no raising of the suspension.

Audi side assist

The Audi side assist lane-changing assistant helps the driver to change lanes at driving speeds of 15 km/h  (9.3 mph)  and faster. It uses two rear-mounted radar sensors with a scanning range of roughly 70 meters  (229.7 ft) . If the system detects a vehicle located in the blind spot or approaching quickly from the rear, a warning LED is lit in the housing of the relevant exterior mirror. If the driver activates the turn signal anyway, the LED flashes several times in rapid succession.

Exit warning

Exit warning improves safety in city traffic. If the car has come to a stop and other vehicles or bicyclists classified as critical are approaching from the rear, the system warns passengers not to open the doors. The system does this using LED lights in the door panels. In a situation assessed to be hazardous, the LEDs flicker and light red. The LEDs of Audi side assist are also lit in the relevant exterior side mirror. The exit warning remains active for approximately three minutes after the ignition is turned off.

This system is based on the radar sensors of Audi side assist, which monitor the zones behind the vehicle and to the sides at the rear. Depending on the model the exit warning is extended by an additional feature: If the system is active, opening of the electronic door locks is delayed roughly one second.

Collision avoidance assist

Collision avoidance assist helps the driver steer around an obstacle in a critical situation. The system uses data from the two radar sensors and the front camera for this purpose. In calculating a suitable evasive maneuver corridor, it takes into account the distance, width and offset of the vehicle driving ahead. Collision avoidance assist is available over a speed range from approx. 30 to 150 km/h (18.6 to 93.2 mph) , and it assumes that the driver is actively steering throughout the maneuver. The driver is informed of the intervention by an indicator in the instrument cluster.

First, a jolt is produced to warn the driver of the hazard. If the driver then actively avoids the obstacle, the assistant applies a slight steering torque that helps by correcting the driver’s steering input or helping to make a lane change. Models like the Audi A8 (2017) use a specific braking of individual wheels – with it the vehicle is made to follow the computed course.

Curb warning

The curb warning identifies curbs that pose a risk to the tires or wheels. Prerequisite: The car is moving forward or backward at up to 10 km/h (6.2 mph) . If the system detects a critical situation, it alerts the driver to this in the optical parking system display on the MMI monitor. To scan the surroundings the system uses primarily the 360 degree cameras.

Multicollision brake assist

Multicollision brake assist automatically brakes the vehicle in the event of an accident, reducing the danger of skidding as well as the risk of further collisions. The function uses the relevant sensors to detect a collision; the severity of the crash and the speed reduction are calculated by the safety computer. If defined thresholds are exceeded, the safety computer sends a corresponding message to the Electronic Stabilization Control (ESC) control unit to trigger an automatic brake application, taking the system status into account. If the driver accelerates, the vehicle is not automatically braked. The same is true if the ESC, the brake system or the electrical system are not functioning.

Parking system, rear

Parking system plus informs the driver, visually and audibly, about obstacles in front of and behind the vehicle. The warnings are made when the distance to a detected object in the path of driving is less than 90 cm (35.4 in) – depending on the specific model – after the driver has engaged reverse gear and activated the system by pushing a button on the center console.

Ultrasonic sensors measure the distance, the MMI display depicts it visually. A white segment shows a detected object outside of the driving path. Red segments represent detected objects within the driving path. The virtual driving path display also shows lateral guide lines which are precalculated based on the currently selected steering input. Increasing frequency of the audible warning indicates that the distance to the obstacle is decreasing.

Parking system plus

Parking system plus informs the driver, visually and audibly, about obstacles in front of and behind the vehicle. The warnings are made when the distance to a detected object in the path of driving is less than 90 cm (35.4 in) – depending on the specific model – after the driver has engaged reverse gear and activated the system by pushing a button on the center console. Ultrasonic sensors inconspicuously integrated into the bumpers measure the distance. The MMI display depicts it visually. A white segment shows a detected object outside of the driving path. Red segments represent detected objects within the driving path. The virtual driving path display also shows lateral guide lines which are precalculated based on the currently selected steering input and thereby assists in convenient parking and exiting. Increasing frequency of the audible warning indicates that the distance to the obstacle is decreasing. At around 30 cm (11.8 in) distance to the detected object, the driver hears a constant tone – the signal to stop.

High-beam assist

High-beam assist utilizes a camera mounted on the interior mirror. It detects light sources – the headlights of oncoming vehicles, tail lights of other road users and the reflections of municipality limit signs, for instance – and automatically switches between high beam and low beam lighting. This provides for better visibility and a more relaxed driving experience. Drivers of oncoming vehicles are not blinded by glare. 

Speed limiter

The configurable speed limiter limits driving speed to a value set by the driver within the speed range of 30 to 250 km/h  (18.6 to 155.3 mph)  – which is very helpful within city limits or construction zones, for example. When the preset limit is reached, the vehicle gently throttles the speed down. The speed limit is not exceeded even if the driver applies more pressure to the accelerator pedal. However, the driver can temporarily override the limit by kick-down, and the speed limiter can be completely deactivated at any time from the steering column stalk. The speed that has been preset is shown in the instrument cluster.

