Pved-Cls Steering Mode Selection State Machine - Danfoss PVED-CLS User Manual

ENGINEERING TOMORROW
3.2

PVED-CLS STEERING MODE SELECTION STATE MACHINE

Figure 5 shows the high level steering mode selection state machine. The state transition requirements are described in
detail in chapter 3.6. The operational states of PVED-CLS can be observed in 'Operation status message',
(refer PVED-CLS Communication Protocol document for more details).
PVED-CLS Steering mode selection
Entry
Point
Road Switch Present (P3241 = 255)
Boot-up
Road Switch in ON-Road position
Road Switch in OFF-Road position
Road Switch not Present (P3241 = 0)
OR
Road Switch Present (P3241 = 255)
Road Switch in OFF-Road position
Safe ON Road inactive
Entry
Point
OFF Road
ON-Road steering
inactive
MMI request for a steering mode other than ON-Road AND
MMI request for
ON-Road steering
(Cut-Off Valve Not Present (P3072 = 0) OR
Cut-off valve activation timeout (P3078) = 0)
OFF-Road Steering
STW_ON
OR
AUX_DIS
GPS_OFF
AND
STW_ON
STW_OFF
AND
AUX_OFF
© Danfoss | August 2018
AND
Safe ON-Road
steering
AND
Road Switch in ON-Road position AND
Road Switch Present (P3241 = 255)
MMI request for a steering mode other than ON-Road AND
Cut-Off Valve Present (P3072 = 255) AND
PRG_CHANGE_EN AND
Cut-off valve activation timeout (P3078 ≠ 0)
MMI request for ON-Road steering
OFF-Road Safety
PRG_CHANGE_EN AND
MMI request for a steering mode
other than ON-Road AND
OFF-Road Safety-checks passed
Entry
Point
STW Steering
STW_OFF AND
STW_OFF AND AUX_CL_EN AND
AUX_CL_NO_ERR
AUX_OL_ON
AND AND
DEV_CHANGE_EN DEV_CHANGE_EN
GPS_ON AND
STW_OFF AND
AUX Steering
AUX_OFF AND
DEV_CHANGE_EN
(AUX_OL_ON
AUX_OFF AND
OR
GPS_ON AND
AUX_CL_EN)
DEV_CHANGE_EN AND
AND
STW_OFF
STW_OFF
GPS Steering
Safe ON-Road Steering: see chapter 7.1.2
Output State
EH Valve: OFF
Cut-off Valve: Controlled by Road Switch monitoring
Operation Status message
Operation status: ON-Road
Lockout for EH-Steering functionality: EH-Steering functionality prohibited by
an external switch
Lockout for steering device changes: Steering device changes prohibited
Lockout for Program changes: Program changes prohibited
Output State
EH Valve: OFF
Cut-off Valve: OFF
Operation Status message
Operation status: ON-Road
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
OFF-Road safety-checks: see chapter 7.1.1
Output State
EH Valve: Controlled by OFF-Road safety checks
Cut-off Valve: Controlled by OFF-Road safety checks
checks Operation Status message
Operation status: OFF-Road Safety-checks
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
STW Steering state machine: see chapter 3.3
Output State
EH Valve: Controlled STW algorithm
Cut-off Valve: Controlled by STW algorithm
Operation Status message
Operation status: Controlled by STW algorithm
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
AUX Steering state machine: see chapter 3.4
Output State
EH Valve: ON
Cut-off Valve: ON
Operation Status message
Operation status: Controlled by AUX algorithm
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Output State
EH Valve: If Vehicle speed ≥ P3252: ON
If Vehicle speed < P3252: OFF
Cut-off Valve: ON
Operation Status message
Operation status: GPS Steering or GPS2 Steering (controlled by MMI)
Lockout for EH-Steering functionality: EH-Steering functionality allowed
Lockout for steering device changes: Controlled by P3250 and Vehicle speed
Lockout for Program changes: Controlled by P3251 and Vehicle speed
Figure 5
ON-Road Steering
OFF Road steering
GPS Steering: see chapter 12
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