Guidance engage and disengage state machine
(not A) and B
1
not (A or B)
not (A or B)
not (A or B)
not (A or B)
not (A or B)
A
A
A
A
A
E
E
(not A) and B
(not A) and B
(not A) and B and C
(not A) and B and C
(not A) and B and D
and F
2
3
6
5
4
Please note that no active transaction means no state change happens.
State definitions
1
Initialization
2
High priority set-point controller disabled (device disable functionality available in PVED-CL). If other
steering device is selected, PVED-CL follows set-points from this device
3
PVED-CL requests the high priority set-point controller for a message reset. It waits for at least one
GuidanceSystemCommand message not intended for steering
4
PVED-CL waits for curvature requests intended for steering
5
PVED-CL follows curvature requests
6
PVED-CL follows set-points from other steering device
Conditions
A
High priority set-point controller disabled (device disable functionality available in PVED-CL)
B
No other steering device selected or set-points (from other steering device) below threshold
C
New curvature request received, but not intended for steering
D
New curvature request received, intended for steering
E
Timeout – no new curvature request has been received for 200 ms
F
Steering wheel disengage ability check has been passed or is disabled
Technical Information
PVED-CL Communication Protocol, version 1.38 Technical Information
Communications
12
11079551 • Rev BA • July 2014