Cruise control

Cruise control maintains a desired driving speed constantly starting at around 30 km/h  (18.6 mph)  (model dependent), provided that it can be maintained by engine power and engine braking effects. The system offers relief to drivers in this way – especially on long trips. At the same time, the constant speed mode of driving contributes towards lower fuel consumption and lower CO 2  emissions. The system is operated via a separate steering column stalk, and the preset driving speed is shown in the instrument cluster. The system is deactivated when the driver brakes. 

Crossing assist

Crossing assist recognizes critical cross traffic in front of the car and warns the driver of it both visually and audibly. At speeds up to 10 km/h (6.2 mph) , it initiates a short braking action when needed. Crossing assist is active at vehicle speeds up to 30 km/h (18.6 mph) . It uses data from the zFAS central computer, with the most important information here supplied by the mid-range radars and the laser scanner. If the driver wants to ease into an intersection or exit with poor visibility, he or she can push the parking button. This sends the images from the 360 degree cameras to the MMI monitor. They drastically expand the field of view, and the driver can choose from among multiple views.

Laser scanner

Together with the long-range radar and the front camera, the laser scanner forms a trio of sensors with various strengths that complement each other. It is these sensors and the central driver assistance controller (zFAS), which generates an image of the surroundings from all the sensor data, that make automated driving possible in the first place.

The laser scanner covers a field approximately 80 meters (262.5 ft) long, with an opening angle of 145 degrees. The roughly fist-sized component is mounted in the front bumper and, regardless of speed, emits moderated pulses of light on multiple vertical levels, which a mirror scatters in the shape of a fan. Having a wave length in the near-infrared range, the extremely short flashes of light are invisible and harmless to the human eye. They are reflected by objects in front of the car and return to the laser scanner in less than one microsecond, where photo diodes detect them.

The result is a detailed, deeply contoured, static image of the surroundings. The laser scanner displays other vehicles as measured cuboids, and it also measures such information as distance and orientation, which it distributes to the partner control units. With its large horizontal aperture, it detects cars entering the lane very early. Detailed information about structures on the side of the road, such as guardrails, round out the spectrum. Like radar, the laser scanner also works in the dark. Automatic cleaning and heating of the covering panel keep it operational even in inclement weather and spray as long as the conditions aren’t too extreme.

Maneuvering assist

Maneuvering assist recognizes moving and stationary objects larger than 10 centimeters (3.9 in) , such as a pillar in a parking garage or a moving vehicle. It helps to avoid impending collisions using warning steering impulses and by autonomously braking the car to a stop, provided that the car is traveling forward or in reverse at no more than 10 km/h (6.2 mph) . The system uses the optical parking system in the MMI to display its steering and parking interventions. The surroundings are scanned using at least the ultrasonic sensors and the 360 degree cameras.

Night vision assist

The night vision assist that Audi offers for multiple full-size models uses a far infrared camera. It reacts to the heat given off by objects. Converted to black and white images, the information can be viewed in the instrument cluster or Audi virtual cockpit. The cooler surroundings appear dark, while animals and people appear strikingly bright.

The system, which has a range of up to 300 meters (984.3 ft) , can detect people and larger wild animals at distances between roughly 10 and 90 meters ( 32.8 and 295.3 ft ) and highlights them with yellow markings. If a hazardous situation is detected, a warning sound is emitted. A warning symbol appears in the instrument cluster as well as in the head-up display. Depending on the headlights persons outside of town limits are illuminated with three short flashes of light.

Emergency assist

Emergency assist detects, within system limits, when the driver is inactive. In such a case, the system assumes control of the vehicle and automatically brakes it to a standstill in its own lane. Emergency assist monitors the driver’s steering activity. If it detects that the driver is inactive, it prompts the driver repeatedly, via visual and audible warnings and by brake jolts, to actively take over control of the vehicle again. With the first strong brake jolt at a driving speed below 80 km/h (49.7 mph) , the hazard warning lights are also activated to warn the surrounding traffic. If the driver remains inactive, despite the warnings, Emergency assist brings the vehicle to a standstill within system limits. The parking brake is engaged. The driver can deactivate Emergency assist at any time by moving the steering wheel, pressing the brake or accelerator pedal or by shutting off active lane assist or adaptive cruise control. 

Park assist

Park assist can automatically steer the car into parallel or perpendicular parking spaces. It uses ultrasonic sensors located in the front and rear bumpers and on the sides. The driver only has to accelerate, brake and shift gears.

The sensors measure parking spaces along the road while driving past them at moderate speed – a maximum of 20 km/h (12.4 mph) for perpendicular parking spaces and a maximum of 30 km/h (18.6 mph) for parallel spaces. A message appears on the MMI display when the system finds a suitable spot. The only actions required of the driver while parking are accelerating, shifting gears and braking. The system handles the steering. In addition, audible signals help the driver. Park assist will make multiple maneuvers, forwards and backwards, if necessary. It can also exit from parallel parking spaces. Depending on the model, the driver activates the system via either a button on the center console or a button in the lower infotainment display. The maximum speed for all maneuvers is 7 km/h (4.3 mph).

