>>64250065 (OP)
Honestly, probably not much against a modern armored vehicle. Let's say "a few kilos" equals 7 blocks of C4, or 8.75lb.
If it is a normal manhole cover with the C4 strapped to the bottom, the majority of the blast goes the path of least resistance which is down and away from the vehicle. The manhole cover probably moves but whatever amount of force it has is not spectacular.
Let's say there is some kind of solid backing to ensure the manhole cover goes up. Even then it is not an effective penetrator and given the weight and diameter when it hits armor there probably won't be much internal spall. The crew will certainly have their bells rung but very little in terms of a spectacular vehicle kill. This is a much less effective use of C4 pound for pound than either creating a directional charge or using the C4 as an intermediate explosive to set off a huge bulk charge of janky HME.