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20 | © Danfoss | August 2018
AQ00000211
ENGINEERING TOMORROW
3.3
STEERING WHEEL STATE MACHINE
Figure shows the steering wheel algorithm state machine.
The entry point in below state machine is after the successful OFF road safety checks. Based on the EH steering
disengage method parameter P3254 (SASA or IMD), the further transition of states is determined for steering with
SASA or steering with IMD.
In Steering wheel program 1 – 5, the EH-Valve is active and the PVED-CLS behavior can be configured individually.
Find additional information on how to setup the programs in chapter 10.
Entry
Point
Entry
Point
OFF-Road
non-
reaction
steering
with SASA
OFF-Road non-reaction steering
Output State
EH Valve:
OFF
Cut-off Valve:
ON
Operation Status message
Operation status
: OFF-Road non-reaction
Lockout for EH-Steering functionality:
EH-Steering functionality
allowed
Lockout for ste ering device changes:
Controlled by P3250 and
Vehicle speed
Lockout for Program changes:
Controlled by P3251 and Vehicle
speed
Steering wheel algorithms are not executed
MMI request for
Steering Program other than
OFF-Road reaction
AND
PRG _CHAN GE_EN
MMI request for OFF-Road
Reaction steering
MMI request for
Steering Program other than
OFF-Road non-reaction
AND
PRG _CHAN GE_EN
MMI request for
OFF-Road
Non Reaction steering
MMI request
for STW Program 1-5
Entry
Point
Entry
Point
STW Program 1
STW Program 2
STW Program 3
STW Program 4
STW Program 5
MMI request for STW Program 1
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for STW Program 2
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
STW P rogram 3
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
STW P rogram 4
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
MMI request for
STW P rogram 5
MMI request for
Steering Program change
AND
PRG _CHAN GE_EN
Steering wheel program 1-5
Output State
EH Valve:
ON
Cut-off Valve:
ON
Operation Status message
Operation status
: STW P rogram 1-5
Lockout for EH-Steering functionality:
EH-Steering functionality
allowed
Lockout for ste ering device changes:
Controlled by P3250 and
Vehicle speed
Lockout for Program changes:
Controlled by P3251 and Vehicle
speed
Steering wheel algorithms are executed
MMI request for
Steering Program other than
OFF-Road non-reaction
AND
PRG _CHAN GE_EN
Steering wheel Program 1-5
Steering Wheel State machine
Disengage method SASA
Entry
Point
Disengage
method
IMD
OFF-Road
reaction
steering
with IMD
MMI request the OFF
road reaction steering
MMI request the OFF road
non reaction steering or a
STW program 1-5
MMI request the OFF road
non reaction steering AND
PRG _CHAN GE_EN
MMI request the OFF road
reaction steering AND
PRG _CHAN GE_EN
OFF-Road reaction steering
Output State
EH Valve:
OFF
Cut-off Valve:
OFF
Operation Status message
Operation status
: OFF-Road reaction
Lockout for EH-Steering functionality:
EH-Steering functionality
allowed
Lockout for ste ering device changes:
Controlled by P3250 and Vehicle
speed
Lockout for Program changes:
Controlled by P3251 and Vehicle s peed
Steering wheel algorithms are not executed
NOTE!
In order to utilize the reaction-mode on a vehicle, the steering axle
geometry of the vehicle has to be prepared for reaction-mode and the
hardware (cut-off/mode select spool in OSPE) has to be of the type
“reaction/non-reaction”
Contact your Danfoss P AE for more clarification
OFF-Road non-reaction steering
Output State
EH Valve:
ON
Cut-off Valve:
ON
Operation Status message
Operation status
: OFF-Road non-reaction
Lockout for EH-Steering functionality:
EH-Steering functionality
allowed
Lockout for ste ering device changes:
Controlled by P3250 and
Vehicle speed
Lockout for Program changes:
Controlled by P3251 and Vehicle
speed
Steering wheel algorithms are not executed
OFF-Road
reaction
steering with
SASA
OFF-Road
non-
reaction
steering
with IMD
Figure 6
Содержание PVED-CLS
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