(Predictive) efficiency assist

Efficiency assist helps the driver to drive preemptively and save fuel. The system works closely together with adaptive cruise control (ACC) or adaptive cruise assist (ACA). It accesses predictive route data from navigation and Car-to-X information. In order to detect traffic signs and other vehicles, the efficiency assist uses the front camera as well as data from the front and rear-facing radar sensors.

The driver is shown corresponding information in the instrument cluster or in the Audi virtual cockpit and the head-up display as soon as it would be sensible to take the foot off the right-hand pedal. Symbols for speed limits, bends, roundabouts, towns, or downhill slopes that indicate to the driver to slow down are displayed on the basis of the route data and recognition of traffic signs. Depending on the model the gas pedal also pulses against the sole of the driver’s foot – a clear indication to take their foot off the gas.

If the cruise assist is switched on or the ACC is activated, efficiency assist regulates actively. It decelerates and accelerates predictively and adapts the speed to the course of the road and the traffic situation, also taking vehicles driving in front into account. If the driver so wishes, the system controls the freewheeling and coasting operation of the engine in cooperation with other control units. The predictive system always maintains a driving style that reflects the driving program selected – from efficient to sporty – and uses scope for recuperation in the Audi e-tron .

The driver can override the system at any time by accelerating and braking. In addition, drivers can individually activate, deactivate and configure many of their detailed functions in the MMI. Depending on the model, the control, for example, can be adapted to the course of the road in three stages: slow, medium or fast.

Cross traffic assist rear

Cross traffic assist rear warns the driver of approaching vehicles it deems critical when slowly backing up, such as when pulling out of a perpendicular parking spot. It uses the rear radar sensors for this. They cover the zone at the rear, including the driving lanes to the left and right behind the vehicle. The warnings are progressive – initially a visual warning is shown in the MMI display (in the park assist display). The situation is represented in a virtual top view and in the “rear” and “rear side” camera views. Red arrows behind the vehicle point in the direction from which there is a potential hazard. If the driver does not react to the visual display, an audible signal sounds before the system warns the driver with a brake jolt. This helps to avoid accidents while exiting parking spaces.

(Remote) parking pilot and remote garage pilot

The (remote) parking pilot and the remote garage pilot make parking extremely easy and convenient. Both systems enable the car to roll automatically into parallel or perpendicular parking sports or into a garage. They control the steering, the gas, the brakes and the automatic transmission. The driver either sits in the car (parking pilot) or monitors the maneuver from outside via smartphone (remote parking pilot and remote garage pilot). 

He or she activates the respective systems using the parking button on the MMI display. If the vehicle is moving at a moderate speed the ultrasonic sensors measure the parking spaces along the road. The garage pilot also uses the laser scanner. A message appears on the MMI display when the system finds a suitable spot. The driver can now stop, select smartphone control in the MMI, get out and start the parking maneuver from his or her phone. This is done by pressing the Audi AI button in the myAudi app and holding it during the entire parking procedure. The driver sees a live image from the 360 degree cameras on the smartphone display. The maximum distance from the car is six meters (19.7 ft) . The car pulls into the parking space at a speed of up to 6 km/h (3.7 mph) , maneuvering multiple times if necessary. The car can only pull forward into a garage. Once the vehicle reaches its final position, the tiptronic is set to P and both the engine and the ignition are turned off. When it's time to leave again, the driver can start the car using the smartphone and have it pull out of the parking spot or the garage.

The driver can also start the parking pilot while still sitting behind the wheel by pushing the AI button on the center tunnel console. This button must also be pressed throughout the entire parking procedure.

The (remote) parking pilot and the remote garage pilot function intelligently and conveniently. For instance, the sedan can also pull into a garage if it needs to drive in an arc to do so. Inside the garage, the car can pull very close to walls and obstructions such as bikes – or it will simply not enter the garage if there is not enough space. Its innovative laser scanner is particularly helpful here.

Reversing camera

The reversing camera simplifies maneuvering by showing the zone behind the vehicle on the MMI display. It shows the calculated driving track based on the steering angle as well as auxiliary lines and guide lines. For parallel parking, the latter lines precisely direct steering into the parking space in conjunction with steering reversal points. The blue pictured surface in the camera image indicates where the vehicle will be positioned after the parking procedure. The reversing camera is inconspicuously integrated into the handle trim strip of the luggage compartment lid. It is activated as soon as the driver engages reverse gear or pushes the respective button. 

Traffic jam assist

Traffic jam assist is a subsystem of adaptive cruise control (ACC) or adaptive cruise assist (ACA). In vehicles with an automatic transmission, traffic jam assist can assume certain steering tasks over a speed range up to 65 km/h  (40.4 mph)  on roads that are in good condition, as long as the traffic is moving slowly. The system uses the radar sensors and the front camera. It guides the car by making gentle steering movements within system limits and orients itself to lane markings, roadside structures and other vehicles on the road. When traffic jam assist reaches its system limits – such as when the traffic thins out or there is a sharp curve ahead – the driver must assume driving tasks again. If the driver does not, the system warns the driver in several stages. As a final measure, it autonomously brings the car to a safe stop.

