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ENGINEERING TOMORROW
3.5
AUTO-GUIDANCE STEERING STATE MACHINE
The Auto-guidance steering device state machine is found in PVED-
. When the Auto-guidance device is mapped and enabled, PVED-CLS offers configurable risk
mitigation functions that will be shared by both GPS and GPS2, except for gain-parameters which are separate for
GPS and GPS2. Find more information regarding auto-guidance devices and the configuration in chapter 12.
3.6
STATE TRANSITION REQUIREMENTS DESCRIPTION
Steering wheel related conditions
STW_ON (Steering wheel in use):
The PVED-CLS detects the steering wheel to be in use when,
|Steering wheel velocity| > threshold value for P3583 (STW in use - velocity threshold)
AND
| Last detected steering wheel position at 0 RPM | > threshold value for P3584 (STW in use - angle
threshold), where;
| Last detected steering wheel position at 0 RPM | = Last steering wheel position when steering wheel
speed was below P3583
STW_OFF (Steering wheel is not in use):
The PVED-CLS detects the steering wheel not to be is in use when,
|Steering wheel velocity| threshold value for P3583 (Steering wheel velocity threshold)
Auxiliary steering device (AUX) related conditions
AUX_OL_ON (AUX open loop device in use):
The PVED-CLS detects the AUX open loop device to be in use when,
The AUX steering device is present in the system P3239 set to 255
AND
The AUX steering device is enabled see flags in the MMI messages in PVED-CLS communication
protocol,
AND
1. The AUX steering device is a mini-steering wheel P3240 set to 2
AND
|AUX mini-steering wheel velocity| > threshold value for P3646 (AUX mini-steering in use
velocity threshold)
AND
| Last detected mini-steering wheel position at 0 RPM | > threshold value for P3719 (AUX
mini-steering in use angle threshold), where;
| Last detected mini-steering wheel position at 0 RPM | = Last mini-steering wheel position
when mini-steering wheel speed was below P3646
OR
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Troubleshooting