360 degree cameras

The four 360 degree cameras on the vehicle scan the immediate vicinity and display obstacles within. Drivers can choose from different views that simplify parking and maneuvering. A virtual overhead view shown in the MMI display gives the driver an overview of the overall parking situation. The panoramic view to the front and rear covers an angle of nearly 180 degrees and provides better visibility when exiting tight parking spaces, courtyard entrances and confusing intersections. Guide lines in the reversing camera view make it easier to park in perpendicular spaces and to hitch trailers. The view from the front camera helps when maneuvering, as it detects obstacles in front of the car. The system is automatically activated when driving in reverse or by pushing a button.

An additional feature for some models is a virtual 3D view. The driver can use the touchscreen to steplessly swivel and zoom the image of the car and the actual vehicle surroundings. There is also a view of the front or rear tires so that the driver can pull the car up right next to the curb.

Traffic sign recognition

Camera-based traffic sign recognition detects traffic signs such as speed limit signs (including digital signs), no passing zones, entry restriction signs and other auxiliary signs, and it shows them to the driver in graphic form. They then appear in the driver information system and/or the Audi virtual cockpit as well as in the head-up display. The camera on the windshield also detects temporary speed restrictions such as in construction zones, as well as time- and weather-conditional restrictions. The system shows the currently applicable speed limit. For example, if a lower speed applies when the road is wet, this value is displayed – if the windshield wipers are on. Speed limits that are only in force at certain times of day are only shown at those times. In addition, the driver can choose a warning threshold as an offset to the legal speed limit. When this threshold is exceeded, a visual warning is given.

Central driver assistance controller

Conditional automated driving at level 3 is based on two innovations: a sensor set with the laser scanner and a central driver assistance controller known as zFAS, for short. The roughly tablet-sized computer constantly processes sensor signals and uses them to create a complete image of the car’s surroundings. To do this, it uses processors from leading global companies – NVIDIA (Tegra K1), ALTERA (Cyclon V), Infineon (Aurix) and Mobileye with the EyeQ3 image processing engine.

The sensor data is read into the “fusion” layer in the zFAS unit and is merged to generate a sophisticated model of the surroundings. It includes moving objects, stationary obstacles and a road model. The latter is generated from the conventional navigation map and from road markings and borders that the sensors detect. The vehicle is guided precisely within its lane in the model, and this positional information flows into the navigation map that the driver sees. This information offers the driver many benefits, such as in complex intersection situations.

The zFAS serves as the central interface for piloted driving functions and for nearly all of the assistance systems. Whether the given system is the crossing assist, the emergency braking function, adaptive driving assistant or traffic jam pilot – its functions are no longer coupled to just a specific sensor. Each system makes use of the vehicle surroundings model and can operate more effectively as a result of this model’s high precision. This makes it possible for the vehicle, for example, to recognize the tail end of a traffic jam and brake appropriately.

The principle of a central fusion level based on standardized sensor interfaces gives Audi another advantage – independence from the specificity of sensors. Developers can replace individual sensors whenever better devices are market-ready.

Audi A4 Owners Manual

Messages in the instrument cluster

The instrument cluster displays various driver messages.

Overview of instrument cluster

A Indicator lamp and speedometer display B Instrument cluster display C System status indicator

A Indicator lamp and speedometer display

Section A of the display shows important information regarding the use of the adaptive cruise control system. The target speed you have set is marked by diodes in the speedometer.

The indicator lamp shows whether the system has detected a vehicle in front.

B Instrument cluster display

You can call up the display for the adaptive cruise control by repeatedly pressing the RESET button on the windscreen wiper lever. For more details refer togggggg 27.

C System status indicator

The information in section C of the display is not shown permanently. It only appears if you, for example, set or change the speed setting, change the time interval, when messages are displayed, or if the adaptive cruise control is switched off for safety reasons.

Indicator lamp and display in the speedometer

Instrument cluster: Indicator lamp

Target speed

The target speed set by the driver is indicated by a red diode in the speedometer.

If the speed setting is between two graduations on the speedometer dial, the two closest diodes will both light up ⇒ fig. 143.

It is only possible to set target speeds ranging from 30 to 200 km/h. This speed range is illuminated slightly by the diodes on the speedometer dial.

Indicator lamp (symbol)

• A No vehicle in front: The green indicator lamp A, fig. 144 shows that the adaptive cruise control system is in cruise mode and that there is no vehicle in front. It maintains the stored target speed. • B Vehicle in front: The green indicator lamp B shows that the system has detected a vehicle in front. The speed is adapted to the vehicle in front. The adaptive cruise control system accelerates and brakes the vehicle automatically. • C Driver intervention prompt: When the red indicator lamp flashes C, this is a warning for the driver to intervene. The driver has to brake the vehicle with the foot brake. This warning lamp will always appear when the adaptive cruise control system alone is not able to brake the vehicle sufficiently to maintain a safe distance to a vehicle in front. An audible alarm (warning tone) will also sound when the lamp starts to flash. For further information on the driver intervention prompt ⇒ page 138.

• • If you exceed the target speed by using the accelerator, the driver intervention prompt will not be accompanied by a warning tone. The indicator lamp shown in the speedometer will also switch off if the target speed is exceeded.
• • You can change the volume of the warning tone on the sound system or MMI* ⇒ page 139, “Setting the warning tone volume and driving program”.

Instrument cluster display

Instrument cluster: Display

Repeatedly press the RESET button on the windscreen wiper lever to select whether you wish to display information regarding the onboard computer, the navigation system* or the adaptive cruise control in this section of the display screen.

A Vehicle image B Distance C System status

A Vehicle image

The vehicle image will show you whether the system has detected a vehicle in front.

• Vehicle outlined: No vehicle in front • Vehicle in white: A vehicle in front has been detected • Vehicle in red: Driver intervention prompt

The arrows and scale indicate the distance to the vehicle in front.

• • No vehicle in front: If there is no vehicle in front, no arrows will be shown.
• • Vehicle in front: If a vehicle is detected in front, the arrows will be on the scale. The green area of the scale represents the distance setting. If you approach the vehicle in front slowly, the arrows will move from the grey area into the green area of the scale.
• • Driver intervention prompt: If you approach the vehicle in front quickly, the arrows act as a warning. When the actual distance is shorter (or is likely to become shorter) than the distance selected, the arrows move into the red area of the scale. In certain situations, you may need to intervene as the driver ⇒ page 138, “Driver intervention prompt”.
• • ACC OFF (in white letters): The adaptive cruise control is switched off.
• • ACC AVAILABLE (in white letters): The system is switched on but the control has not yet been activated.
• • OVERRIDE (in white letters): You have exceeded the target speed by accelerating.
• • DISTANCE! (in red letters): The distance to the vehicle in front is not sufficient and you have to brake the vehicle with the foot brake.
• • DISTANCE 1 to DISTANCE 4 (in green letters): Shows the time interval you have selected. The adaptive cruise control is in cruise mode.
• • DISTANCE 1 - dyn., DISTANCE 1 - comf. etc. (in green letters): If the settings are adjusted on the sound system or MMI* such that the “standard” driving program is replaced by “comfort” or “dynamic”, the message above will indicate the setting.

System status indicator in the instrument cluster display

The text messages and symbols in this section of the display are not shown permanently.

Instrument cluster: Further information

The various symbols for the time intervals -arrow- ⇒ fig. 146 appear when you change the settings.

... The text message ... (three white dots) appears if a setting made with the control lever cannot be implemented. There can be several reasons for this:

• • You have pulled the control lever towards you to resume the programmed cruising speed, without a target speed having been set.
• • The control lever has been pushed up / down to increase / reduce the speed, without a target speed having been set.
• • The control lever has been pushed up / down to increase / reduce the speed, but the resulting speed would be outside the range of 30 to 200 km/h.

ACC deactivation

The message ACC deactivation sometimes appears on vehicles with a manual gearbox. If you press the clutch pedal for longer than about 20 seconds, the adaptive cruise control will be automatically deactivated and a warning tone will sound.

ACC not available

The text message ACC not available will appear if, for example, the brakes are overheated. The adaptive cruise control will then temporarily not be available. This is indicated by a warning tone.

ACC not available!

The text message ACC not available! appears if a malfunction should occur. The adaptive cruise control will then be switched off. This is indicated by a warning tone. Have the system checked by a qualified workshop.

ACC sensor blocked!

The text message ACC sensor blocked! appears if the ACC system can no longer detect objects reliably. The adaptive cruise control will then be switched off. This is indicated by a warning tone. The ACC sensor is obstructed by dirt or foreign objects (e.g. leaves or snow). Clean the sensor to restore the function, fig. 136.

Engine speed !

On vehicles with manual gearbox, the text message Engine speed ! will appear if the driver does not change gear in time when the adaptive cruise control accelerates or brakes the vehicle. The adaptive cruise control will automatically be deactivated if the engine speed is not maintained within the permissible range. This is indicated by a warning tone.

ESP activation

The text message ESP activation appears if the Electronic Stabilisation Programme (ESP) has intervened. In this case, the adaptive cruise control will automatically be switched off. This is indicated by a warning tone.

Speed (in km/h)

The target speed (in km/h) will appear in the display whenever it is stored or changed, “Setting the speed” and, “Setting a new speed”.

Speed range

The text message speed range appears if the current speed is too low to set or to maintain the target speed.

To set a target speed, the speed of the vehicle must be at least 30 km/h. The cruise control system switches off if the speed falls below 20 km/h.

If the speed exceeds 200 km/h (OVERRIDE), the system will remain active and will reduce the speed to 200 km/h once the driver stops accelerating.

ACC functionality limited

The text message ACC functionality limited appears if the ACC system does not detect any objects for an extended period. The distance to vehicles in front is not being controlled while the message is displayed. The ACC system is not deactivated, and so extra care should be taken! The text message ACC functionality limited can appear for the following reasons:

• • The ACC sensor is dirty. The ACC system is not responding or is not responding correctly to the vehicles in front!
• • You may be driving on a country road with no traffic and no clear roadside demarcation (e.g. safety barriers, traffic signs, trees). As soon as the system detects a vehicle, distance control is resumed and the text message disappears.

The ACC sensor is located inside the trim grille (front right), fig. 136. If the sensor is no longer functioning due to dirt or obstruction in this area, it should be cleaned.

Parking brake !

The text message Parking brake ! appears if the parking brake is operated. The adaptive cruise control will then be switched off. This is indicated by a warning tone.

Gear lever position !

On vehicles with manual gearbox the text message Gear lever position ! appears when no valid forward gear is selected, i.e. reverse gear or 1st gear is engaged or the gear lever is in the neutral position. Adaptive cruise control is not available when the lever is in these positions.

Shift lever position!

On vehicles with automatic gearbox the text message Shift lever position ! appears if the shift lever is moved to position N. Adaptive cruise control is not available when the lever is in this position.

Driver intervention prompt

The driver intervention prompt is a warning for the driver to reduce speed manually.

Instrument cluster: Driver intervention prompt

In some situations the adaptive cruise control system alone is not able to brake the vehicle sufficiently to maintain a safe distance to the vehicle in front. The adaptive cruise control system will then call on you as the driver to take control of the situation yourself.

The Driver intervention prompt provides both a visual and an acoustic warning.

• • A red vehicle symbol will appear in the instrument cluster display ⇒ fig. 147.
• • The system status indicator will show DISTANCE!.
• • The red warning lamp will start to flash.
• • An acoustic warning will also sound (unless it has been deactivated in the sound system or MMI* settings).

• • Pressing the brake pedal will switch off the adaptive cruise control system. The speed set at that point will, however, remain stored until the adaptive cruise control is activated again.
• • To resume the programmed cruising speed, release the brake pedal and pull the control lever towards you, “Switching off the system (with speed memory function) and reactivating it”.
• • If you exceed the target speed by pressing the accelerator, the driver intervention prompt will not be accompanied by a warning tone. The indicator lamp shown in the display will also switch off when the target speed is exceeded.
• • If the adaptive cruise control triggers a braking operation the hydraulic brake system is under pressure. This is why brake pedal travel will be shorter and the pedal will feel “harder”.

Setting the warning tone volume and driving program

You can change the adaptive cruise control settings on the sound system or MMI* to suit your individual driving style.

Display: adaptive cruise control

– Select: Function selector button CAR > adaptive cruise control.

Setting the volume of the warning tone

If the adaptive cruise control system switches off (e.g. when the ESP intervenes) or a driver intervention prompt appears, a warning tone will sound.

You can set the volume of the warning tone to low, medium, or high. The new volume will sound briefly after making any adjustment. If you do not want a tone to sound, select off.

Adjusting the basic settings

You can set the distance (time interval) you want the adaptive cruise control system to keep to the vehicle in front by selecting distance 1, distance 2, distance 3 or distance 4.

Setting the driving program

In the Driving program menu you can select either dynamic, standard or comfort according to your personal preferences.

• • We recommend you to leave the warning tone switched on. Even when the warning tone is switched off, not every warning tone will be deactivated.
• • When you pass the key on to somebody else please remember to make the other driver aware of the ACC settings.
• • We recommend a minimum distance setting of DISTANCE 3 (factory default setting).
• • When the ignition is switched off, the distance setting reverts to the factory default DISTANCE 3. A qualified workshop can cancel this function. In this case a default distance setting defined on the sound system or MMI* is applied each time the engine is started.

How To Use Audi Adaptive Cruise Control

When driving at any speed, something as commonplace as a sneeze might be dangerous. We provide available advanced driver assistance systems as a result. Not out of a lack of skill, but to help fill in the blanks when oddities happen.

Stop-and-go adaptive cruise control makes it easier to accelerate, decelerate, and maintain distance and speed. Radar, camera, laser scanner, and ultrasonic sensors are used by adaptive cruise assist to continuously monitor the environment and support highway driving.

In This Article...

I want to activate adaptive cruise control.

1. Press the cruise control ON/OFF button on the steering wheel to activate the feature. If your car has a Head-Up Display, or a cluster display, you’ll see a white ADAPTIVE CRUISE CONTROL icon when the system is turned on. An arc with a tiny triangle pointing through it or a speedometer with a car on top might be the icon.

2. While moving at the specified speed, press the SET button to select a cruise speed. When the system is in use, the white ADAPTIVE CRUISE CONTROL symbol will turn green.

How can I tell if the cruise control on my Audi is adaptive?

Using the multifunction steering wheel, select Driver assistance view to see the adaptive cruise control display in the instrument cluster. To see the current setting for distance, tap the rocker switch. There are five options for distance. When the ignition is turned off, the most recent distance that was set will be saved.

How is adaptive cruise control used?

While you’re stopped, you can set the Adaptive Cruise Control speed on select vehicles (the system must be on, you must apply the brake pedal and your vehicle must be in FORWARD gear).

• To activate the feature, press the SET button while pressing the brake.
• While keeping your foot on the brake, you can adjust the speed by continuously pushing the “+/RESUME or “-/SET button until the system displays the desired speed.
• After that, let go of the brake, and the car will maintain its place. Pressing the RESUME button after traffic has moved will cause the car to accelerate to the predetermined speed or, if a car is seen ahead, to maintain the following distance.

Can you disable the adaptive cruise control on your Audi?

Pushing the operational lever away from you to position “0 until it engages will turn off adaptive cruise assist. Except for those who choose the premium trim level, there is no simple cruise control.

The value of Audi adaptive cruise control

DeMuro claims that the benefits of having adaptive cruise control in his vehicles have altered his quality of life. A straightforward but sophisticated technology is adaptive cruise control. It does this by using the radars in your car to detect the vehicle in front of you, and depending on what it does, it will either accelerate or decelerate your vehicle up to a maximum speed that you can specify.

Therefore, adaptive cruise control becomes a huge lifesaver in traffic situations when you would otherwise have to repeatedly speed up and then slow down. Adaptive cruise control takes care of all of that for you, saving you from having to laboriously press on the pedal for a brief while before braking once more.

Additionally, because you don’t have to make many turns in these instances of heavy traffic, you won’t need to utilize your steering wheel as much. You can essentially operate a vehicle hands-free in these circumstances by using adaptive cruise control. But don’t misunderstand DeMuro; you still need to pay attention to the road and shouldn’t use adaptive cruise control while doing so.

In times of heavy traffic, though, you essentially don’t have to do much if adaptive cruise control is activated. Additionally, adaptive cruise control ensures that you won’t be exhausted at the conclusion of your drive if you experience heavy traffic as frequently as DeMuro does.

What is wrong with my adaptive cruise control?

Today, it would be challenging to find a car on the road without cruise control. Driving long distances is made easy because to this useful feature, but when it breaks down, it can also be problematic. Knowing the causes of your cruise control’s malfunction will help you have the issue rectified fast for a better ride.

Your car’s acceleration could be affected by this problem, which can potentially affect the cruise control system itself. The moment you become aware of a problem, you should have it examined. Let’s quickly review the causes first.

A blown fuse or a broken brake pedal switch are the two main causes of cruise control malfunctions. Problems with the ABS or the throttle control system may also be to blame. In earlier cruise control systems, a broken vacuum line may be to blame.

Here is a more thorough list of the potential reasons why a cruise control may not be functioning:

Why can’t I book my adaptive cruise right now?

If any of the radars or the camera becomes blocked or misaligned, an “ADAPTIVE CRUISE TEMPORARILY UNAVAILABLE” message may be displayed and the cruise will be disabled.

What models of Audi have adaptive cruise control?

The ACC is connected to the Audi navigation system and is capable of reading traffic signs and providing the driver with that information. For example, when the speed limit changes from 55 to 35, ACC automatically reduces the vehicle’s speed to match the new restriction. When the navigation system detects that you are going to make a turn, ACC automatically reduces the speed to a safe level before resuming it once the turn has been made.

Autoblog’s authors expressed their admiration for this function, noting that many navigation systems alert drivers to approaching turns or exits when it’s almost too late to take a decision. By reducing the vehicle’s speed to a safe level and then resuming the higher speed when the conditions are perfect, ACC makes navigating curves in the road just as simple.

According to Greg Migliore of Autoblog, “Automakers have been insisting for years that the autonomous technology is virtually ready, they just need the infrastructure and laws to catch up.

“Audi’s intelligent system fills in that gap, resulting in a car that can behave properly with minimum driver involvement. The ACC system from Audi, according to Autoblog, gave the driver “a sense of alertness and a better degree of information than other systems on the road.”

The Audi Driver Assist Technology, a collection of functions that provide the driver with an extra set of eyes and ears behind the wheel, includes adaptive cruise control as one of its many features. Audi Pre Sense, Active Lane Assist, and Active Side Assist are additional features. The technology package, which is intended to assist you keep aware of your surroundings, enables you to concentrate on using your Audi, which is the most important aspect of having one.

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FIND YOUR MODULE

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Cruise Control Module Hella (brand) Audi, Land Rover, Saab, Volkswagen Rebuild

• Regular price $65.00

 Attention:

This rebuild service requires that you:

Verify that your cruise control matches the product photo

We are unable to rebuild the short style version

Remove your cruise control

Carefully pack and ship it to us - Instructions

We rebuild it and ship it back to you

Re-install your cruise control

Known issues we fix:

Intermittent functionality

Non-functioning

What this rebuild includes:

Replace faulty components

Re-flow PCB

Bench Tested

2 business day turn-around

• 5-year warranty against return failure

Year/Make/Model(s) applicable:

1996 Audi A4

1997 Audi A4

1998 Audi A4

1999 Audi A4

1995 Audi A6

1996 Audi A6

1997 Audi A6

1998 Audi A6

1999 Audi A6

1999 Audi A8

1995 Audi S6

1997 Land Rover Discovery

1998 Land Rover Discovery

1999 Land Rover Discovery

1993 Land Rover Range Rover

1994 Land Rover Range Rover

1995 Land Rover Range Rover

1992 Saab 900

• 1993 Saab 900
• 1994 Saab 900
• 1995 Saab 900

1995 Volkswagen VW Cabrio

1996 Volkswagen VW Cabrio

1997 Volkswagen VW Cabrio

1998 Volkswagen VW Cabrio

1999 Volkswagen VW Cabrio

2000 Volkswagen VW Cabrio

2001 Volkswagen VW Cabrio

2002 Volkswagen VW Cabrio

1995 Volkswagen VW Eurovan

1996 Volkswagen VW Eurovan

1997 Volkswagen VW Eurovan

1998 Volkswagen VW Eurovan

1999 Volkswagen VW Eurovan

2000 Volkswagen VW Eurovan

1992 Volkswagen VW Jetta

1993 Volkswagen VW Jetta

1994 Volkswagen VW Jetta

1995 Volkswagen VW Jetta

1996 Volkswagen VW Jetta

1997 Volkswagen VW Jetta

1998 Volkswagen VW Jetta

1997 Volkswagen VW Rialta

1998 Volkswagen VW Rialta

1999 Volkswagen VW Rialta

Others may apply

Part Number(s) applicable:

• 5GA004397-01

5GA004397-07

• 5GA004397-08

5GA004397-10

5GA004397-11

5GA004397-12

5GA004397-13

5GA004397-16

• 5GA005070-00

Our new website includes a new review platform. If you'd like to see testimonials from our previous website, click here . 

Customer reviews.

My 1999 VW EuroVan Cruise Control died slowly, then completely over the past few years. Sometimes it would engage and work for a few minutes, then it would simply "release" and not re-engage. Then it would no longer engage at all. My favorite mechanic could not track down the problem. After it completely died, I purchased and installed an Audiovox brand generic aftermarket kit which worked for a couple of years, then also died. I took the EuroVan back to my mechanic who dug deeper and reported that the cruise control module needs to be replaced. I shopped briefly online for a new one: nope! So I bought a used module on ebaymotors - plentiful and surprisingly cheap. Too bad it did not restore my cruise control function at all. The system was still dead. Knowing the potential problems with black box electronics, I decided to try again, and I ordered another module from a different ebaymotors vendor. Same result: no-go. While waiting for the second replacement module to arrive, I shopped around for help on the internet and one VW enthusiast site recommended Module Master. I contacted them and sent the original and the first replacement in for repair. Module Master tested both modules and found both defective. I asked them to try to repair both modules and send them back to me. BOTH repaired modules work perfectly. My 1999 EuroVan is now a joy to drive long distances again. I told the second ebaymotors vendor the story and I sent the second replacement module back to him. He sent me an immediate refund. (I wonder if he will scrap the module or send it to Module Master for repair, then try to sell it again on ebaymotors at a higher price, of course.) SO, now I have TWO working modules - one installed and one spare. I am happy to have the spare because I have FOUR Volkswagens and all four of them use the same cruise control module. (The best way to not need anything is to already have plenty of them!) Thanks, Module Master for TWO jobs very well done!

I have not tried the module yet but they have extremely fast turnaround service and communication, thank you

Very professional repair. Fast turn around. Careful packaging. Still having cruise problems, other than module. Chadd helping me troubleshoot. Very helpful. A honest trustworthy company!

Still not working just clicks

Having plenty of other unobtainable parts for my 1999 Rialta, having the ability to have a component simply repaired, for a rediculously affordable price, its CRAZY!

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• Apple CarPlay ( 12 )
• Bluetooth ( 118 )
• Mobile Internet ( 1 )
• Premium Audio ( 59 )
• Rear Entertainment System ( 3 )
• USB Inputs ( 45 )

Options & Packages

• 18" Wheel Package ( 2 )
• Audi Beam "Rings" ( 44 )
• Audi Guard All-Weather Mats ( 11 )
• Audi Guard Cargo Mat ( 2 )
• Audi Guard Protection Kit ( 27 )
• Audi Guard Wheel Lock Kit ( 2 )
• Black ( 1 )
• Black Optic Plus Package ( 29 )
• Black Optic Plus Package 19" Wheels ( 18 )
• Convenience Package ( 12 )
• Navigation Package ( 7 )
• Premium Plus ( 32 )
• Prestige ( 3 )
• Rear Side Airbags ( 1 )
• S line Interior Package ( 2 )
• Stainless Steel Pedal Caps ( 1 )
• Ventilated Front Seats ( 20 )
• Warm Weather Package ( 1 )

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